def _load_scat_ids(self):
"""Load sub-category IDs from dictionary."""
scat_ids = lib.il_dict_scat_ids_get(self._dict, cstr(self._cat_id))
self._scat_ids = []
i = 0
scat_id = scat_ids[0]
while scat_id != ffi.NULL:
self._scat_ids.append(pstr(scat_id))
i += 1
scat_id = scat_ids[i]
lib.il_dict_scat_ids_destroy(scat_ids)
def _load_reg_ids(self):
"""Load register IDs from dictionary."""
self._ids = []
ids = lib.il_dict_reg_ids_get(self._dict, self._subnode)
i = 0
_id = ids[0]
while _id != ffi.NULL:
self._ids.append(pstr(_id))
i += 1
_id = ids[i]
lib.il_dict_reg_ids_destroy(ids)
def _load_cat_ids(self):
"""Load category IDs from dictionary."""
cat_ids = lib.il_dict_cat_ids_get(
self.__ipb_dictionary._cffi_dictionary)
self._cat_ids = []
i = 0
cat_id = cat_ids[0]
while cat_id != ffi.NULL:
self._cat_ids.append(pstr(cat_id))
i += 1
cat_id = cat_ids[i]
lib.il_dict_cat_ids_destroy(cat_ids)
def __init__(self, dictionary_path, cffi_servo):
super(IPBDictionary, self).__init__(dictionary_path)
self._cffi_dictionary = lib.il_servo_dict_get(cffi_servo)
self.version = pstr(lib.il_dict_version_get(self._cffi_dictionary))
self.subnodes = SINGLE_AXIS_MINIMUM_SUBNODES
self.__get_subnode()
self.__regs = []
for subnode in range(self.subnodes):
register = IPBRegistersDictionary(self._cffi_dictionary, subnode)
self.__regs.append(register)
self.categories = IPBCategories(self)
self.errors = IPBErrors(self.path)
self.__read_device_info()
def scan_slaves(self):
"""Obtain a list of network devices.
Returns:
list: List of network devices.
Raises:
TypeError: If the protocol type is invalid.
"""
devs = lib.il_net_dev_list_get(NET_PROT.MCB.value)
found = []
curr = devs
while curr:
found.append(pstr(curr.port))
curr = curr.next
lib.il_net_dev_list_destroy(devs)
return found
from .canopen.servo import CanopenServo
from .canopen.network import CanopenNetwork, CAN_DEVICE, CAN_DEVICE, \
CAN_BAUDRATE
from .canopen.poller import CanopenPoller
from .canopen.register import CanopenRegister
from .canopen.dictionary import CanopenDictionary
from ingenialink.utils.errors import err_ipb_last
from ._ingenialink import lib
from ingenialink.utils._utils import pstr
__all__ = [
'EEPROM_FILE_FORMAT', 'NET_PROT', 'NET_DEV_EVT', 'NET_STATE',
'NET_TRANS_PROT', 'SERVO_STATE', 'SERVO_FLAGS', 'SERVO_MODE',
'SERVO_UNITS_TORQUE', 'SERVO_UNITS_POS', 'SERVO_UNITS_VEL',
'SERVO_UNITS_ACC', 'NetworkMonitor', 'Network', 'Servo', 'IPBDictionary',
'IPBRegister', 'REG_DTYPE', 'REG_ACCESS', 'REG_PHY', 'Monitor',
'MONITOR_TRIGGER', 'IPBPoller', 'IPBServo', 'SerialNetwork', 'SerialServo',
'EthercatNetwork', 'EthercatServo', 'EthernetServo', 'EthernetNetwork',
'CanopenNetwork', 'CAN_DEVICE', 'CAN_BAUDRATE', 'CanopenServo',
'CanopenPoller', 'CanopenRegister', 'CanopenDictionary', 'err_ipb_last'
]
__version__ = '6.2.4'
try:
__ingenialink_C_version__ = pstr(lib.il_version())
except Exception:
__ingenialink_C_version__ = '-'