Struct DamiaoCodec 

pub struct DamiaoCodec { /* private fields */ }

Damiao motor codec.

Construct with DamiaoCodec::new. Implements [MotorCodec] for the vendor-agnostic surface and crate::DamiaoCodecExt for the Damiao-specific 0x7FF parameter sub-protocol.

Implementations

impl DamiaoCodec

pub fn new() -> Self

Construct a new codec. bind_to_bus must be called before any encode.

Trait Implementations

impl Clone for DamiaoCodec

fn clone(&self) -> DamiaoCodec

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl DamiaoCodecExt for DamiaoCodec

fn encode_read_param(&self, motor: MotorRef<'_>, rid: DamiaoRid) -> CanFrame

Encode a “read parameter” frame (command byte 0x33).

fn encode_write_param( &self, motor: MotorRef<'_>, rid: DamiaoRid, val: ParamValue, ) -> CanFrame

Encode a “write parameter” frame (command byte 0x55).

fn encode_save_to_flash(&self, motor: MotorRef<'_>) -> CanFrame

Encode a “save settings to flash” frame (command byte 0xAA).

fn encode_refresh(&self, motor: MotorRef<'_>) -> CanFrame

Encode a “request state feedback” frame (Damiao refresh_motor_status, command byte 0xCC on 0x7FF). The motor replies with a feedback frame; this commands no motion. (Byte-for-byte the openarm create_refresh_command.)

impl Debug for DamiaoCodec

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

Formats the value using the given formatter.

impl Default for DamiaoCodec

fn default() -> DamiaoCodec

Returns the “default value” for a type.

impl MotorCodec for DamiaoCodec

fn vendor_name(&self) -> &'static str

Vendor short name used in error messages and the TOML registry (e.g. "damiao").

fn supports(&self, motor_type: MotorTypeId) -> bool

True iff this codec can encode commands for and decode events from the supplied motor type.

fn limits(&self, motor_type: MotorTypeId) -> Result<Limits, CodecError>

Per-motor-type physical limits.

fn bind_to_bus(&mut self, caps: BusCapabilities)

Called exactly once when this codec is bound to a [crate::caps::BusCapabilities].

fn encode_enable(&self, motor: MotorRef<'_>) -> Result<CanFrame, CodecError>

Encode the lifecycle “enable motor” command.

fn encode_disable(&self, motor: MotorRef<'_>) -> Result<CanFrame, CodecError>

Encode the lifecycle “disable motor” command.

fn encode_set_zero(&self, motor: MotorRef<'_>) -> Result<CanFrame, CodecError>

Encode the lifecycle “set this position as zero” command.

fn encode_command( &self, motor: MotorRef<'_>, cmd: &Command, ) -> Result<CanFrame, CodecError>

Encode a control-mode command.

fn encode_refresh( &self, motor: MotorRef<'_>, ) -> Result<Option<CanFrame>, CodecError>

Encode a “request current motor state” frame, if the vendor protocol has one.

fn encode_set_mode( &self, motor: MotorRef<'_>, mode: CommandKind, ) -> Result<Option<CanFrame>, CodecError>

Encode a “set the motor’s persistent control mode” frame, if the vendor protocol supports it.

fn encode_control_mode_readback( &self, motor: MotorRef<'_>, ) -> Result<Option<CanFrame>, CodecError>

Encode a private control-mode read-back query, when supported.

fn decode_control_mode_readback( &self, frame: &CanFrame, motor: MotorRef<'_>, ) -> Result<Option<u32>, CodecError>

Decode a private control-mode read-back response for motor.

fn decode(&self, frame: &CanFrame) -> Result<Option<Event>, CodecError>

Decode an inbound frame.