Struct SdoServer 

pub struct SdoServer { /* private fields */ }

An SDO server bound to a node id, servicing requests against an object dictionary.

Implementations

impl SdoServer

pub const fn new(node: NodeId) -> Self

Create a server for node.

pub fn request_cob_id(&self) -> u16

The COB-ID this server receives requests on (0x600 + node).

pub fn response_cob_id(&self) -> u16

The COB-ID this server sends responses on (0x580 + node).

pub fn is_busy(&self) -> bool

Whether a segmented transfer is currently in progress.

pub fn take_write(&mut self) -> Option<Address>

Take the address of the object most recently written by a completed SDO download, clearing it. Poll after SdoServer::handle to react to a master’s writes (e.g. re-read configuration). None if nothing was written since the last call.

pub fn handle<const N: usize>( &mut self, od: &mut ObjectDictionary<N>, req: &SdoPayload, ) -> Option<SdoPayload>

Handle an SDO request against od, returning the response to transmit.

Returns None only for a client abort, which is unconfirmed. Any protocol or access error produces an SDO abort response frame.

Trait Implementations

impl Debug for SdoServer

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

Formats the value using the given formatter.