tmcl 0.1.0-beta0

Trinamic Motion Control Language
Documentation 
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//! A `TMCM` type useable with TMCM modules other than TMCM-100 and Monopack 2.

use lib::ops::Deref;
use lib::marker::PhantomData;

pub mod instructions;
pub mod axis_parameters;

use interior_mut::InteriorMut;

use Error;
use Instruction;
use instructions::DirectInstruction;
use Interface;
use Return;
use Status;
use Command;
use AxisParameter;
use ReadableAxisParameter;
use WriteableAxisParameter;


/// This type represennts a TMCM module other than TMCM-100 and Monopack 2.
#[derive(Debug)]
pub struct TmcmModule<'a, IF: Interface + 'a, Cell: InteriorMut<'a, IF>, T: Deref<Target=Cell> + 'a> {
    /// The module address
    address: u8,
    interface: T,
    pd1: PhantomData<&'a IF>,
    pd2: PhantomData<&'a T>,
}

impl<'a, IF: Interface, Cell: InteriorMut<'a, IF>, T: Deref<Target=Cell>> TmcmModule<'a, IF, Cell, T> {
    /// Create a new module
    pub fn new(interface: T, address: u8) -> Self {
        TmcmModule{
            address,
            interface,
            pd1: PhantomData{},
            pd2: PhantomData{},
        }
    }

    /// Synchronously write a command and wait for the Reply
    pub fn write_command<Instruction: TmcmInstruction + DirectInstruction>(&'a self, instruction: Instruction) -> Result<Instruction::Return, Error<IF::Error>> {
        let mut interface = self.interface.borrow_int_mut().or(Err(Error::InterfaceUnavailable))?;
        interface.transmit_command(&Command::new(self.address, instruction)).map_err(|e| Error::InterfaceError(e))?;
        let reply = interface.receive_reply().map_err(|e| Error::InterfaceError(e))?;
        match reply.status() {
            Status::Ok(_) => Ok(<Instruction::Return as Return>::from_operand(reply.operand())),
            Status::Err(e) => Err(e.into()),
        }
    }
}


/// An `AxisParameter` useable with all TMCM modules other than TMCM-100 and Monopack 2.
pub trait TmcmInstruction: Instruction {}


/// An `AxisParameter` useable with all TMCM modules other than TMCM-100 and Monopack 2.
pub trait TmcmAxisParameter: AxisParameter {}

/// A `ReadableAxisParameter` useable with all TMCM modules other than TMCM-100 and Monopack 2.
pub trait ReadableTmcmAxisParameter: ReadableAxisParameter {}

/// A `WriteableAxisParamtere` useable with all TMCM modules other than TMCM-100 and Monopack 2.
pub trait WriteableTmcmAxisParameter: WriteableAxisParameter {}