Struct NodeMbox 

pub struct NodeMbox { /* private fields */ }

A data structure to be shared between a receiving thread (e.g. a CAN controller IRQ) and the Node object.

Incoming messages should be passed to NodeMbox::store_message.

Implementations

impl NodeMbox

pub const fn new( rx_pdos: &'static [Pdo<'_>], tx_pdos: &'static [Pdo<'_>], tx_queue: &'static dyn CanMessageQueue, sdo_buffer: &'static mut [u8], ) -> Self

Create a new NodeMbox

Args

• rx_pdos: A slice of Pdo objects for all of the receive PDOs

pub fn set_process_notify_callback(&self, callback: &'static (dyn Fn() + Sync))

Set a callback for notification when a message is received and requires processing.

It must be static. Usually this will be a static fn, but in some circumstances, it may be desirable to use Box::leak to pass a heap allocated closure instead.

pub fn set_transmit_notify_callback(&self, callback: &'static (dyn Fn() + Sync))

Set a callback for when new transmit messages are queued

This will be called during process anytime new messages are ready to be queued

pub fn store_message(&self, msg: CanMessage) -> Result<(), CanMessage>

Store a received CAN message

pub fn next_transmit_message(&self) -> Option<CanMessage>

Get the next message ready for transmit

Messages are prioritized as follows:

• TPDOs first, if available, starting with TPDO0
• Other non-SDO messages (SYNC, LSS, NMT)
• SDO server responses

pub fn queue_transmit_message(&self, msg: CanMessage) -> Result<(), CanMessage>

Store a message for transmission in the general transmit queue