Struct SdoClient 

pub struct SdoClient<S, R> { /* private fields */ }

A client for accessing a node’s SDO server

A single server can talk to a single client at a time.

Implementations

impl<S: AsyncCanSender, R: AsyncCanReceiver> SdoClient<S, R>

pub fn new_std(server_node_id: u8, sender: S, receiver: R) -> Self

Create a new SdoClient using a node ID

Nodes have a default SDO server, which uses a COB ID based on the node ID. This is a shortcut to create a client that that default SDO server.

It is possible for nodes to have other SDO servers on other COB IDs, and clients for these can be created using Self::new()

pub fn new( req_cob_id: CanId, resp_cob_id: CanId, sender: S, receiver: R, ) -> Self

Create a new SdoClient from request and response COB IDs

pub fn set_timeout(&mut self, timeout: Duration)

Set the timeout for waiting on SDO server responses

pub fn get_timeout(&self) -> Duration

Get the current timeout for waiting on SDO server responses

pub async fn download( &mut self, index: u16, sub: u8, data: &[u8], ) -> Result<(), SdoClientError>

Write data to a sub-object on the SDO server

pub async fn upload( &mut self, index: u16, sub: u8, ) -> Result<Vec<u8>, SdoClientError>

Read a sub-object on the SDO server

pub async fn block_download( &mut self, index: u16, sub: u8, data: &[u8], ) -> Result<(), SdoClientError>

Perform a block download to transfer data to an object

Block downloads are more efficient for large amounts of data, but may not be supported by all devices.

pub async fn block_upload( &mut self, index: u16, sub: u8, ) -> Result<Vec<u8>, SdoClientError>

Perform a block upload of data from the node

pub async fn read_f64( &mut self, index: u16, sub: u8, ) -> Result<f64, SdoClientError>

Read a f64 sub object from the SDO server

pub async fn write_f64( &mut self, index: u16, sub: u8, value: f64, ) -> Result<(), SdoClientError>

Write a f64 sub object from the SDO server

pub async fn read_f32( &mut self, index: u16, sub: u8, ) -> Result<f32, SdoClientError>

Read a f32 sub object from the SDO server

pub async fn write_f32( &mut self, index: u16, sub: u8, value: f32, ) -> Result<(), SdoClientError>

Write a f32 sub object from the SDO server

pub async fn read_u64( &mut self, index: u16, sub: u8, ) -> Result<u64, SdoClientError>

Read a u64 sub object from the SDO server

pub async fn write_u64( &mut self, index: u16, sub: u8, value: u64, ) -> Result<(), SdoClientError>

Write a u64 sub object from the SDO server

pub async fn read_u32( &mut self, index: u16, sub: u8, ) -> Result<u32, SdoClientError>

Read a u32 sub object from the SDO server

pub async fn write_u32( &mut self, index: u16, sub: u8, value: u32, ) -> Result<(), SdoClientError>

Write a u32 sub object from the SDO server

pub async fn read_u24( &mut self, index: u16, sub: u8, ) -> Result<u24, SdoClientError>

Read a u24 sub object from the SDO server

pub async fn write_u24( &mut self, index: u16, sub: u8, value: u24, ) -> Result<(), SdoClientError>

Write a u24 sub object from the SDO server

pub async fn read_u16( &mut self, index: u16, sub: u8, ) -> Result<u16, SdoClientError>

Read a u16 sub object from the SDO server

pub async fn write_u16( &mut self, index: u16, sub: u8, value: u16, ) -> Result<(), SdoClientError>

Write a u16 sub object from the SDO server

pub async fn read_u8( &mut self, index: u16, sub: u8, ) -> Result<u8, SdoClientError>

Read a u8 sub object from the SDO server

pub async fn write_u8( &mut self, index: u16, sub: u8, value: u8, ) -> Result<(), SdoClientError>

Write a u8 sub object from the SDO server

pub async fn read_i64( &mut self, index: u16, sub: u8, ) -> Result<i64, SdoClientError>

Read a i64 sub object from the SDO server

pub async fn write_i64( &mut self, index: u16, sub: u8, value: i64, ) -> Result<(), SdoClientError>

Write a i64 sub object from the SDO server

pub async fn read_i32( &mut self, index: u16, sub: u8, ) -> Result<i32, SdoClientError>

Read a i32 sub object from the SDO server

pub async fn write_i32( &mut self, index: u16, sub: u8, value: i32, ) -> Result<(), SdoClientError>

Write a i32 sub object from the SDO server

pub async fn read_i24( &mut self, index: u16, sub: u8, ) -> Result<i24, SdoClientError>

Read a i24 sub object from the SDO server

pub async fn write_i24( &mut self, index: u16, sub: u8, value: i24, ) -> Result<(), SdoClientError>

Write a i24 sub object from the SDO server

pub async fn read_i16( &mut self, index: u16, sub: u8, ) -> Result<i16, SdoClientError>

Read a i16 sub object from the SDO server

pub async fn write_i16( &mut self, index: u16, sub: u8, value: i16, ) -> Result<(), SdoClientError>

Write a i16 sub object from the SDO server

pub async fn read_i8( &mut self, index: u16, sub: u8, ) -> Result<i8, SdoClientError>

Read a i8 sub object from the SDO server

pub async fn write_i8( &mut self, index: u16, sub: u8, value: i8, ) -> Result<(), SdoClientError>

Write a i8 sub object from the SDO server

pub async fn write_time_of_day( &mut self, index: u16, sub: u8, data: TimeOfDay, ) -> Result<(), SdoClientError>

Write to a TimeOfDay object on the SDO server

pub async fn write_time_difference( &mut self, index: u16, sub: u8, data: TimeDifference, ) -> Result<(), SdoClientError>

Write to a TimeDifference object on the SDO server

pub async fn read_utf8( &mut self, index: u16, sub: u8, ) -> Result<String, SdoClientError>

Read a string from the SDO server

pub async fn read_time_of_day( &mut self, index: u16, sub: u8, ) -> Result<TimeOfDay, SdoClientError>

Read a TimeOfDay object from the SDO server

pub async fn read_time_difference( &mut self, index: u16, sub: u8, ) -> Result<TimeDifference, SdoClientError>

Read a TimeOfDay object from the SDO server

pub async fn read_visible_string( &mut self, index: u16, sub: u8, ) -> Result<String, SdoClientError>

Read an object as a visible string

It will be read and assumed to contain valid UTF8 characters

pub async fn read_bool( &mut self, index: u16, sub: u8, ) -> Result<bool, SdoClientError>

Read an object as a boolean

pub async fn write_bool( &mut self, index: u16, sub: u8, value: bool, ) -> Result<(), SdoClientError>

Write an object as a boolean

pub async fn read_identity(&mut self) -> Result<LssIdentity, SdoClientError>

Read the identity object

All nodes should implement this object

pub async fn save_objects(&mut self) -> Result<(), SdoClientError>

Write object 0x1010sub1 to command all objects be saved

pub async fn read_device_name(&mut self) -> Result<String, SdoClientError>

Read the device name object

All nodes should implement this object

pub async fn read_software_version(&mut self) -> Result<String, SdoClientError>

Read the software version object

All nodes should implement this object

pub async fn read_hardware_version(&mut self) -> Result<String, SdoClientError>

Read the hardware version object

All nodes should implement this object

pub async fn configure_tpdo( &mut self, pdo_num: usize, cfg: &PdoConfig, ) -> Result<(), SdoClientError>

Configure a transmit PDO on the device

This is a convenience function to write the PDO comm and mapping objects based on a PdoConfig.

pub async fn configure_rpdo( &mut self, pdo_num: usize, cfg: &PdoConfig, ) -> Result<(), SdoClientError>

Configure a receive PDO on the device

This is a convenience function to write the PDO comm and mapping objects based on a PdoConfig.

pub async fn set_rpdo_cob_id( &mut self, pdo_num: usize, cob_id: CanId, valid: bool, rtr_disabled: bool, ) -> Result<(), SdoClientError>

Set the COB_ID config for an RPDO

Can be used to enable/disable, or change COB ID for a PDO without changing other settings

pub async fn set_tpdo_cob_id( &mut self, pdo_num: usize, cob_id: CanId, valid: bool, rtr_disabled: bool, ) -> Result<(), SdoClientError>

Set the COB_ID config for an RPDO

Can be used to enable/disable, or change COB ID for a PDO without changing other settings

pub async fn read_rpdo_config( &mut self, pdo_num: usize, ) -> Result<PdoConfig, SdoClientError>

Read the configuration of an RPDO from the node

pub async fn read_tpdo_config( &mut self, pdo_num: usize, ) -> Result<PdoConfig, SdoClientError>

Read the configuration of a TPDO from the node

Trait Implementations

impl<S: Debug, R: Debug> Debug for SdoClient<S, R>

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

Formats the value using the given formatter.