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use super::{instruction_id, Instruction}; use crate::endian::{write_u16_le, write_u32_le}; #[derive(Debug, Clone)] pub struct RegWrite<'a> { pub motor_id: u8, pub address: u16, pub data: &'a [u8], } #[derive(Debug, Clone)] pub struct RegWriteU8 { pub motor_id: u8, pub address: u16, pub data: u8, } #[derive(Debug, Clone)] pub struct RegWriteU16 { pub motor_id: u8, pub address: u16, pub data: u16, } #[derive(Debug, Clone)] pub struct RegWriteU32 { pub motor_id: u8, pub address: u16, pub data: u32, } impl<'a> RegWrite<'a> { pub fn new(motor_id: u8, address: u16, data: &'a [u8]) -> Self { Self { motor_id, address, data } } } impl RegWriteU8 { pub fn new(motor_id: u8, address: u16, data: u8) -> Self { Self { motor_id, address, data } } } impl RegWriteU16 { pub fn new(motor_id: u8, address: u16, data: u16) -> Self { Self { motor_id, address, data } } } impl RegWriteU32 { pub fn new(motor_id: u8, address: u16, data: u32) -> Self { Self { motor_id, address, data } } } impl Instruction for RegWrite<'_> { type Response = (); fn request_packet_id(&self) -> u8 { self.motor_id } fn request_instruction_id(&self) -> u8 { instruction_id::REG_WRITE } fn request_parameters_len(&self) -> u16 { 2 + self.data.len() as u16 } fn encode_request_parameters(&self, buffer: &mut [u8]) { write_u16_le(&mut buffer[0..], self.address); buffer[2..].copy_from_slice(&self.data); } 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(), 0)?; Ok(()) } } impl Instruction for RegWriteU8 { type Response = (); fn request_packet_id(&self) -> u8 { self.motor_id } fn request_instruction_id(&self) -> u8 { instruction_id::REG_WRITE } fn request_parameters_len(&self) -> u16 { 3 } fn encode_request_parameters(&self, buffer: &mut [u8]) { write_u16_le(&mut buffer[0..2], self.address); buffer[2] = self.data; } 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(), 0)?; Ok(()) } } impl Instruction for RegWriteU16 { type Response = (); fn request_packet_id(&self) -> u8 { self.motor_id } fn request_instruction_id(&self) -> u8 { instruction_id::REG_WRITE } 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.data); } 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(), 0)?; Ok(()) } } impl Instruction for RegWriteU32 { type Response = (); fn request_packet_id(&self) -> u8 { self.motor_id } fn request_instruction_id(&self) -> u8 { instruction_id::REG_WRITE } fn request_parameters_len(&self) -> u16 { 6 } fn encode_request_parameters(&self, buffer: &mut [u8]) { write_u16_le(&mut buffer[0..2], self.address); write_u32_le(&mut buffer[2..6], self.data); } 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(), 0)?; Ok(()) } }