modbus disconnect

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 = "0.2.26"
+version = "0.2.27"
 
 [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 = "3.2.4"
+version = "3.2.5"
 
 [dependencies]
 jsonrpsee = {version = "0.24", features = ["client-core", "macros"]}

proto/Cargo.toml

@@ -390,6 +390,10 @@ mod lebai_sdk {
 
         //MODBUS
         #[classmethod]
+        pub async fn disconnect_modbus(&self, device: String) -> Result<()> {
+            self.0.disconnect_modbus(device).await
+        }
+        #[classmethod]
         pub async fn set_modbus_timeout(&self, device: String, timeout: u32) -> Result<()> {
             self.0.set_modbus_timeout(device, timeout).await
         }

proto/lebai-proto

@@ -3,6 +3,11 @@ use cmod::Result;
 use proto::lebai::modbus::*;
 
 impl Robot {
+    pub(crate) async fn disconnect_modbus(&self, device: String) -> Result<()> {
+        let req = DisconnectModbusRequest { device };
+        let _ = self.c.disconnect_modbus(Some(req)).await.map_err(|e| e.to_string())?;
+        Ok(())
+    }
     pub(crate) async fn set_modbus_timeout(&self, device: String, timeout: u32) -> Result<()> {
         let req = SetModbusTimeoutRequest { device, timeout };
         let _ = self.c.set_modbus_timeout(Some(req)).await.map_err(|e| e.to_string())?;