Struct Node 

pub struct Node<'a> { /* private fields */ }

The main object representing a node

Operation

The node is run by polling the Node::process method in your application. It is safe to call this method as frequently as you like. There is no hard minimum for call frequency, but calling your node’s responses to messages will be delayed until process is called, and this will slow down communication to your node. It is recommended to register a callback using NodeMbox::set_process_notify_callback, and use this callback to trigger an immediate call to process, e.g. by waking a task or signaling the processing thread.

Implementations

impl<'a> Node<'a>

pub fn new( node_id: NodeId, callbacks: Callbacks<'a>, mbox: &'static NodeMbox, state: &'static NodeState<'static>, od: &'static [ODEntry<'static>], ) -> Self

Create a new Node

Arguments

• node_id - Initial node ID assignment
• mbox - The NODE_MBOX object created by zencan-build
• state - The NODE_STATE state object created by zencan-build
• od - The OD_TABLE object containing the object dictionary created by zencan-build

pub fn set_node_id(&mut self, node_id: NodeId)

Manually set the node ID. Changing the node id will cause an NMT comm reset to occur, resetting communication parameter defaults and triggering a bootup heartbeat message if the ID is valid. Setting the node ID to 255 will put the node into unconfigured mode.

pub fn process(&mut self, now_us: u64) -> bool

Run periodic processing

This should be called periodically by the application so that the node can update it’s state, send periodic messages, process received messages, etc.

It is sufficient to call this based on a timer, but the NodeMbox object also provides a notification callback, which can be used by an application to accelerate the call to process when an action is required.

Arguments

• now_us: A monotonic time in microseconds. This is used for measuring time and triggering time-based actions such as heartbeat transmission or SDO timeout

Returns

A boolean indicating if objects were updated. This will be true when an SDO download has been completed, or when one or more RPDOs have been received.

pub fn node_id(&self) -> u8

Get the current Node ID

pub fn nmt_state(&self) -> NmtState

Get the current NMT state of the node

pub fn rx_message_count(&self) -> u32

Get the number of received messages