Ingeniamotion

Added
- PDOs for the EtherCAT protocol.
- Register Poller using PDOs.
- Callbacks to notify exceptions in the ProcessDataThread.
- A method in the PDOPoller to subscribe to exceptions in the ProcessDataThread.
- Set the watchdog timeout of the PDO exchange.

Changed
- The get_subnodes method from the information module now returns a dictionary with the subnodes IDs as keys and their type as values.
- Set the send_receive_processdata timeout in the ProcessDataThread according to the refresh rate.
- Cyclic parameter is defined as a RegCyclicType variable instead of a string.
- The default PDO watchdog timeout is set to 100 ms.

Removed
- The comkit module. Now ingenialink methods are use to merge the COM-KIT and CORE dictionaries.

Added
- Add scan functions with info: scan_servos_ethercat_with_info and scan_servos_canopen_with_info
- Add connect_servo_virtual function

Removed
- Support to Python 3.6 to 3.8.

Added
- Functions needed to load firmware to a Motion Core (MoCo).
- COM-KIT support.
- In Information class: get_product_name, get_node_id, get_ip, get_slave_id, get_name, get_communication_type, get_full_name, get_subnodes, get_categories, get_dictionary_file_name.
- In Configuration class: get_drive_info_coco_moco, get_product_code, get_revision_number, get_serial_number, get_fw_version
- no_connection marker is added for unit testing.
- Add mypy into the project.
- Add types for all functions and classes.
- Make and pass the first static type analysis.
- Function to change the baudrate of a CANopen device
- Function to get the vendor ID
- Function to change the node ID of a CANopen device
- Resolution and polarity test for DC motors (resolution test needs human check)
- Feedbacks functions to set/get feedback polarity
- Add in configuration set_velocity_pid, set_position_pid and get_rated_current
- Add functions to connect to and scan EtherCAT devices using CoE (SDOs).
- Optional backup registers for Wizard tests.
- New methods to scan the network and obtain drive info (product code and revision number).
- Method to load the FW in an ensemble of drives.

Fixed
- check_motor_disabled decorator does not work with positional arguments
- Adapt get_encoded_image_from_dictionary for COM-KIT
- Feedback test output when symmetry and resolution errors occurred simultaneously.
- Raise exception if monitoring and disturbance features are not available.

Changed
- Use ingenialink to get the drive's encoded image from the dictionary.
- Update subscribe and unsubscribe to network status functions.

Deprecated
- Support to Python 3.6 and 3.7.

Fixed
- Remove disturbance data before including new data.
- Set positioning mode to NO LIMITS during the feedback test.

Changed
- Remove EDS file path param from CANopen connection. It is no longer necessary.

Fixed
- Fix monitoring V3. Remove rearm_monitoring from set_trigger function.

Added
- connect_servo_eoe_service, connect_servo_eoe_service_interface_index and connect_servo_eoe_service_interface_ip functions.

Changed
- Removed ``boot_in_app`` argument from load_firmware_ecat and load_firmware_ecat_interface_index functions. It is not necessary anymore.

Removed
- connect_servo_ecat, connect_servo_ecat_interface_index and connect_servo_ecat_interface_ip functions.
- get_sdo_register, get_sdo_register_complete_access and set_sdo_register functions.

Fixed
- is_alive function in MotionController.
- subscribe_net_status and unsubscribe_net_status works for Ethernet based communication.