Struct BusManager 

pub struct BusManager<S: AsyncCanSender + Sync + Send> { /* private fields */ }

Manage a zencan bus

Implementations

impl<S: AsyncCanSender + Sync + Send> BusManager<S>

pub fn new(sender: S, receiver: impl AsyncCanReceiver + Sync + 'static) -> Self

Create a new bus manager

Arguments

• sender: An object which implements AsyncCanSender to be used for sending messages to the bus
• receiver: An object which implements AsyncCanReceiver to be used for receiving messages from the bus

When using socketcan, these can be created with crate::open_socketcan

pub fn sdo_client( &self, node_id: u8, ) -> SdoClientGuard<'_, SharedSender<S>, SharedReceiverChannel>

Get an SDO client for a particular node

This function may block if another task is using the required SDO client, as it ensures exclusive access to each node’s SDO server.

pub async fn node_list(&self) -> Vec<NodeInfo>

Get a list of known nodes

pub async fn scan_nodes(&mut self) -> Result<Vec<NodeInfo>, SdoClientError>

Perform a scan of all possible node IDs

Will find all configured devices, and read metadata from required objects, including:

• Identity
• Device Name
• Software Version
• Hardware Version

pub async fn lss_fastscan(&mut self, timeout: Duration) -> Vec<LssIdentity>

Find all unconfigured devices on the bus

The LSS fastscan protocol is used to identify devices which do not have an assigned node ID.

Devices that do have a node ID can be found using scan_nodes, or by their heartbeat messages.

After devices are found, they are all put back into waiting state

pub async fn lss_activate(&mut self, ident: LssIdentity) -> Result<(), LssError>

Activate a single LSS slave by its identity

All nodes are put into Waiting mode via the global command, then the specified node is activates. Will return Ok(()) if the activated node acknowledges, or an Err otherwise.

The identity consists of the four u32 values from the 0x1018 object, which should uniquely identify a device on the bus. If they are not known, they can be found using lss_fastscan().

pub async fn lss_set_node_id(&mut self, node_id: NodeId) -> Result<(), LssError>

Set the node ID of LSS slave in Configuration mode

It is required that one node has been put into Configuration mode already when this is called, e.g. using lss_activate

pub async fn lss_store_config(&mut self) -> Result<(), LssError>

Command the node in Configuration mode to store its configuration

It is required that one node has been put into Configuration mode already when this is called, e.g. using lss_activate

pub async fn lss_set_global_mode(&mut self, mode: LssState)

Send a command to put all devices into the specified LSS state

pub async fn nmt_reset_app(&mut self, node: u8)

Send application reset command

node - The node ID to command, or 0 to broadcast to all nodes

pub async fn nmt_reset_comms(&mut self, node: u8)

Send communications reset command

node - The node ID to command, or 0 to broadcast to all nodes

pub async fn nmt_start(&mut self, node: u8)

Send start operation command

node - The node ID to command, or 0 to broadcast to all nodes

pub async fn nmt_stop(&mut self, node: u8)

Send start operation command

node - The node ID to command, or 0 to broadcast to all nodes

pub async fn read_pdo_config( &mut self, node: ConfiguredNodeId, ) -> Result<PdoScanResult, SdoClientError>

Read the RPDO and TPDO configuration for the specified node

node - The node ID to read from

Trait Implementations

impl<S: Debug + AsyncCanSender + Sync + Send> Debug for BusManager<S>

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

Formats the value using the given formatter.