Struct Received 

pub struct Received {
    pub cob_id: u16,
    /* private fields */
}

A CANopen frame received from the bus: its COB-ID and up to eight bytes.

Fields

cob_id: u16

The frame’s COB-ID (11-bit standard identifier).

Implementations

impl Received

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

The received bytes, trimmed to the frame’s data length.

pub fn payload(&self) -> &[u8; 8]

The full eight-byte payload, zero-padded — convenient for the fixed-size SDO codecs, which expect a &[u8; 8].

Examples found in repository

examples/vcan_loopback.rs (line 103)

    fn serve(node: NodeId, ready: mpsc::Sender<()>) -> Result<(), Box<dyn Error>> {
        let bus = SocketCan::open(IFACE)?;
        bus.set_read_timeout(Duration::from_secs(3))?;

        let mut od = ObjectDictionary::<8>::new();
        od.insert(
            Address::new(0x1000, 0),
            Entry::constant(Value::Unsigned32(0x0004_0192)),
        )?;
        od.insert(Address::new(0x1017, 0), Entry::rw(Value::Unsigned16(1000)))?;
        od.insert(Address::new(0x2000, 0), Entry::rw(Value::Unsigned64(0)))?;

        let mut server = SdoServer::new(node);
        ready.send(()).map_err(|_| "client went away")?;

        // Serve until a read times out (the client is done and the bus is idle).
        while let Ok(frame) = bus.recv() {
            if frame.cob_id != server.request_cob_id() {
                continue;
            }
            if let Some(response) = server.handle(&mut od, frame.payload()) {
                bus.send(server.response_cob_id(), &response)?;
            }
        }
        Ok(())
    }

Trait Implementations

impl Clone for Received

fn clone(&self) -> Received

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Received

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

Formats the value using the given formatter.