Struct SolenoidGroup 

pub struct SolenoidGroup { /* private fields */ }

A group of pneumatic solenoids that can be controlled together.

SolenoidGroup wraps multiple AdiDigitalOut devices and provides methods to control them as a single unit. All operations are async and thread-safe using an Arc<Mutex<>> wrapper.

Use Cases

• Dual-acting pistons: Control both sides of a piston simultaneously
• Synchronized mechanisms: Ensure multiple pistons extend/retract together
• Redundant systems: Control backup solenoids alongside primary ones

Error Handling

Group operations return Result<(), GroupErrors> where GroupErrors is a vector of individual port errors. If all solenoids succeed, Ok(()) is returned. If any fail, Err(errors) contains all failures.

Implementations

impl SolenoidGroup

pub fn new(pneumatics: Vec<AdiDigitalOut>) -> Self

Creates a new solenoid group from a vector of digital outputs.

Arguments

• pneumatics - Vector of AdiDigitalOut devices to control together

Returns

A new SolenoidGroup wrapping the provided solenoids.

Example

let group = SolenoidGroup::new(vec![solenoid1, solenoid2]);

pub async fn use_at<F, R>(&self, index: usize, f: F) -> R

where F: FnOnce(&mut AdiDigitalOut) -> R,

Runs a function on a specific solenoid by index.

This method provides direct access to an individual solenoid within the group for custom operations.

Arguments

• index - Index of the solenoid to access (0-based)
• f - Closure that receives a mutable reference to the solenoid

Returns

The return value of the provided closure.

Panics

Panics if index is out of bounds.

pub async fn set_level(&self, logic: LogicLevel) -> Result<(), GroupErrors>

Sets the logic level for all solenoids.

Arguments

• logic - The LogicLevel to set (High or Low)

Returns

• Ok(()) - All solenoids set successfully
• Err(errors) - One or more solenoids failed; contains all errors

pub async fn extend(&self) -> Result<(), GroupErrors>

Extends all solenoids (sets to high).

Equivalent to set_level(LogicLevel::High). Use this to extend pneumatic cylinders.

Returns

• Ok(()) - All solenoids extended successfully
• Err(errors) - One or more solenoids failed

pub async fn retract(&self) -> Result<(), GroupErrors>

Retracts all solenoids (sets to low).

Equivalent to set_level(LogicLevel::Low). Use this to retract pneumatic cylinders.

Returns

• Ok(()) - All solenoids retracted successfully
• Err(errors) - One or more solenoids failed

pub async fn toggle(&self) -> Result<(), GroupErrors>

Toggles all solenoids.

Each solenoid switches to its opposite state (high → low, low → high). Note that solenoids toggle independently, so if they were in different states, they will swap states rather than synchronize.

Returns

• Ok(()) - All solenoids toggled successfully
• Err(errors) - One or more solenoids failed

pub async fn is_level(&self, logic: LogicLevel) -> bool

Checks if all solenoids are at the given logic level.

Arguments

• logic - The LogicLevel to check against

Returns

true if all solenoids are at the specified level, false otherwise. If any solenoid’s level cannot be read, it is treated as not matching.

Trait Implementations

impl Clone for SolenoidGroup

fn clone(&self) -> SolenoidGroup

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.