Ingk 1193 create table object api

CHANGELOG.md

@@ -2,7 +2,7 @@
 
 ## [Unreleased]
 ### Added
-- Parsing of Dictionary tables
+- Add support for tables
 
 ## [7.5.2] - 2025-11-24
 ### Added

docs/api/base_classes/table.rst

@@ -0,0 +1,7 @@
+======
+Tables
+======
+
+.. automodule:: ingenialink.table
+    :members:
+    :member-order: groupwise

ingenialink/servo.py

@@ -52,6 +52,7 @@
     ILValueError,
 )
 from ingenialink.register import Register
+from ingenialink.table import Table
 from ingenialink.utils._utils import convert_bytes_to_dtype, convert_dtype_to_bytes
 from ingenialink.virtual.dictionary import VirtualDictionaryV2, VirtualDictionaryV3
 
@@ -1765,6 +1766,26 @@ def dictionary(self, dictionary: Dictionary) -> None:
         """Sets the dictionary object."""
         self._dictionary = dictionary
 
+    def get_table(self, uid: str, axis: Optional[int] = None) -> Table:
+        """Get a table from the dictionary.
+
+        Args:
+            uid: Table uid.
+            axis: Axis. Should be specified if multiaxis, None otherwise.
+
+        Returns:
+            Table: The requested table object.
+
+        Raises:
+            KeyError: If the specified axis does not exist.
+            KeyError: If the table is not present in the specified axis.
+            ValueError: If the table is not found in any axis, if axis is not provided.
+            ValueError: If the table is found in multiple axes, if axis is not provided.
+
+        """
+        dictionary_table = self.dictionary.get_table(uid, axis=axis)
+        return Table(self, dictionary_table, axis=axis)
+
     @property
     def full_name(self) -> str:
         """Drive full name."""

ingenialink/table.py

@@ -0,0 +1,174 @@
+from collections.abc import Iterator, Sequence
+from typing import TYPE_CHECKING, Optional
+
+from ingenialink.utils._utils import REG_VALUE
+
+if TYPE_CHECKING:
+    from ingenialink import Servo
+    from ingenialink.dictionary import DictionaryTable
+
+
+class Table:
+    """Table.
+
+    Internal table that stores N values that are accessed by index register
+    and read/written via value register.
+    """
+
+    def __init__(
+        self, servo: "Servo", table: "DictionaryTable", axis: Optional[int] = None
+    ) -> None:
+        """Initializes the Table.
+
+        Args:
+            servo: Servo instance.
+            table: Dictionary table instance.
+            axis: Axis number for multi-axis servos
+
+        Raises:
+            ValueError: If index register does not have integer range.
+        """
+        self.__servo = servo
+        self.__table = table
+
+        self.__index_register = self.__servo.dictionary.get_register(
+            self.__table.id_index, axis=axis
+        )
+        self.__value_register = self.__servo.dictionary.get_register(
+            self.__table.id_value, axis=axis
+        )
+
+        min_index, max_index = self.__index_register.range
+        if not isinstance(min_index, int) or not isinstance(max_index, int):
+            raise ValueError("Index register must have integer range.")
+
+        if min_index < 0:
+            # Negative indexes may be used to not request any particular index.
+            min_index = 0
+
+        self.__min_index = min_index
+        self.__max_index = max_index
+
+    def get_value(self, index: int) -> REG_VALUE:
+        """Reads a value from the table.
+
+        Args:
+            index: Index of the value to read.
+
+        Returns:
+            Value at the specified index.
+        """
+        self.__servo.write(self.__index_register, index)
+        return self.__servo.read(self.__value_register)
+
+    def set_value(self, index: int, value: REG_VALUE) -> None:
+        """Writes a value to the table.
+
+        Args:
+            index: Index of the value to write.
+            value: Value to write at the specified index.
+        """
+        self.__servo.write(self.__index_register, index)
+        self.__servo.write(self.__value_register, value)
+
+    def __len__(self) -> int:
+        """Returns the number of elements in the table.
+
+        Returns:
+            Number of elements in the table
+        """
+        return self.__max_index - self.__min_index + 1
+
+    def __iter__(self) -> Iterator[REG_VALUE]:
+        """Iterate over all values in the table.
+
+        Yields:
+            Each value in the table from min_index to max_index.
+        """
+        for i in range(self.__min_index, self.__max_index + 1):
+            yield self.get_value(i)
+
+    def __getitem__(self, index: int) -> REG_VALUE:
+        """Read a value from the table using bracket notation.
+
+        Args:
+            index: Index of the value to read.
+
+        Returns:
+            Value at the specified index.
+
+        Raises:
+            IndexError: If index is out of range.
+        """
+        if index < self.__min_index or index > self.__max_index:
+            raise IndexError(f"Index {index} out of range [{self.__min_index}, {self.__max_index}]")
+        return self.get_value(index)
+
+    def __setitem__(self, index: int, value: REG_VALUE) -> None:
+        """Write a value to the table using bracket notation.
+
+        Args:
+            index: Index of the value to write.
+            value: Value to write at the specified index.
+
+        Raises:
+            IndexError: If index is out of range.
+        """
+        if index < self.__min_index or index > self.__max_index:
+            raise IndexError(f"Index {index} out of range [{self.__min_index}, {self.__max_index}]")
+        self.set_value(index, value)
+
+    def read(
+        self, start_index: Optional[int] = None, count: Optional[int] = None
+    ) -> list[REG_VALUE]:
+        """Read multiple values from the table.
+
+        Args:
+            start_index: Starting index. Defaults to min_index.
+            count: Number of values to read. Defaults to all remaining.
+
+        Returns:
+            List of values read from the table.
+
+        Raises:
+            IndexError: If the range is out of bounds.
+        """
+        if start_index is None:
+            start_index = self.__min_index
+
+        if count is None:
+            count = self.__max_index - start_index + 1
+
+        end_index = start_index + count - 1
+
+        if start_index < self.__min_index or end_index > self.__max_index:
+            raise IndexError(
+                f"Range [{start_index}, {end_index}] out of bounds "
+                f"[{self.__min_index}, {self.__max_index}]"
+            )
+
+        return [self.get_value(i) for i in range(start_index, end_index + 1)]
+
+    def write(self, values: Sequence[REG_VALUE], start_index: Optional[int] = None) -> None:
+        """Write multiple values to the table.
+
+        Args:
+            values: Sequence of values to write to the table.
+            start_index: Starting index. Defaults to min_index.
+
+        Raises:
+            IndexError: If the range is out of bounds.
+        """
+        if start_index is None:
+            start_index = self.__min_index
+
+        end_index = start_index + len(values) - 1
+
+        if start_index < self.__min_index or end_index > self.__max_index:
+            raise IndexError(
+                f"Range [{start_index}, {end_index}] out of bounds "
+                f"[{self.__min_index}, {self.__max_index}]"
+            )
+
+        for i, value in enumerate(values):
+            self.set_value(start_index + i, value)

ingenialink/utils/_utils.py

@@ -213,7 +213,10 @@ def convert_int_to_ip(int_ip: int) -> str:
     return f"{drive_ip1}.{drive_ip2}.{drive_ip3}.{drive_ip4}"
 
 
-def convert_bytes_to_dtype(data: bytes, dtype: RegDtype) -> Union[float, int, str, bytes]:
+REG_VALUE = Union[float, int, str, bytes]
+
+
+def convert_bytes_to_dtype(data: bytes, dtype: RegDtype) -> REG_VALUE:
     """Convert data in bytes to corresponding dtype.
 
     Bytes have to be ordered in LSB.
@@ -253,7 +256,7 @@ def convert_bytes_to_dtype(data: bytes, dtype: RegDtype) -> Union[float, int, st
     return value
 
 
-def convert_dtype_to_bytes(data: Union[int, float, str, bytes], dtype: RegDtype) -> bytes:
+def convert_dtype_to_bytes(data: REG_VALUE, dtype: RegDtype) -> bytes:
     """Convert data in dtype to bytes.
 
     Bytes will be ordered in LSB.

pyproject.toml

@@ -29,7 +29,6 @@ dependencies = [
     "ingenialogger>=0.2.1",
     "ping3==4.0.3",
     "pysoem>=1.1.11, <1.2.0",
-    "numpy>=1.26.0",
     "bitarray==2.9.2",
     "multiping==1.1.2",
 ]
@@ -43,7 +42,7 @@ Source = "https://github.com/ingeniamc/ingenialink-python"
 version = "7.5.2"  # base version
 
 [project.optional-dependencies]
-virtual_drive = ["virtual_drive==0.0.0+gced50b1fe"]
+virtual_drive = ["virtual_drive==0.0.0+pr4b9"]
 
 [[tool.poetry.source]]
 name = "PyPI"

tests/resources/__init__.py

@@ -8,13 +8,18 @@
 TEST_DICT_ECAT_EOE_SAFE_v3 = (resources_path / "test_dict_ecat_eoe_safe_v3.0.xdf").as_posix()
 TEST_DICT_ECAT_EOE_v3 = (resources_path / "test_dict_ecat_eoe_v3.0.xdf").as_posix()
 TEST_CONFIG_FILE = (resources_path / "test_config_file.xcf").as_posix()
-TEST_DICTIONARY_WITH_TABLES = (resources_path / "dictionary_with_tables_minimal.xdf3").as_posix()
+TEST_DICTIONARY_WITH_TABLES_FOR_ALL_COM_TYPES = (
+    resources_path / "dictionary_with_tables_minimal.xdf3"
+).as_posix()
+DEN_NET_E_WITH_TABLES = (resources_path / "den-net-e_dev4f4c26.xdf3").as_posix()
 
 __all__ = [
     "DEN_NET_E_2_8_0_xdf_v3",
     "TEST_DICT_ECAT_EOE_SAFE_v3",
     "TEST_DICT_ECAT_EOE_v3",
     "TEST_CONFIG_FILE",
+    "TEST_DICTIONARY_WITH_TABLES_FOR_ALL_COM_TYPES",
+    "DEN_NET_E_WITH_TABLES",
     "canopen",
     "comkit",
     "ethercat",