EtherCrab 0.5: Not Much In A Name
I've just released EtherCrab 0.5.0 (lib.rs), the pure Rust EtherCAT MainDevice. This is a smaller release than usual, with added support for FreeBSD/NetBSD and a bunch of renamed items in the public API. The full changelog can be found here.
Renamed items
This release removes the "master" and "slave" terminology in favour of the ETG-specified "MainDevice" and "SubDevice" respectively. The full list of changes is as follows:
| Type | Old | New |
|---|---|---|
enum | SlaveState | SubDeviceState |
fn | Client::num_slaves() | MainDevice::num_subdevices() |
fn | Ds402::slave() | Ds402::subdevice() |
fn | SlaveGroup::slave() | SubDeviceGroup::subdevice() |
mod | ethercrab::slave_group | ethercrab::subdevice_group |
struct | Client | MainDevice |
struct | ClientConfig | MainDeviceConfig |
struct | GroupSlaveIterator | GroupSubDeviceIterator |
struct | Slave | SubDevice |
struct | SlaveGroup | SubDeviceGroup |
struct | SlaveGroupRef | SubDeviceGroupRef |
struct | SlaveIdentity | SubDeviceIdentity |
struct | SlavePdi | SubDevicePdi |
struct | SlaveRef | SubDeviceRef |
variant | AlStatusCode::SlaveNeedsColdStart | AlStatusCode::SubDeviceNeedsColdStart |
variant | AlStatusCode::SlaveNeedsInit | AlStatusCode::SubDeviceNeedsInit |
variant | AlStatusCode::SlaveNeedsPreop | AlStatusCode::SubDeviceNeedsPreop |
variant | AlStatusCode::SlaveNeedsRestartedLocally | AlStatusCode::SubDeviceNeedsRestartedLocally |
variant | AlStatusCode::SlaveNeedsSafeop | AlStatusCode::SubDeviceNeedsSafeop |
variant | Error::UnknownSlave | Error::UnknownSubDevice |
This is largely a find and replace operation, but it's still a non-zero effort. Apologies for the
churn, but now EtherCrab is more consistent with ETG documentation, and the oddly named Client
struct is now called MainDevice. Frankly I don't know why I called it Client - it should've been
Master or Controller. It's fixed now anyway 🙂.
FreeBSD/NetBSD support
EtherCrab now supports FreeBSD and NetBSD! It might support other BSDs too although it hasn't been tested against anything but FreeBSD. If you use a BSD, please give EtherCrab a try and open any issues on GitHub - I'm not too familiar with the BSD ecosystem.
Other smaller changes
- MSRV is now 1.77, increased from 1.75.
- Strings loaded from SubDevices are now required to be valid ASCII. Previously, UTF-8 strings were accepted however the EtherCAT spec defines strings as ASCII-only (technically a subset of the full ASCII set).
- Some small changes to some
Errorvariants to reduce the size of the enum on embedded systems.