sdo_exchange.rs

use std::error::Error;
use futures_concurrency::future::Join;
use etherage::{
    EthernetSocket, RawMaster,
    Sdo, SlaveAddress, Slave, CommunicationState,
    };
use bilge::prelude::u2;

#[tokio::main]
async fn main() -> Result<(), Box<dyn Error>> {
    let master = RawMaster::new(EthernetSocket::new("eno1")?);
    
    let mut slave = Slave::raw(master.clone(), SlaveAddress::AutoIncremented(0));
    slave.switch(CommunicationState::Init).await.unwrap();
    slave.set_address(1).await.unwrap();
    slave.init_coe().await.unwrap();

    slave.switch(CommunicationState::PreOperational).await.unwrap();

    let sdo = Sdo::<u32>::complete(0x1c12);
    let priority = u2::new(1);

    // test read/write
    let received = slave.coe().await.sdo_read(&sdo, priority).await.unwrap();
    slave.coe().await.sdo_write(&sdo, priority, received).await.unwrap();
    
    // test concurrent read/write
    (
        async {
            println!("begin");
            let received = slave.coe().await.sdo_read(&sdo, priority).await.unwrap();
            println!("between");
            slave.coe().await.sdo_write(&sdo, priority, received).await.unwrap();
            println!("end");
        },
        async {
            println!("begin");
            let received = slave.coe().await.sdo_read(&sdo, priority).await.unwrap();
            println!("between");
            slave.coe().await.sdo_write(&sdo, priority, received).await.unwrap();
            println!("end");
        },
    ).join().await;
    
    Ok(())
}