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use super::{instruction_id, Instruction}; use crate::endian::{read_u16_le, read_u32_le, write_u16_le}; #[derive(Debug)] pub struct Read<'a> { pub motor_id: u8, pub address: u16, pub buffer: &'a mut [u8], } #[derive(Debug)] pub struct ReadU8 { pub motor_id: u8, pub address: u16, } #[derive(Debug)] pub struct ReadU16 { pub motor_id: u8, pub address: u16, } #[derive(Debug)] pub struct ReadU32 { pub motor_id: u8, pub address: u16, } impl<'a> Read<'a> { pub fn new(motor_id: u8, address: u16, buffer: &'a mut [u8]) -> Self { Self { motor_id, address, buffer } } } impl ReadU8 { pub fn new(motor_id: u8, address: u16) -> Self { Self { motor_id, address } } } impl ReadU16 { pub fn new(motor_id: u8, address: u16) -> Self { Self { motor_id, address } } } impl ReadU32 { pub fn new(motor_id: u8, address: u16) -> Self { Self { motor_id, address } } } impl Instruction for Read<'_> { type Response = (); fn request_packet_id(&self) -> u8 { self.motor_id } fn request_instruction_id(&self) -> u8 { instruction_id::READ } fn request_parameters_len(&self) -> u16 { 4 } fn encode_request_parameters(&self, buffer: &mut [u8]) { write_u16_le(&mut buffer[0..2], self.address); write_u16_le(&mut buffer[2..4], self.buffer.len() as u16); } fn decode_response_parameters(&mut self, packet_id: u8, parameters: &[u8]) -> Result<Self::Response, crate::InvalidMessage> { crate::InvalidPacketId::check_ignore_broadcast(packet_id, self.motor_id)?; crate::InvalidParameterCount::check(parameters.len(), self.buffer.len())?; self.buffer.copy_from_slice(parameters); Ok(()) } } impl Instruction for ReadU8 { type Response = u8; fn request_packet_id(&self) -> u8 { self.motor_id } fn request_instruction_id(&self) -> u8 { instruction_id::READ } fn request_parameters_len(&self) -> u16 { 4 } fn encode_request_parameters(&self, buffer: &mut [u8]) { write_u16_le(&mut buffer[0..2], self.address); write_u16_le(&mut buffer[2..4], 1); } fn decode_response_parameters(&mut self, packet_id: u8, parameters: &[u8]) -> Result<Self::Response, crate::InvalidMessage> { crate::InvalidPacketId::check_ignore_broadcast(packet_id, self.motor_id)?; crate::InvalidParameterCount::check(parameters.len(), 1)?; Ok(parameters[0]) } } impl Instruction for ReadU16 { type Response = u16; fn request_packet_id(&self) -> u8 { self.motor_id } fn request_instruction_id(&self) -> u8 { instruction_id::READ } fn request_parameters_len(&self) -> u16 { 4 } fn encode_request_parameters(&self, buffer: &mut [u8]) { write_u16_le(&mut buffer[0..2], self.address); write_u16_le(&mut buffer[2..4], 2); } fn decode_response_parameters(&mut self, packet_id: u8, parameters: &[u8]) -> Result<Self::Response, crate::InvalidMessage> { crate::InvalidPacketId::check_ignore_broadcast(packet_id, self.motor_id)?; crate::InvalidParameterCount::check(parameters.len(), 2)?; Ok(read_u16_le(¶meters[0..2])) } } impl Instruction for ReadU32 { type Response = u32; fn request_packet_id(&self) -> u8 { self.motor_id } fn request_instruction_id(&self) -> u8 { instruction_id::READ } fn request_parameters_len(&self) -> u16 { 4 } fn encode_request_parameters(&self, buffer: &mut [u8]) { write_u16_le(&mut buffer[0..2], self.address); write_u16_le(&mut buffer[2..4], 4); } fn decode_response_parameters(&mut self, packet_id: u8, parameters: &[u8]) -> Result<Self::Response, crate::InvalidMessage> { crate::InvalidPacketId::check_ignore_broadcast(packet_id, self.motor_id)?; crate::InvalidParameterCount::check(parameters.len(), 4)?; Ok(read_u32_le(¶meters[0..4])) } }