Struct CommandInterface 

pub struct CommandInterface { /* private fields */ }

Command Interface function block.

Manages the handshake protocol between an external command source and the control program. Call call once per scan cycle. When a new command arrives, call returns Some(command_code). The control program then processes the command and calls set_done or set_error when finished.

Usage Pattern

// In your control program struct:
cmd: CommandInterface,

// In process_tick:
let mut cmd_view = my_cmd_view(gm);
if let Some(code) = self.cmd.call(&mut cmd_view) {
    match code {
        1 => { /* start something */ }
        2 => { /* do something else */ }
        _ => { self.cmd.set_error(&mut cmd_view, -1.0); }
    }
}

// When async work completes later:
if self.cmd.is_executing() && work_is_done {
    self.cmd.set_done(&mut cmd_view, result_value);
}

Implementations

impl CommandInterface

pub fn new() -> Self

Creates a new command interface. Status will be set to CommandStatus::Idle on the first call to call.

pub fn call(&mut self, view: &mut CommandInterfaceView<'_>) -> Option<u32>

Call once per scan cycle.

Returns Some(command_code) on the scan where a new Execute request is detected while the interface is Idle. Returns None on all other scans.

This method handles the full handshake lifecycle:

• Idle + Execute → transition to Executing, return the command code
• Done + AckDone → transition back to Idle
• Error + AckDone → transition back to Idle

pub fn is_executing(&self) -> bool

Returns true if a command is currently being executed.

pub fn active_command(&self) -> Option<u32>

Returns the command code currently being executed, or None if idle.

pub fn set_done(&mut self, view: &mut CommandInterfaceView<'_>, result: f64)

Mark the current command as completed successfully.

Sets command_status to CommandStatus::Done and writes result to command_result. The interface will wait for the external source to send CommandRequest::AckDone before returning to idle.

pub fn set_error( &mut self, view: &mut CommandInterfaceView<'_>, error_result: f64, )

Mark the current command as failed.

Sets command_status to CommandStatus::Error. Optionally write an error code or description to command_result before calling this. The interface will wait for CommandRequest::AckDone before returning to idle.

Trait Implementations

impl Clone for CommandInterface

fn clone(&self) -> CommandInterface

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for CommandInterface

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for CommandInterface

fn default() -> Self

Returns the “default value” for a type.