Struct NmtStateMachine 

pub struct NmtStateMachine { /* private fields */ }

The node-side NMT state machine (CiA 301 §7.3.2).

Holds only the current state and applies the guarded transitions of the diagram above. It performs no I/O: feed it decoded NmtCommands and read back the resulting NmtState to drive heartbeat production and to gate which services (e.g. PDOs) are active.

Implementations

impl NmtStateMachine

pub const fn new() -> Self

A freshly powered node, in NmtState::Initialising.

pub const fn state(&self) -> NmtState

The current state.

pub fn boot(&mut self) -> NmtState

Complete initialisation: the node enters pre-operational (CiA 301 §7.3.2.1). The caller emits BOOTUP_FRAME alongside this transition.

A no-op unless currently initialising.

pub fn apply(&mut self, command: NmtCommand) -> NmtState

Apply an NMT master command, returning the resulting state.

Transitions are guarded: a reset returns to Initialising from any state, while start/stop/enter-pre-operational are ignored during initialisation (the node is not yet a network participant) and otherwise move between the operational states. Repeating a command that matches the current state is a harmless no-op.

Trait Implementations

impl Debug for NmtStateMachine

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

Formats the value using the given formatter.

impl Default for NmtStateMachine

fn default() -> Self

Returns the “default value” for a type.