poulpe_ethercat_py

Struct PyPoulpeRemoteClient

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pub struct PyPoulpeRemoteClient { /* private fields */ }

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impl PyPoulpeRemoteClient

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pub fn new(addr: &str, ids: Vec<u16>, update_period: f32) -> Self

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pub fn get_mode_of_operation(&mut self, slave_id: u16) -> u32

Get the mode of operation

§Args:
  • slave_id (int): The slave id
§Returns:
  • int: The mode of operation - 1: Profile Position Mode, 3: Profile Velocity Mode, 4: Profile Torque Mode
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pub fn set_mode_of_operation(&mut self, slave_id: u16, mode: u32)

Set the mode of operation

§Args:
  • slave_id (int): The slave id
  • mode (int): The mode of operation - 1: Profile Position Mode, 3: Profile Velocity Mode, 4: Profile Torque Mode
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pub fn print_mode_of_operation(&mut self, slave_id: u16)

Print the mode of operation

§Args:
  • slave_id (int): The slave id

Outputs the mode of operation

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pub fn turn_on(&mut self, slave_id: u16)

Enable the actuators

§Args:
  • slave_id (int): The slave id
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pub fn turn_off(&mut self, slave_id: u16)

Disable the actuators

§Args:
  • slave_id (int): The slave id
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pub fn set_target_position(&mut self, slave_id: u16, position: Vec<f32>)

Set the target position

§Args:
  • slave_id (int): The slave id
  • position (list): The target position
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pub fn set_velocity_limit(&mut self, slave_id: u16, velocity: Vec<f32>)

Set the velocity limit

§Args:
  • slave_id (int): The slave id
  • velocity_limit (list): Relative velocity limit from 0 to 1
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pub fn set_torque_limit(&mut self, slave_id: u16, torque: Vec<f32>)

Set the torque limit

§Args:
  • slave_id (int): The slave id
  • torque_limit (list): Relative torque limit from 0 to 1
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pub fn get_position_actual_value(&mut self, slave_id: u16) -> Vec<f32>

Get the actual position

§Args:
  • slave_id (int): The slave id
§Returns:
  • list: The actual position
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pub fn get_target_position(&mut self, slave_id: u16) -> Vec<f32>

Get the target position

§Args:
  • slave_id (int): The slave id
§Returns:
  • list: The target position
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pub fn set_target_velocity(&mut self, slave_id: u16, velocity: Vec<f32>)

Get the target velocity

§Args:
  • slave_id (int): The slave id
§Returns:
  • list: The target velocity
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pub fn set_target_torque(&mut self, slave_id: u16, torque: Vec<f32>)

Set the target torque

§Args:
  • slave_id (int): The slave id
  • torque (list): The target torque
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pub fn get_velocity_actual_value(&mut self, slave_id: u16) -> Vec<f32>

Get the actual velocity

§Args:
  • slave_id (int): The slave id
§Returns:
  • list: The actual velocity
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pub fn get_torque_actual_value(&mut self, slave_id: u16) -> Vec<f32>

Get the torque velocity

§Args:
  • slave_id (int): The slave id
§Returns:
  • list: The actual torque
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pub fn get_axis_sensors(&mut self, slave_id: u16) -> Vec<f32>

Get the current axis sensor values

§Args:
  • slave_id (int): The slave id
§Returns:
  • list: The current axis sensor values
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pub fn get_axis_sensor_zeros(&mut self, slave_id: u16) -> Vec<f32>

Get the axis sensor zeros in firmware

§Args:
  • slave_id (int): The slave id
§Returns:
  • list: The axis sensor zero values
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pub fn get_torque_state(&mut self, slave_id: u16) -> bool

Check if motors are activated

§Args:
  • slave_id (int): The slave id
§Returns:
  • bool: True if the motor is activated, False otherwise
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pub fn get_state(&mut self, slave_id: u16) -> u32

Get the state

§Args:
  • slave_id (int): The slave id
§Returns:
  • int: The state (CiA402 state machine)
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pub fn print_state(&mut self, slave_id: u16)

Print the state Outputs the CiA402 state machine state

§Args:
  • slave_id (int): The slave id
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pub fn get_error_codes(&mut self, slave_id: u16) -> Vec<i32>

Get the error codes

§Args:
  • slave_id (int): The slave id
§Returns:
  • list: The error codes (see poule_ethercat_controller/src/state_machine.rs)
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pub fn print_error_codes(&mut self, slave_id: u16)

Print the error codes

§Args:
  • slave_id (int): The slave id
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pub fn get_connected_devices(&mut self) -> (Vec<u16>, Vec<String>)

Get the connected devices

§Returns:
  • list(tuple): The connected devices (slave ids, device names)
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pub fn get_all_slaves_in_network(&mut self) -> (Vec<u16>, Vec<String>)

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pub fn get_motor_temperatures(&mut self, slave_id: u16) -> Vec<f32>

Get the motor temperatures

§Args:
  • slave_id (int): The slave id
§Returns:
  • list: The motor temperatures
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pub fn get_board_temperatures(&mut self, slave_id: u16) -> Vec<f32>

Get the board temperatures

§Args:
  • slave_id (int): The slave id
§Returns:
  • list: The board temperatures
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pub fn emergency_stop(&mut self, slave_id: u16)

Do an emergency stop

§Args:
  • slave_id (int): The slave id

Trait Implementations§

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impl IntoPy<Py<PyAny>> for PyPoulpeRemoteClient

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fn into_py(self, py: Python<'_>) -> PyObject

👎Deprecated since 0.23.0: IntoPy is going to be replaced by IntoPyObject. See the migration guide (https://pyo3.rs/v0.23.0/migration) for more information.
Performs the conversion.
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impl<'py> IntoPyObject<'py> for PyPoulpeRemoteClient

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type Target = PyPoulpeRemoteClient

The Python output type
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type Output = Bound<'py, <PyPoulpeRemoteClient as IntoPyObject<'py>>::Target>

The smart pointer type to use. Read more
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type Error = PyErr

The type returned in the event of a conversion error.
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fn into_pyobject( self, py: Python<'py>, ) -> Result<<Self as IntoPyObject<'_>>::Output, <Self as IntoPyObject<'_>>::Error>

Performs the conversion.
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impl PyClass for PyPoulpeRemoteClient

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type Frozen = False

Whether the pyclass is frozen. Read more
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impl PyClassImpl for PyPoulpeRemoteClient

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const IS_BASETYPE: bool = false

#[pyclass(subclass)]
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const IS_SUBCLASS: bool = false

#[pyclass(extends=…)]
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const IS_MAPPING: bool = false

#[pyclass(mapping)]
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const IS_SEQUENCE: bool = false

#[pyclass(sequence)]
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type BaseType = PyAny

Base class
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type ThreadChecker = SendablePyClass<PyPoulpeRemoteClient>

This handles following two situations: Read more
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type PyClassMutability = <<PyAny as PyClassBaseType>::PyClassMutability as PyClassMutability>::MutableChild

Immutable or mutable
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type Dict = PyClassDummySlot

Specify this class has #[pyclass(dict)] or not.
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type WeakRef = PyClassDummySlot

Specify this class has #[pyclass(weakref)] or not.
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type BaseNativeType = PyAny

The closest native ancestor. This is PyAny by default, and when you declare #[pyclass(extends=PyDict)], it’s PyDict.
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fn items_iter() -> PyClassItemsIter

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fn doc(py: Python<'_>) -> PyResult<&'static CStr>

Rendered class doc
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fn lazy_type_object() -> &'static LazyTypeObject<Self>

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fn dict_offset() -> Option<isize>

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fn weaklist_offset() -> Option<isize>

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impl PyClassNewTextSignature<PyPoulpeRemoteClient> for PyClassImplCollector<PyPoulpeRemoteClient>

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fn new_text_signature(self) -> Option<&'static str>

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impl<'a, 'py> PyFunctionArgument<'a, 'py> for &'a PyPoulpeRemoteClient

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type Holder = Option<PyRef<'py, PyPoulpeRemoteClient>>

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fn extract( obj: &'a Bound<'py, PyAny>, holder: &'a mut Self::Holder, ) -> PyResult<Self>

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impl<'a, 'py> PyFunctionArgument<'a, 'py> for &'a mut PyPoulpeRemoteClient

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type Holder = Option<PyRefMut<'py, PyPoulpeRemoteClient>>

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fn extract( obj: &'a Bound<'py, PyAny>, holder: &'a mut Self::Holder, ) -> PyResult<Self>

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impl PyMethods<PyPoulpeRemoteClient> for PyClassImplCollector<PyPoulpeRemoteClient>

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fn py_methods(self) -> &'static PyClassItems

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impl PyTypeInfo for PyPoulpeRemoteClient

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const NAME: &'static str = "PyPoulpeRemoteClient"

Class name.
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const MODULE: Option<&'static str> = ::core::option::Option::None

Module name, if any.
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fn type_object_raw(py: Python<'_>) -> *mut PyTypeObject

Returns the PyTypeObject instance for this type.
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fn type_object(py: Python<'_>) -> Bound<'_, PyType>

Returns the safe abstraction over the type object.
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fn type_object_bound(py: Python<'_>) -> Bound<'_, PyType>

👎Deprecated since 0.23.0: renamed to PyTypeInfo::type_object
Deprecated name for [PyTypeInfo::type_object].
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fn is_type_of(object: &Bound<'_, PyAny>) -> bool

Checks if object is an instance of this type or a subclass of this type.
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fn is_type_of_bound(object: &Bound<'_, PyAny>) -> bool

👎Deprecated since 0.23.0: renamed to PyTypeInfo::is_type_of
Deprecated name for [PyTypeInfo::is_type_of].
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fn is_exact_type_of(object: &Bound<'_, PyAny>) -> bool

Checks if object is an instance of this type.
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fn is_exact_type_of_bound(object: &Bound<'_, PyAny>) -> bool

👎Deprecated since 0.23.0: renamed to PyTypeInfo::is_exact_type_of
Deprecated name for [PyTypeInfo::is_exact_type_of].
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impl DerefToPyAny for PyPoulpeRemoteClient

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