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//! Types and constants that precisely match the specification. use byteorder::{ReadBytesExt, WriteBytesExt, LE}; use std::io; pub use self::command::Command; /// Communication with the DAC happens over TCP on port 7765. pub const COMMUNICATION_PORT: u16 = 7765; /// The DAC sends UDP broadcast messages on port 7654. /// /// This does not appeared to be documented in the protocol, but was found within the /// `github.com/j4cbo/j4cDAC` repository. pub const BROADCAST_PORT: u16 = 7654; /// A trait for writing any of the Ether Dream protocol types to little-endian bytes. /// /// A blanket implementation is provided for all types that implement `byteorder::WriteBytesExt`. pub trait WriteBytes { fn write_bytes<P: WriteToBytes>(&mut self, protocol: P) -> io::Result<()>; } /// A trait for reading any of the Ether Dream protocol types from little-endian bytes. /// /// A blanket implementation is provided for all types that implement `byteorder::ReadBytesExt`. pub trait ReadBytes { fn read_bytes<P: ReadFromBytes>(&mut self) -> io::Result<P>; } /// Protocol types that may be written to little endian bytes. pub trait WriteToBytes { /// Write the command to bytes. fn write_to_bytes<W: WriteBytesExt>(&self, writer: W) -> io::Result<()>; } /// Protocol types that may be read from little endian bytes. pub trait ReadFromBytes: Sized { /// Read the command from bytes. fn read_from_bytes<R: ReadBytesExt>(reader: R) -> io::Result<Self>; } /// Types that have a constant size when written to or read from bytes. pub trait SizeBytes { const SIZE_BYTES: usize; } /// Periodically, and as part of ACK packets, the DAC sends its current playback status to the /// host. #[repr(C)] #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] pub struct DacStatus { /// This remains undocumented in the protocol. /// /// The original implementation source simply sets this to `0`. pub protocol: u8, /// The current state of the "light engine" state machine. pub light_engine_state: u8, /// The current state of the "playback" state machine. pub playback_state: u8, /// The currently-selected data source: /// /// - `0`: Network streaming (the protocol implemented in this library). /// - `1`: ILDA playback from SD card. /// - `2`: Internal abstract generator. pub source: u8, /// If the light engine is `Ready`, this will be `0`. /// /// Otherwise, bits will be set as follows: /// /// - `0`: Emergency stop occurred due to E-Stop packet or invalid command. /// - `1`: Emergency stop occurred due to E-Stop input to projector. /// - `2`: Emergency stop input to projector is currently active. /// - `3`: Emergency stop occurred due to over-temperature condition. /// - `4`: Over-temperature condition is currently active. /// - `5`: Emergency stop occurred due to loss of ethernet link. /// /// All remaining are reserved for future use. pub light_engine_flags: u16, /// These flags may be non-zero during normal operation. /// /// Bits are defined as follows: /// /// - `0`: **Shutter state**. `0` is closed, `1` is open. /// - `1`: **Underflow**. `1` if the last stream ended with underflow rather than a `Stop` /// command. This is reset to `0` by the `Prepare` command. /// - `2`: **E-Stop**. `1` if the last stream ended because the E-Stop state was entered. Reset /// to zero by the `Prepare` command. pub playback_flags: u16, /// This field is undocumented within the protocol reference. /// /// By looking at the source code of the original implementation, this seems to represent the /// state of the current `source`. /// /// If `source` is set to `1` for ILDA playback from SD card, the following flags are defined: /// /// - `0`: `ILDA_PLAYER_PLAYING`. /// - `1`: `ILDA_PLAYER_REPEAT`. /// /// If `source` is set to `2` for the internal abstract generator, the flags are defined as /// follows: /// /// - `0`: `ABSTRACT_PLAYING`. pub source_flags: u16, /// The number of points currently buffered. pub buffer_fullness: u16, /// If in the `Prepared` or `Playing` playback states, this is the number of points per /// second for which the DAC is configured. /// /// If in the `Idle` playback state, this will be `0`. pub point_rate: u32, /// If in the `Playing` playback state, this is the number of points that the DAC has actually /// emitted since it started playing. /// /// If in the `Prepared` or `Idle` playback states, this will be `0`. pub point_count: u32, } /// Regardless of the data source being used, each DAC broadcasts a status/ID datagram over UDP to /// its local network's broadcast address once per second. #[repr(C)] #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] pub struct DacBroadcast { /// The unique hardware identifier for the DAC. pub mac_address: [u8; 6], /// This field is undocumented in the official protocol but seems to represent a version number /// for the hardware in use by the DAC. pub hw_revision: u16, /// This field is undocumented in the official protocol but seems to represent the version of /// the protocol implementation. As of writing this, this is hardcoded as `2` in the original /// source. pub sw_revision: u16, /// The DAC's maximum buffer capacity for storing points that are yet to be converted to /// output. /// /// As of writing this, this is hardcoded to `1800` in the original DAC source code. pub buffer_capacity: u16, /// The DAC's maximum point rate. /// /// As of writing this, this is hardcoded to `100_000` in the original DAC source code. pub max_point_rate: u32, /// The current status of the DAC. pub dac_status: DacStatus, } /// Values are full-scale. /// /// E.g. for all color channels, `65535` is full output while `0` is no output. #[repr(C)] #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] pub struct DacPoint { /// A set of bit fields. The following fields are defined: /// /// - `15`: Change point rate. If this bit is set and there are any values in the point /// rate change buffer a new rate is read out of the buffer and set as the current /// playback rate. If the buffer is empty, the point rate is not changed. /// /// All other bits are reserved for future expansion to support extra TTL outputs, etc. pub control: u16, /// -32768 is the start along the *x* axis (left-most point). /// 32767 is the end along the *x* axis (right-most point). pub x: i16, /// -32768 is the start along the *y* axis (bottom-most point). /// 32767 is the end along the *y* axis (top-most point). pub y: i16, /// `0` is no red. `65535` is full red. pub r: u16, /// `0` is no green. `65535` is full green. pub g: u16, /// `0` is no blue. `65535` is full blue. pub b: u16, pub i: u16, pub u1: u16, pub u2: u16, } /// A response from a DAC. #[repr(C)] #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] pub struct DacResponse { /// See the `DacResponse` associated constants for the possible values for this field. pub response: u8, /// In the case of ACK/NAK responses, this echoes back the command to which the response is /// sent. /// /// Commands are always sent in order, so this field exists for sanity-checking on the /// host-side. pub command: u8, /// The current status of the DAC. pub dac_status: DacStatus, } impl DacStatus { /// The light engine is ready. pub const LIGHT_ENGINE_READY: u8 = 0; /// In the case where the DAC is also used for thermal control of laser apparatus, this is the /// state that is entered after power-up. pub const LIGHT_ENGINE_WARMUP: u8 = 1; /// Lasers are off but thermal control is still active. pub const LIGHT_ENGINE_COOLDOWN: u8 = 2; /// An emergency stop has been triggered, either by an E-stop input on the DAC, an E-stop /// command over the network, or a fault such as over-temperature. pub const LIGHT_ENGINE_EMERGENCY_STOP: u8 = 3; /// The default state: /// /// - No points may be added to the buffer. /// - No output is generated. /// - All analog outputs are at 0v. /// - The shutter is controlled by the data source. pub const PLAYBACK_IDLE: u8 = 0; /// The buffer will accept points. /// /// The output is the same as the `Idle` state pub const PLAYBACK_PREPARED: u8 = 1; /// Points are being sent to the output. pub const PLAYBACK_PLAYING: u8 = 2; /// Network streaming (the protocol implemented in this library). pub const SOURCE_NETWORK_STREAMING: u8 = 0; /// ILDA playback from SD card. pub const SOURCE_ILDA_PLAYBACK_SD: u8 = 1; /// Internal abstract generator. pub const SOURCE_INTERNAL_ABSTRACT_GENERATOR: u8 = 2; } impl DacResponse { /// The previous command was accepted. pub const ACK: u8 = 0x61; /// The write command could not be performed because there was not enough buffer space when it /// was received. pub const NAK_FULL: u8 = 0x46; /// The command contained an invalid `command` byte or parameters. pub const NAK_INVALID: u8 = 0x49; /// An emergency-stop condition still exists. pub const NAK_STOP_CONDITION: u8 = 0x21; } impl WriteToBytes for DacStatus { fn write_to_bytes<W: WriteBytesExt>(&self, mut writer: W) -> io::Result<()> { writer.write_u8(self.protocol)?; writer.write_u8(self.light_engine_state)?; writer.write_u8(self.playback_state)?; writer.write_u8(self.source)?; writer.write_u16::<LE>(self.light_engine_flags)?; writer.write_u16::<LE>(self.playback_flags)?; writer.write_u16::<LE>(self.source_flags)?; writer.write_u16::<LE>(self.buffer_fullness)?; writer.write_u32::<LE>(self.point_rate)?; writer.write_u32::<LE>(self.point_count)?; Ok(()) } } impl WriteToBytes for DacBroadcast { fn write_to_bytes<W: WriteBytesExt>(&self, mut writer: W) -> io::Result<()> { for &byte in &self.mac_address { writer.write_u8(byte)?; } writer.write_u16::<LE>(self.hw_revision)?; writer.write_u16::<LE>(self.sw_revision)?; writer.write_u16::<LE>(self.buffer_capacity)?; writer.write_u32::<LE>(self.max_point_rate)?; writer.write_bytes(&self.dac_status)?; Ok(()) } } impl WriteToBytes for DacPoint { fn write_to_bytes<W: WriteBytesExt>(&self, mut writer: W) -> io::Result<()> { writer.write_u16::<LE>(self.control)?; writer.write_i16::<LE>(self.x)?; writer.write_i16::<LE>(self.y)?; writer.write_u16::<LE>(self.r)?; writer.write_u16::<LE>(self.g)?; writer.write_u16::<LE>(self.b)?; writer.write_u16::<LE>(self.i)?; writer.write_u16::<LE>(self.u1)?; writer.write_u16::<LE>(self.u2)?; Ok(()) } } impl WriteToBytes for DacResponse { fn write_to_bytes<W: WriteBytesExt>(&self, mut writer: W) -> io::Result<()> { writer.write_u8(self.response)?; writer.write_u8(self.command)?; writer.write_bytes(&self.dac_status)?; Ok(()) } } impl ReadFromBytes for DacStatus { fn read_from_bytes<R: ReadBytesExt>(mut reader: R) -> io::Result<Self> { let protocol = reader.read_u8()?; let light_engine_state = reader.read_u8()?; let playback_state = reader.read_u8()?; let source = reader.read_u8()?; let light_engine_flags = reader.read_u16::<LE>()?; let playback_flags = reader.read_u16::<LE>()?; let source_flags = reader.read_u16::<LE>()?; let buffer_fullness = reader.read_u16::<LE>()?; let point_rate = reader.read_u32::<LE>()?; let point_count = reader.read_u32::<LE>()?; let dac_status = DacStatus { protocol, light_engine_state, playback_state, source, light_engine_flags, playback_flags, source_flags, buffer_fullness, point_rate, point_count, }; Ok(dac_status) } } impl ReadFromBytes for DacBroadcast { fn read_from_bytes<R: ReadBytesExt>(mut reader: R) -> io::Result<Self> { let mac_address = [ reader.read_u8()?, reader.read_u8()?, reader.read_u8()?, reader.read_u8()?, reader.read_u8()?, reader.read_u8()?, ]; let hw_revision = reader.read_u16::<LE>()?; let sw_revision = reader.read_u16::<LE>()?; let buffer_capacity = reader.read_u16::<LE>()?; let max_point_rate = reader.read_u32::<LE>()?; let dac_status = reader.read_bytes::<DacStatus>()?; let dac_broadcast = DacBroadcast { mac_address, hw_revision, sw_revision, buffer_capacity, max_point_rate, dac_status, }; Ok(dac_broadcast) } } impl ReadFromBytes for DacPoint { fn read_from_bytes<R: ReadBytesExt>(mut reader: R) -> io::Result<Self> { let control = reader.read_u16::<LE>()?; let x = reader.read_i16::<LE>()?; let y = reader.read_i16::<LE>()?; let r = reader.read_u16::<LE>()?; let g = reader.read_u16::<LE>()?; let b = reader.read_u16::<LE>()?; let i = reader.read_u16::<LE>()?; let u1 = reader.read_u16::<LE>()?; let u2 = reader.read_u16::<LE>()?; let dac_point = DacPoint { control, x, y, i, r, g, b, u1, u2, }; Ok(dac_point) } } impl ReadFromBytes for DacResponse { fn read_from_bytes<R: ReadBytesExt>(mut reader: R) -> io::Result<Self> { let response = reader.read_u8()?; let command = reader.read_u8()?; let dac_status = reader.read_bytes::<DacStatus>()?; let dac_response = DacResponse { response, command, dac_status, }; Ok(dac_response) } } impl SizeBytes for DacStatus { const SIZE_BYTES: usize = 20; } impl SizeBytes for DacBroadcast { const SIZE_BYTES: usize = DacStatus::SIZE_BYTES + 16; } impl SizeBytes for DacPoint { const SIZE_BYTES: usize = 18; } impl SizeBytes for DacResponse { const SIZE_BYTES: usize = DacStatus::SIZE_BYTES + 2; } impl<'a, P> WriteToBytes for &'a P where P: WriteToBytes, { fn write_to_bytes<W: WriteBytesExt>(&self, writer: W) -> io::Result<()> { (*self).write_to_bytes(writer) } } impl<W> WriteBytes for W where W: WriteBytesExt, { fn write_bytes<P: WriteToBytes>(&mut self, protocol: P) -> io::Result<()> { protocol.write_to_bytes(self) } } impl<R> ReadBytes for R where R: ReadBytesExt, { fn read_bytes<P: ReadFromBytes>(&mut self) -> io::Result<P> { P::read_from_bytes(self) } } /// When a host first connects to the device, the device immediately sends it a status reply as if /// the host had sent a ping packet. The host sends to the device a series of commands. All /// commands receive a response from the DAC. pub mod command { use super::{DacPoint, ReadBytes, ReadFromBytes, SizeBytes, WriteBytes, WriteToBytes}; use byteorder::{ReadBytesExt, WriteBytesExt, LE}; use std::borrow::Cow; use std::{self, io}; /// Types that may be submitted as commands to the DAC. pub trait Command { /// The starting byte of the command. const START_BYTE: u8; /// A provided method for producing the start byte. Useful for trait objects. fn start_byte(&self) -> u8 { Self::START_BYTE } } /// This command causes the playback system to enter the `Prepared` state. The DAC resets its /// buffer to be empty and sets "point_count" to `0`. /// /// This command may only be sent if the light engine is `Ready` and the playback system is /// `Idle`. If so, the DAC replies with ACK. Otherwise, it replies with NAK - Invalid. #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] pub struct PrepareStream; /// Causes the DAC to begin producing output. /// /// If the playback system was `Prepared` and there was data in the buffer, then the DAC will /// reply with ACK. /// /// Otherwise, it replies with NAK - Invalid. #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] pub struct Begin { /// *Currently unused.* pub low_water_mark: u16, /// The number of points per second to be read from the buffer. pub point_rate: u32, } /// Adds a new point rate (in points per second) to the point rate buffer. /// /// Point rate changes are read out of the buffer when a point with an appropriate flag is /// played (see the `WriteData` command). /// /// If the DAC's playback state is not `Prepared` or `Playing`, it replies with NAK - Invalid. /// /// If the point rate buffer is full, it replies with NAK - Full. /// /// Otherwise, it replies with ACK. #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] pub struct PointRate(pub u32); /// Indicates to the DAC to add the following point data into its buffer. /// /// Point data is laid out as follows: /// /// - 0x64 /// - <the number of points>: u16 /// - <point data> #[derive(Clone, Debug, PartialEq, Eq, Hash)] pub struct Data<'a> { pub points: Cow<'a, [DacPoint]>, } /// Causes the DAC to immediately stop playing and return to the `Idle` playback state. /// /// It is ACKed if the DAC was in the `Playing` or `Prepared` playback states. /// /// Otherwise it is replied to with NAK - Invalid. #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] pub struct Stop; /// Causes the light engine to enter the E-Stop state, regardless of its previous state. /// /// This command is always ACKed. /// /// **Note:** Any unrecognised command will also be treated as E-Stop. However, software should /// not send undefined commands deliberately, since they may be defined in the future. #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] pub struct EmergencyStop; /// Causes the light engine to enter the E-Stop state, regardless of its previous state. /// /// This command is always ACKed. /// /// **Note:** Any unrecognised command will also be treated as E-Stop. However, software should /// not send undefined commands deliberately, since they may be defined in the future. #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] pub struct EmergencyStopAlt; /// If the light engine was in E-Stop state due to an emergency stop command (either from a /// local stop condition or over the network), this command resets it to `Ready`. /// /// It is ACKed if the DAC was previously in E-Stop. /// /// Otherwise it is replied to with a NAK - Invalid. /// /// If the condition that caused the emergency stop is still active (e.g. E-Stop input still /// asserted, temperature still out of bounds, etc) a NAK - Stop Condition is sent. #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] pub struct ClearEmergencyStop; /// The DAC will reply to this with an ACK packet. /// /// This serves as a keep-alive for the connection when the DAC is not actively streaming. #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] pub struct Ping; impl Begin { /// Consecutively read the fields of the **Begin** type and return a **Begin** instance. /// /// Note that if reading from a stream, this method assumes that the starting command byte /// has already been read. pub fn read_fields<R: ReadBytesExt>(mut reader: R) -> io::Result<Self> { let low_water_mark = reader.read_u16::<LE>()?; let point_rate = reader.read_u32::<LE>()?; let begin = Begin { low_water_mark, point_rate, }; Ok(begin) } } impl PointRate { /// Consecutively read the fields of the **PointRate** type and return a **PointRate** instance. /// /// Note that if reading from a stream, this method assumes that the starting command byte /// has already been read. pub fn read_fields<R: ReadBytesExt>(mut reader: R) -> io::Result<Self> { let point_rate = PointRate(reader.read_u32::<LE>()?); Ok(point_rate) } } impl<'a> Data<'a> { /// Read the `u16` representing the number of points within the **Data** from the given /// `reader`. /// /// This method is useful for determining how many more bytes should be read from a stream. /// /// Note that if reading from a stream, this method assumes that the starting command byte /// has already been read. pub fn read_n_points<R>(mut reader: R) -> io::Result<u16> where R: ReadBytesExt, { reader.read_u16::<LE>() } /// Read and append the given number of points into the given Vec of **DacPoint**s. /// /// This method is useful as an alternative to **Self::read_fields** or /// **Self::read_from_bytes** as it allows for re-using a buffer of points rather than /// dynamically allocating a new one each time. /// /// Note that if reading from a stream, this method assumes that the starting command byte /// and the `u16` representing the number of points have both already been read. pub fn read_points<R>( mut reader: R, mut n_points: u16, points: &mut Vec<DacPoint>, ) -> io::Result<()> where R: ReadBytesExt, { while n_points > 0 { let dac_point = reader.read_bytes::<DacPoint>()?; points.push(dac_point); n_points -= 1; } Ok(()) } } impl Data<'static> { /// Consecutively read the fields of the **Data** type and return a **Data** instance. /// /// Note that if reading from a stream, this method assumes that the starting command byte /// has already been read. pub fn read_fields<R: ReadBytesExt>(mut reader: R) -> io::Result<Self> { let n_points = Self::read_n_points(&mut reader)?; let mut data = Vec::with_capacity(n_points as _); Self::read_points(reader, n_points, &mut data)?; let data = Data { points: Cow::Owned(data), }; Ok(data) } } impl<'a, C> Command for &'a C where C: Command, { const START_BYTE: u8 = C::START_BYTE; } impl Command for PrepareStream { const START_BYTE: u8 = 0x70; } impl Command for Begin { const START_BYTE: u8 = 0x62; } impl Command for PointRate { const START_BYTE: u8 = 0x74; } impl<'a> Command for Data<'a> { const START_BYTE: u8 = 0x64; } impl Command for Stop { const START_BYTE: u8 = 0x73; } impl Command for EmergencyStop { const START_BYTE: u8 = 0x00; } impl Command for EmergencyStopAlt { const START_BYTE: u8 = 0xff; } impl Command for ClearEmergencyStop { const START_BYTE: u8 = 0x63; } impl Command for Ping { const START_BYTE: u8 = 0x3f; } impl SizeBytes for PrepareStream { const SIZE_BYTES: usize = 1; } impl SizeBytes for Begin { const SIZE_BYTES: usize = 7; } impl SizeBytes for PointRate { const SIZE_BYTES: usize = 5; } impl SizeBytes for Stop { const SIZE_BYTES: usize = 1; } impl SizeBytes for EmergencyStop { const SIZE_BYTES: usize = 1; } impl SizeBytes for ClearEmergencyStop { const SIZE_BYTES: usize = 1; } impl SizeBytes for Ping { const SIZE_BYTES: usize = 1; } impl WriteToBytes for PrepareStream { fn write_to_bytes<W: WriteBytesExt>(&self, mut writer: W) -> io::Result<()> { writer.write_u8(Self::START_BYTE)?; Ok(()) } } impl WriteToBytes for Begin { fn write_to_bytes<W: WriteBytesExt>(&self, mut writer: W) -> io::Result<()> { writer.write_u8(Self::START_BYTE)?; writer.write_u16::<LE>(self.low_water_mark)?; writer.write_u32::<LE>(self.point_rate)?; Ok(()) } } impl WriteToBytes for PointRate { fn write_to_bytes<W: WriteBytesExt>(&self, mut writer: W) -> io::Result<()> { writer.write_u8(Self::START_BYTE)?; writer.write_u32::<LE>(self.0)?; Ok(()) } } impl<'a> WriteToBytes for Data<'a> { fn write_to_bytes<W: WriteBytesExt>(&self, mut writer: W) -> io::Result<()> { if self.points.len() > std::u16::MAX as usize { let err_msg = "the number of points exceeds the maximum possible `u16` value"; return Err(io::Error::new(io::ErrorKind::InvalidData, err_msg)); } writer.write_u8(Self::START_BYTE)?; writer.write_u16::<LE>(self.points.len() as u16)?; for point in self.points.iter() { writer.write_bytes(point)?; } Ok(()) } } impl WriteToBytes for Stop { fn write_to_bytes<W: WriteBytesExt>(&self, mut writer: W) -> io::Result<()> { writer.write_u8(Self::START_BYTE)?; Ok(()) } } impl WriteToBytes for EmergencyStop { fn write_to_bytes<W: WriteBytesExt>(&self, mut writer: W) -> io::Result<()> { writer.write_u8(Self::START_BYTE)?; Ok(()) } } impl WriteToBytes for EmergencyStopAlt { fn write_to_bytes<W: WriteBytesExt>(&self, mut writer: W) -> io::Result<()> { writer.write_u8(Self::START_BYTE)?; Ok(()) } } impl WriteToBytes for ClearEmergencyStop { fn write_to_bytes<W: WriteBytesExt>(&self, mut writer: W) -> io::Result<()> { writer.write_u8(Self::START_BYTE)?; Ok(()) } } impl WriteToBytes for Ping { fn write_to_bytes<W: WriteBytesExt>(&self, mut writer: W) -> io::Result<()> { writer.write_u8(Self::START_BYTE)?; Ok(()) } } impl ReadFromBytes for PrepareStream { fn read_from_bytes<R: ReadBytesExt>(mut reader: R) -> io::Result<Self> { let command = reader.read_u8()?; if command != Self::START_BYTE { let err_msg = "invalid \"prepare stream\" command byte"; return Err(io::Error::new(io::ErrorKind::InvalidData, err_msg)); } Ok(PrepareStream) } } impl ReadFromBytes for Begin { fn read_from_bytes<R: ReadBytesExt>(mut reader: R) -> io::Result<Self> { if reader.read_u8()? != Self::START_BYTE { let err_msg = "invalid \"begin\" command byte"; return Err(io::Error::new(io::ErrorKind::InvalidData, err_msg)); } Self::read_fields(reader) } } impl ReadFromBytes for PointRate { fn read_from_bytes<R: ReadBytesExt>(mut reader: R) -> io::Result<Self> { if reader.read_u8()? != Self::START_BYTE { let err_msg = "invalid \"queue change\" command byte"; return Err(io::Error::new(io::ErrorKind::InvalidData, err_msg)); } Self::read_fields(reader) } } impl ReadFromBytes for Data<'static> { fn read_from_bytes<R: ReadBytesExt>(mut reader: R) -> io::Result<Self> { if reader.read_u8()? != Self::START_BYTE { let err_msg = "invalid \"data\" command byte"; return Err(io::Error::new(io::ErrorKind::InvalidData, err_msg)); } Self::read_fields(reader) } } impl ReadFromBytes for Stop { fn read_from_bytes<R: ReadBytesExt>(mut reader: R) -> io::Result<Self> { let command = reader.read_u8()?; if command != Self::START_BYTE { let err_msg = "invalid \"stop\" command byte"; return Err(io::Error::new(io::ErrorKind::InvalidData, err_msg)); } Ok(Stop) } } impl ReadFromBytes for EmergencyStop { fn read_from_bytes<R: ReadBytesExt>(mut reader: R) -> io::Result<Self> { let command = reader.read_u8()?; if command != Self::START_BYTE && command != EmergencyStopAlt::START_BYTE { let err_msg = "invalid \"emergency stop\" command byte"; return Err(io::Error::new(io::ErrorKind::InvalidData, err_msg)); } Ok(EmergencyStop) } } impl ReadFromBytes for ClearEmergencyStop { fn read_from_bytes<R: ReadBytesExt>(mut reader: R) -> io::Result<Self> { let command = reader.read_u8()?; if command != Self::START_BYTE { let err_msg = "invalid \"clear emergency stop\" command byte"; return Err(io::Error::new(io::ErrorKind::InvalidData, err_msg)); } Ok(ClearEmergencyStop) } } impl ReadFromBytes for Ping { fn read_from_bytes<R: ReadBytesExt>(mut reader: R) -> io::Result<Self> { let command = reader.read_u8()?; if command != Self::START_BYTE { let err_msg = "invalid \"ping\" command byte"; return Err(io::Error::new(io::ErrorKind::InvalidData, err_msg)); } Ok(Ping) } } }