Struct QueryFormat 

#[non_exhaustive]
pub struct QueryFormat {

    pub mode: Resolution,
    pub position: Resolution,
    pub velocity: Resolution,
    pub torque: Resolution,
    pub q_current: Resolution,
    pub d_current: Resolution,
    pub abs_position: Resolution,
    pub power: Resolution,
    pub motor_temperature: Resolution,
    pub trajectory_complete: Resolution,
    pub home_state: Resolution,
    pub voltage: Resolution,
    pub temperature: Resolution,
    pub fault: Resolution,
    pub aux1_gpio: Resolution,
    pub aux2_gpio: Resolution,
    pub aux1_pwm_input_period_us: Resolution,
    pub aux1_pwm_input_duty_cycle: Resolution,
    pub aux2_pwm_input_period_us: Resolution,
    pub aux2_pwm_input_duty_cycle: Resolution,
    pub extra: [(u16, Resolution); 16],
}

Format configuration for queries.

Specifies which registers to query and at what resolution. Setting a field to Resolution::Ignore means that register will not be queried.

Examples

use moteus_protocol::Resolution;
use moteus_protocol::query::QueryFormat;

// Default format queries position, velocity, torque, and q_current
let default = QueryFormat::default();

// Comprehensive format includes all standard registers
let full = QueryFormat::comprehensive();

// Or customize individual registers
let mut custom = QueryFormat::default();
custom.abs_position = Resolution::Float;
custom.voltage = Resolution::Int16;

Fields (Non-exhaustive)

Non-exhaustive structs could have additional fields added in future. Therefore, non-exhaustive structs cannot be constructed in external crates using the traditional Struct { .. } syntax; cannot be matched against without a wildcard ..; and struct update syntax will not work.

mode: Resolution

position: Resolution

velocity: Resolution

torque: Resolution

q_current: Resolution

d_current: Resolution

abs_position: Resolution

power: Resolution

motor_temperature: Resolution

trajectory_complete: Resolution

home_state: Resolution

voltage: Resolution

temperature: Resolution

fault: Resolution

aux1_gpio: Resolution

aux2_gpio: Resolution

aux1_pwm_input_period_us: Resolution

aux1_pwm_input_duty_cycle: Resolution

aux2_pwm_input_period_us: Resolution

aux2_pwm_input_duty_cycle: Resolution

extra: [(u16, Resolution); 16]

Extra registers to query, as (register_number, resolution) pairs. Entries with Resolution::Ignore are unused. Active entries must be sorted by register number (maintained by add_extra).

Implementations

impl QueryFormat

pub fn minimal() -> QueryFormat

Creates a minimal query format (mode, position, velocity, torque only).

pub fn comprehensive() -> QueryFormat

Creates a comprehensive query format with all common fields.

pub fn extra_count(&self) -> usize

Returns the number of active extra register entries.

pub fn add_extra(&mut self, register: u16, resolution: Resolution)

Adds an extra register to query.

pub fn serialize(&self, frame: &mut CanFdFrame) -> u8

Serializes the query to a CAN frame and returns expected reply size.

Examples found in repository

examples/protocol_only.rs (line 64)

fn main() {
    println!("=== moteus-protocol Example ===\n");

    // Example 1: Create a stop command
    println!("1. Creating a stop command for servo ID 1:");
    let mut stop_frame = CanFdFrame::new();
    stop_frame.arbitration_id = calculate_arbitration_id(0, 1, 0, true);
    StopCommand::serialize(&mut stop_frame);
    print_frame(&stop_frame);

    // Example 2: Create a position command using builder pattern
    println!("\n2. Creating a position command:");
    let mut pos_frame = CanFdFrame::new();
    pos_frame.arbitration_id = calculate_arbitration_id(0, 1, 0, true);

    let pos_cmd = PositionCommand::new()
        .position(0.5) // 0.5 revolutions
        .velocity(1.0) // 1.0 rev/s
        .kp_scale(1.0)
        .kd_scale(1.0);
    let pos_format = PositionFormat::default();

    pos_cmd.serialize(&mut pos_frame, &pos_format);
    print_frame(&pos_frame);

    // Example 3: Create a query-only command
    println!("\n3. Creating a query-only command:");
    let mut query_frame = CanFdFrame::new();
    query_frame.arbitration_id = calculate_arbitration_id(0, 1, 0, true);

    let mut custom_query = QueryFormat::default();
    custom_query.position = Resolution::Float; // Request full precision
    custom_query.velocity = Resolution::Float;
    custom_query.torque = Resolution::Float;

    let reply_size = custom_query.serialize(&mut query_frame);
    print_frame(&query_frame);
    println!("  Expected reply size: {} bytes", reply_size);

    // Example 4: Parse a simulated response
    println!("\n4. Parsing a simulated response:");

    // Construct a fake response frame as if from servo ID 1
    let mut response = CanFdFrame::new();
    response.arbitration_id = calculate_arbitration_id(1, 0, 0, false);

    // Manually construct response data:
    // This would normally come from the CAN bus
    // Format: [reply header] [register] [values...]
    response.data[0] = 0x21; // Reply Int8, count=1
    response.data[1] = 0x00; // Register 0 (Mode)
    response.data[2] = 0x0A; // Mode = Position (10)
    response.data[3] = 0x2D; // Reply Float (0x2c), count=1 (0x01)
    response.data[4] = 0x01; // Register 1 (Position)
    response.data[5] = 0x00; // Position as f32 (0.5)
    response.data[6] = 0x00;
    response.data[7] = 0x00;
    response.data[8] = 0x3F;
    response.size = 9;

    let result = QueryResult::parse(&response);
    println!("  Parsed QueryResult:");
    println!("    Mode: {:?}", result.mode);
    println!("    Position: {:.4} rev", result.position);
    println!("    Velocity: {:.4} rev/s", result.velocity);
    println!("    Torque: {:.4} Nm", result.torque);

    // Example 5: Create a current (torque) command using builder pattern
    println!("\n5. Creating a current command:");
    let mut current_frame = CanFdFrame::new();
    current_frame.arbitration_id = calculate_arbitration_id(0, 1, 0, true);

    let current_cmd = CurrentCommand::new().d_current(0.0).q_current(0.5);
    current_cmd.serialize(&mut current_frame, &CurrentFormat::default());
    print_frame(&current_frame);

    // Example 6: Create a brake command
    println!("\n6. Creating a brake command:");
    let mut brake_frame = CanFdFrame::new();
    brake_frame.arbitration_id = calculate_arbitration_id(0, 1, 0, true);

    BrakeCommand::serialize(&mut brake_frame);
    print_frame(&brake_frame);
    println!("  Mode byte: {} (Brake=15)", brake_frame.data[2]);

    println!("\n=== Done ===");
}

Trait Implementations

impl Clone for QueryFormat

fn clone(&self) -> QueryFormat

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for QueryFormat

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl Default for QueryFormat

fn default() -> QueryFormat

Returns the “default value” for a type.