darra-ethercat-master 2.7.0

Commercial EtherCAT master protocol stack, real-time kernel driver integration, Windows and Linux support, multi-language SDKs, complex topology and hot-plug support.
Documentation 
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use crate::utils::ffi;

#[derive(Debug, Clone, Copy)]
pub struct EmergencyMessage {

    pub error_code: u16,

    pub error_register: u8,

    pub data: [u8; 5],

    pub slave_index: u16,

    pub timestamp_ms: u64,
}

impl Default for EmergencyMessage {
    fn default() -> Self {
        Self {
            error_code: 0,
            error_register: 0,
            data: [0; 5],
            slave_index: 0,
            timestamp_ms: 0,
        }
    }
}

impl From<&ffi::EmcyRecord> for EmergencyMessage {
    fn from(r: &ffi::EmcyRecord) -> Self {

        let error_code = unsafe { std::ptr::addr_of!(r.error_code).read_unaligned() };
        let error_register = unsafe { std::ptr::addr_of!(r.error_register).read_unaligned() };
        let data = unsafe { std::ptr::addr_of!(r.data).read_unaligned() };
        let slave_index = unsafe { std::ptr::addr_of!(r.slave_index).read_unaligned() };
        let ts = unsafe { std::ptr::addr_of!(r.timestamp_ms).read_unaligned() };
        Self {
            error_code,
            error_register,
            data,
            slave_index,
            timestamp_ms: ts as u64,
        }
    }
}

pub fn emcy_get_history(
    master_index: u16,
    slave_index: u16,
    max_records: usize,
) -> Vec<crate::utils::ffi::EmcyRecord> {
    let mut records = vec![crate::utils::ffi::EmcyRecord::default(); max_records];
    let count = unsafe {
        ffi::EmcyGetHistory(
            master_index,
            slave_index,
            records.as_mut_ptr(),
            max_records as i32,
        )
    };
    if count > 0 {
        records.truncate(count as usize);
    } else {
        records.clear();
    }
    records
}

pub fn emcy_clear_history(master_index: u16, slave_index: u16) {
    unsafe { ffi::EmcyClearHistory(master_index, slave_index); }
}

pub fn emcy_get_count(master_index: u16, slave_index: u16) -> i32 {
    unsafe { ffi::EmcyGetCount(master_index, slave_index) }
}