Trait Interface 

pub trait Interface {
    // Required methods
    fn set_baud_rate(&mut self, b: BaudRate) -> Result<(), CommunicationError>;
    fn flush(&mut self);
    fn read(&mut self, data: &mut [u8]) -> Result<(), CommunicationError>;
    fn write(&mut self, data: &[u8]) -> Result<(), CommunicationError>;
}

The interface for communicating with dynamixel servos.

Required Methods

fn set_baud_rate(&mut self, b: BaudRate) -> Result<(), CommunicationError>

Set the baud rate of the interface

BaudRate must not be matched against exhaustively.

fn flush(&mut self)

Flush out the read buffer

Whenever a new transmission is started, old data from the read buffer needs to be flushed out first.

fn read(&mut self, data: &mut [u8]) -> Result<(), CommunicationError>

A blocking/spinning read with timeout.

This function should either:

• read a number of bytes corresponding to data.len() into data and return Ok(()).
• return Err(_).

If bytes are not received for a given time, a timeout should occur. A timeout is signaled by returning Err(Error::Timeout). The time between bytes before a timeout occur should be 100ms or more. If the timeout is not implemented, a “dead” servo can cause the code to “freeze”.

fn write(&mut self, data: &[u8]) -> Result<(), CommunicationError>

A blocking/spinning write.

This function should either:

• write every byte in data and return Ok(()).
• return Err(_).

After a transmission is started the time between two consecutive bytes need to be less than 100ms. This is because the dynamixel actuator recognizes a time of more than 100ms between bytes as a communication problem.

Implementors