zencan_node/
node_state.rs

1//! Implements node state struct
2use crate::object_dict::ObjectFlagSync;
3
4use crate::pdo::Pdo;
5use crate::storage::StorageContext;
6
7/// A trait by which NodeState is accessed
8pub trait NodeStateAccess: Sync + Send {
9    /// Get the receive PDO objects
10    fn get_rpdos(&self) -> &[Pdo];
11    /// Get the transmit PDO objects
12    fn get_tpdos(&self) -> &[Pdo];
13    /// Get the PDO flag sync object
14    fn object_flag_sync(&self) -> &ObjectFlagSync;
15    /// Get the storage context object
16    fn storage_context(&self) -> &StorageContext;
17}
18
19/// The NodeState provides config-dependent storage to the [`Node`](crate::Node) object
20///
21/// The node state has to get instantiated (statically) by zencan-build, based on the device config
22/// via the [`NodeStateAccess`] trait.
23/// file. It is then provided to the node by the application when it is instantiated, and accessed
24#[allow(missing_debug_implementations)]
25pub struct NodeState<'a> {
26    /// Pdo control objects for receive PDOs
27    rpdos: &'a [Pdo],
28    /// Pdo control objects for transmit PDOs
29    tpdos: &'a [Pdo],
30    /// A global flag used by all objects to synchronize their event flag A/B swapping
31    object_flag_sync: ObjectFlagSync,
32    /// State shared between the [`StorageCommandObject`](crate::storage::StorageCommandObject) and
33    /// [`Node`](crate::node::Node) for indicating when a store objects command has been recieved.
34    storage_context: StorageContext,
35}
36
37impl<'a> NodeState<'a> {
38    /// Create a new NodeState object
39    pub const fn new(rpdos: &'a [Pdo], tpdos: &'a [Pdo]) -> Self {
40        let object_flag_sync = ObjectFlagSync::new();
41        let storage_context = StorageContext::new();
42
43        Self {
44            rpdos,
45            tpdos,
46            object_flag_sync,
47            storage_context,
48        }
49    }
50
51    /// Access the RPDOs as a const function
52    pub const fn rpdos(&self) -> &'a [Pdo] {
53        self.rpdos
54    }
55
56    /// Access the TPDOs as a const function
57    pub const fn tpdos(&self) -> &'a [Pdo] {
58        self.tpdos
59    }
60
61    /// Access the pdo_sync as a const function
62    ///
63    /// This is required so that it can be shared with the objects in generated code
64    pub const fn object_flag_sync(&'static self) -> &'static ObjectFlagSync {
65        &self.object_flag_sync
66    }
67
68    /// Access the storage_context as a const function
69    pub const fn storage_context(&'static self) -> &'static StorageContext {
70        &self.storage_context
71    }
72}
73
74impl NodeStateAccess for NodeState<'_> {
75    fn get_rpdos(&self) -> &[Pdo] {
76        self.rpdos
77    }
78
79    fn get_tpdos(&self) -> &[Pdo] {
80        self.tpdos
81    }
82
83    fn object_flag_sync(&self) -> &ObjectFlagSync {
84        &self.object_flag_sync
85    }
86
87    fn storage_context(&self) -> &StorageContext {
88        &self.storage_context
89    }
90}
zencan_node/node_state.rs

zencan_node/
node_state.rs
