Struct Bus 

pub struct Bus { /* private fields */ }

One CAN interface plus the vendor codec attached to it.

One Bus instance per physical interface; the codec is shared across every group attached to the bus, so inbound frames are decoded exactly once per frame.

Implementations

impl Bus

pub fn new(transport: Box<dyn CanBus>, codec: Box<dyn MotorCodec>) -> Self

Construct a bus and invoke codec.bind_to_bus(transport.capabilities()) exactly once.

pub fn vendor(&self) -> &str

Vendor short-name of the attached codec.

pub fn capabilities(&self) -> BusCapabilities

Capabilities reported by the underlying transport.

pub fn codec_supports(&self, mt: MotorTypeId) -> bool

True iff the bus’s codec can encode/decode this motor type.

pub fn routes(&self) -> &HashMap<u32, RouteKey>

Read-only access to the per-bus recv-id routing table (populated by Robot::connect).