--- a/etherlab/CommonEtherCATFunction.py Fri Sep 28 17:20:11 2018 +0300
+++ b/etherlab/CommonEtherCATFunction.py Fri Sep 28 17:48:10 2018 +0300
@@ -44,9 +44,9 @@
return name.getcontent()
return default
-#--------------------------------------------------
+# --------------------------------------------------
# Remote Exec Etherlab Commands
-#--------------------------------------------------
+# --------------------------------------------------
# --------------------- for master ---------------------------
MASTER_STATE = """
@@ -136,9 +136,9 @@
returnVal =result
"""
-#--------------------------------------------------
+# --------------------------------------------------
# Common Method For EtherCAT Management
-#--------------------------------------------------
+# --------------------------------------------------
class _CommonSlave:
# ----- Data Structure for ethercat management ----
@@ -181,9 +181,9 @@
self.ClearSDODataSet()
- #-------------------------------------------------------------------------------
+ # -------------------------------------------------------------------------------
# Used Master State
- #-------------------------------------------------------------------------------
+ # -------------------------------------------------------------------------------
def GetMasterState(self):
"""
Execute "ethercat master" command and parse the execution result
@@ -207,9 +207,9 @@
return master_state
- #-------------------------------------------------------------------------------
+ # -------------------------------------------------------------------------------
# Used Slave State
- #-------------------------------------------------------------------------------
+ # -------------------------------------------------------------------------------
def RequestSlaveState(self, command):
"""
Set slave state to the specified one using "ethercat states -p %d %s" command.
@@ -228,9 +228,9 @@
self.SlaveState = return_val
return return_val
- #-------------------------------------------------------------------------------
+ # -------------------------------------------------------------------------------
# Used SDO Management
- #-------------------------------------------------------------------------------
+ # -------------------------------------------------------------------------------
def GetSlaveSDOFromSlave(self):
"""
Get SDO objects information of current slave using "ethercat sdos -p %d" command.
@@ -270,9 +270,9 @@
for count in range(6):
self.SaveSDOData.append([])
- #-------------------------------------------------------------------------------
+ # -------------------------------------------------------------------------------
# Used PDO Monitoring
- #-------------------------------------------------------------------------------
+ # -------------------------------------------------------------------------------
def RequestPDOInfo(self):
"""
Load slave information from RootClass (XML data) and parse the information (calling SlavePDOData() method).
@@ -397,9 +397,9 @@
self.RxPDOInfos = []
self.RxPDOCategorys = []
- #-------------------------------------------------------------------------------
+ # -------------------------------------------------------------------------------
# Used EEPROM Management
- #-------------------------------------------------------------------------------
+ # -------------------------------------------------------------------------------
# Base data types in ETG2000; format = {"Name": "BitSize"}
BaseDataTypeDict = {"BOOL": "01",
"SINT": "02",
@@ -1519,9 +1519,9 @@
return eeprom
- #-------------------------------------------------------------------------------
+ # -------------------------------------------------------------------------------
# Used Register Access
- #-------------------------------------------------------------------------------
+ # -------------------------------------------------------------------------------
def RegRead(self, offset, length):
"""
Read slave ESC register content using "ethercat reg_read -p %d %s %s" command.
@@ -1551,9 +1551,9 @@
"""
error, return_val = self.Controler.RemoteExec(RESCAN%(self.Controler.GetSlavePos()), return_val = None)
- #-------------------------------------------------------------------------------
+ # -------------------------------------------------------------------------------
# Common Use Methods
- #-------------------------------------------------------------------------------
+ # -------------------------------------------------------------------------------
def CheckConnect(self, cyclic_flag):
"""
Check connection status (1) between Beremiz and the master (2) between the master and the slave.