set_flange_baud_rate

Author: rise0chen

Cargo.lock

@@ -6,7 +6,7 @@ keywords = ["protobuf"]
 license = "MIT"
 name = "lebai-proto"
 repository = "https://github.com/lebai-robotics/lebai-sdk.rs"
-version = "3.2.5"
+version = "3.2.6"
 
 [dependencies]
 jsonrpsee = {version = "0.24", features = ["client-core", "macros"]}

proto/Cargo.toml

@@ -26,6 +26,7 @@ fn main() -> io::Result<()> {
         root.join("serial.proto"),
         root.join("modbus.proto"),
         root.join("led.proto"),
+        root.join("flange.proto"),
         root.join("claw.proto"),
         root.join("backup.proto"),
         root.join("hardware.proto"),

proto/build.rs

@@ -109,6 +109,11 @@ pub mod lebai {
         include!(concat!(env!("OUT_DIR"), "/lebai.led.serde.rs"));
         include!(concat!(env!("OUT_DIR"), "/lebai.led.jsonrpc.rs"));
     }
+    pub mod flange {
+        include!(concat!(env!("OUT_DIR"), "/lebai.flange.rs"));
+        include!(concat!(env!("OUT_DIR"), "/lebai.flange.serde.rs"));
+        include!(concat!(env!("OUT_DIR"), "/lebai.flange.jsonrpc.rs"));
+    }
     pub mod claw {
         include!(concat!(env!("OUT_DIR"), "/lebai.claw.rs"));
         include!(concat!(env!("OUT_DIR"), "/lebai.claw.serde.rs"));

proto/lebai-proto

@@ -451,6 +451,12 @@ mod lebai_sdk {
             self.0.get_claw().await
         }
 
+        //Flange
+        #[classmethod]
+        pub async fn set_flange_baud_rate(&self, baud_rate: u32) -> Result<()> {
+            self.0.set_flange_baud_rate(baud_rate).await
+        }
+
         //LED
         #[classmethod]
         #[cmod::tags(ret)]

proto/src/lib.rs

@@ -0,0 +1,11 @@
+use super::Robot;
+use cmod::Result;
+use proto::lebai::flange::*;
+
+impl Robot {
+    pub(crate) async fn set_flange_baud_rate(&self, baud_rate: u32) -> Result<()> {
+        let req = SetFlangeBaudRateRequest { baud_rate };
+        let _ = self.c.set_flange_baud_rate(Some(req)).await.map_err(|e| e.to_string())?;
+        Ok(())
+    }
+}

src/lib.rs

@@ -1,5 +1,6 @@
 pub mod claw;
 pub mod dynamic;
+pub mod flange;
 pub mod io;
 pub mod kinematic;
 pub mod led;