Struct bluerobotics_ping::message::ProtocolMessage

pub struct ProtocolMessage {
    pub payload_length: u16,
    pub message_id: u16,
    pub src_device_id: u8,
    pub dst_device_id: u8,
    pub payload: Vec<u8>,
    pub checksum: u16,
}

Fields

payload_length: u16

message_id: u16

src_device_id: u8

dst_device_id: u8

payload: Vec<u8>

checksum: u16

Implementations

impl ProtocolMessage

pub fn new() -> Self

Message Format

Each message consists of a header, optional payload, and checksum. The binary format is specified as follows:

Byte	Type	Name	Description
0	u8	start1	Start frame identifier, ASCII ‘B’
1	u8	start2	Start frame identifier, ASCII ‘R’
2-3	u16	payload_length	Number of bytes in payload.
4-5	u16	message_id	The message id.
6	u8	src_device_id	The device ID of the device sending the message.
7	u8	dst_device_id	The device ID of the intended recipient of the message.
8-n	u8[]	payload	The message payload.
(n+1)-(n+2)	u16	checksum	The message checksum. The checksum is calculated as the sum of all the non-checksum bytes in the message.

pub fn set_message(&mut self, message: &impl PingMessage)

pub fn set_src_device_id(&mut self, src_device_id: u8)

pub fn dst_device_id(&self) -> u8

pub fn set_dst_device_id(&mut self, dst_device_id: u8)

pub fn payload(&self) -> &[u8]

pub fn checksum(&self) -> u16

pub fn update_checksum(&mut self)

pub fn calculate_crc(&self) -> u16

pub fn has_valid_crc(&self) -> bool

pub fn length(&self) -> usize

pub fn write(&self, writer: &mut dyn Write) -> Result<usize>

pub fn serialized(&self) -> Vec<u8>

Trait Implementations

impl Clone for ProtocolMessage

fn clone(&self) -> ProtocolMessage

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for ProtocolMessage

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

Formats the value using the given formatter.

impl Default for ProtocolMessage

fn default() -> ProtocolMessage

Returns the “default value” for a type.

impl Encoder<ProtocolMessage> for PingCodec

type Error = PingError

The type of encoding errors.

fn encode( &mut self, item: ProtocolMessage, dst: &mut BytesMut ) -> Result<(), Self::Error>

Encodes a frame into the buffer provided.

impl PartialEq for ProtocolMessage

fn eq(&self, other: &ProtocolMessage) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl TryFrom<&ProtocolMessage> for Messages

type Error = String

The type returned in the event of a conversion error.

fn try_from(message: &ProtocolMessage) -> Result<Self, Self::Error>

Performs the conversion.

impl StructuralPartialEq for ProtocolMessage