Struct CuBdshotBridge 

pub struct CuBdshotBridge<P: BdshotBoardProvider> { /* private fields */ }

Trait Implementations

impl<P: BdshotBoardProvider> CuBridge for CuBdshotBridge<P>

type Tx = TxChannels

Outgoing channels (Copper -> external world).

type Rx = RxChannels

Incoming channels (external world -> Copper).

fn new( _config: Option<&ComponentConfig>, tx: &[BridgeChannelConfig<TxId>], _rx: &[BridgeChannelConfig<RxId>], ) -> CuResult<Self>

where Self: Sized,

Constructs a new bridge.

fn start(&mut self, _clock: &RobotClock) -> CuResult<()>

Called before the first send/receive cycle.

fn send<'a, Payload>( &mut self, _clock: &RobotClock, channel: &'static BridgeChannel<<Self::Tx as BridgeChannelSet>::Id, Payload>, msg: &CuMsg<Payload>, ) -> CuResult<()>

where Payload: CuMsgPayload + 'a,

Sends a message on the selected outbound channel.

fn receive<'a, Payload>( &mut self, _clock: &RobotClock, channel: &'static BridgeChannel<<Self::Rx as BridgeChannelSet>::Id, Payload>, msg: &mut CuMsg<Payload>, ) -> CuResult<()>

where Payload: CuMsgPayload + 'a,

Receives a message from the selected inbound channel.

fn preprocess(&mut self, _clock: &RobotClock) -> Result<(), CuError>

Gives the bridge a chance to prepare buffers before I/O.

fn postprocess(&mut self, _clock: &RobotClock) -> Result<(), CuError>

Called once the send/receive pair completed.

fn stop(&mut self, _clock: &RobotClock) -> Result<(), CuError>

Notifies the bridge that no more I/O will happen until a subsequent [start].

impl<P: BdshotBoardProvider> Freezable for CuBdshotBridge<P>

fn freeze<E>(&self, encoder: &mut E) -> Result<(), EncodeError>

where E: Encoder,

This method is called by the framework when it wants to save the task state. The default implementation is to encode nothing (stateless). If you have a state, you need to implement this method.

fn thaw<D>(&mut self, _decoder: &mut D) -> Result<(), DecodeError>

where D: Decoder,

This method is called by the framework when it wants to restore the task to a specific state. Here it is similar to Decode but the framework will give you a new instance of the task (the new method will be called)