Struct HeartbeatMonitor 

pub struct HeartbeatMonitor { /* private fields */ }

Tracks per-node heartbeats and flags nodes that stop producing them.

A CANopen node emits a heartbeat on 0x700 + node; a master watches those frames to know each node is alive and in which state. Construct with the consumer timeout, feed every received frame to HeartbeatMonitor::on_frame, and query HeartbeatMonitor::timed_out / HeartbeatMonitor::is_alive.

Implementations

impl HeartbeatMonitor

pub fn new(timeout: Duration) -> Self

Create a monitor that considers a node dead after timeout without a heartbeat.

pub fn on_frame( &mut self, cob_id: u16, data: &[u8], now: Instant, ) -> Option<(NodeId, NmtState)>

Feed a received frame, timestamped now.

If it is a heartbeat or boot-up frame, records it and returns the (node, state) it reported; otherwise returns None.

pub fn state(&self, node: NodeId) -> Option<NmtState>

The last state reported by node, if it has ever been heard from.

pub fn health(&self, node: NodeId) -> Option<NodeHealth>

The full health record for node.

pub fn is_alive(&self, node: NodeId, now: Instant) -> bool

Whether node produced a heartbeat within the timeout as of now.

pub fn timed_out(&self, now: Instant) -> impl Iterator<Item = NodeId> + '_

The nodes that have gone silent — no heartbeat within the timeout.

pub fn nodes(&self) -> impl Iterator<Item = (NodeId, NodeHealth)> + '_

Every monitored node paired with its health record.

Trait Implementations

impl Debug for HeartbeatMonitor

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

Formats the value using the given formatter.