dio_mode

Author: rise0chen

Cargo.lock

@@ -5,7 +5,7 @@ edition = "2021"
 license-file = "LICENSE"
 name = "lebai_sdk"
 repository = "https://github.com/lebai-robotics/lebai-sdk.rs"
-version = "0.2.20"
+version = "0.2.21"
 
 [workspace]
 members = [

Cargo.toml

@@ -6,7 +6,7 @@ keywords = ["protobuf"]
 license = "MIT"
 name = "lebai-proto"
 repository = "https://github.com/lebai-robotics/lebai-sdk.rs"
-version = "3.2.2"
+version = "3.2.3"
 
 [dependencies]
 jsonrpsee = {version = "0.24", features = ["client-core", "macros"]}

proto/Cargo.toml

@@ -5,11 +5,12 @@ mod rpc;
 mod runtime;
 
 #[cmod::cmod]
-pub mod lebai_sdk {
+mod lebai_sdk {
     use super::*;
     use cmod::Result;
     use proto::lebai::claw::Claw;
     use proto::lebai::dynamic::Payload;
+    use proto::lebai::io::DigitalMode;
     use proto::lebai::posture::Position;
     use proto::lebai::system::{EstopReason, PhyData, RobotState};
     use proto::serde::kinematic::KinData;
@@ -208,6 +209,16 @@ pub mod lebai_sdk {
 
         //IO
         #[classmethod]
+        #[cmod::tags(args(device, mode))]
+        pub async fn set_dio_mode(&self, device: String, pin: u32, mode: DigitalMode) -> Result<()> {
+            self.0.set_dio_mode(device, pin, mode).await
+        }
+        #[classmethod]
+        #[cmod::tags(args(device), ret)]
+        pub async fn get_dio_mode(&self, device: String, pin: u32) -> Result<DigitalMode> {
+            self.0.get_dio_mode(device, pin).await
+        }
+        #[classmethod]
         #[cmod::tags(args(device))]
         pub async fn set_do(&self, device: String, pin: u32, value: u32) -> Result<()> {
             self.0.set_do(device, pin, value).await

proto/lebai-proto

@@ -3,6 +3,23 @@ use cmod::Result;
 use proto::lebai::io::*;
 
 impl Robot {
+    pub(crate) async fn set_dio_mode(&self, device: String, pin: u32, mode: DigitalMode) -> Result<()> {
+        let req = SetDioModeRequest {
+            device: IoDevice::from(&*device).into(),
+            pin,
+            mode: mode.into(),
+        };
+        let _ = self.c.set_dio_mode(Some(req)).await.map_err(|e| e.to_string())?;
+        Ok(())
+    }
+    pub(crate) async fn get_dio_mode(&self, device: String, pin: u32) -> Result<DigitalMode> {
+        let req = GetDioModeRequest {
+            device: IoDevice::from(&*device).into(),
+            pin,
+        };
+        let resp = self.c.get_dio_mode(Some(req)).await.map_err(|e| e.to_string())?;
+        Ok(resp.mode())
+    }
     pub(crate) async fn set_do(&self, device: String, pin: u32, value: u32) -> Result<()> {
         let req = SetDoPinRequest {
             device: IoDevice::from(&*device).into(),