Struct CanOpenInterface 

pub struct CanOpenInterface {
    pub connection: Arc<Mutex<Connection>>,
    pub tx: Sender<TxPacket>,
    pub rx: Receiver<RxMessage>,
    pub sdo_clients: HashMap<u8, Arc<Mutex<SdoClient>>>,
    pub info: Arc<Mutex<CanOpenInfo>>,
    /* private fields */
}

Struct representing a CANopen interface.

Fields

connection: Arc<Mutex<Connection>>

Connection details.

tx: Sender<TxPacket>

Transmitter channel.

rx: Receiver<RxMessage>

Receiver channel.

sdo_clients: HashMap<u8, Arc<Mutex<SdoClient>>>

Map of SDO clients.

info: Arc<Mutex<CanOpenInfo>>

CANopen information.

Implementations

impl CanOpenInterface

pub fn get_sdo_client(&self, node_id: u8) -> Option<Arc<Mutex<SdoClient>>>

Retrieves an SDO client for a given node ID.

Arguments

• node_id - The ID of the node.

Returns

An Option containing an Arc<Mutex<SdoClient>> if found, otherwise None.

Examples

let client = can_interface.get_sdo_client(2).unwrap();
client.lock().await.download(0x1801, 2, &[1u8]).await;

pub async fn close()

impl CanOpenInterface

pub async fn send_nmt(&self, nmt: NmtCommand) -> Result<(), CoError>

Sends an NMT command through the CANopen interface.

Arguments

• nmt - The NMT command to be sent.

Returns

A Result indicating success or failure.

Examples

use oze_canopen::CanOpenInterface;
use oze_canopen::proto::nmt::{NmtCommand, NmtCommandSpecifier};

let interface = oze_canopen::start_interface();
let result = interface.send_nmt(NmtCommand::new(NmtCommandSpecifier::StartRemoteNode, 0)).await;

pub async fn send_nmt_command( &self, nmt_command: NmtCommandSpecifier, ) -> Result<(), CoError>

Sends an NMT command through the CANopen interface using a command specifier.

Arguments

• nmt_command - The NMT command specifier to be used.

Returns

A Result indicating success or failure.

Examples

use oze_canopen::CanOpenInterface;
use oze_canopen::proto::nmt::NmtCommandSpecifier;

let interface = oze_canopen::start_interface();
let result = interface.send_nmt_command(NmtCommandSpecifier::StartRemoteNode).await;

impl CanOpenInterface

pub async fn send_sync(&self) -> Result<(), CoError>

Trait Implementations

impl Clone for CanOpenInterface

fn clone(&self) -> Self

Clones the CanOpenInterface.

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

Performs copy-assignment from source.