Rust API: Add Transport::from_device() for single-device construction

Author: jpieper

lib/rust/moteus/README.md

@@ -68,12 +68,13 @@ let cmd = PositionCommand::new()
 For more control, you can specify a transport explicitly:
 
 ```rust,no_run
-use moteus::{BlockingController, TransportOptions};
+use moteus::{BlockingController, Transport};
+use moteus::transport::socketcan::SocketCan;
 
 fn main() -> Result<(), moteus::Error> {
-    let opts = TransportOptions::new()
-        .socketcan_interfaces(vec!["can0"]);
-    let mut ctrl = BlockingController::with_options(1, &opts);
+    let transport = Transport::from_device(SocketCan::new("can0")?);
+    let mut ctrl = BlockingController::new(1)
+        .transport(transport);
 
     ctrl.set_stop()?;
     Ok(())

lib/rust/moteus/src/transport/mod.rs

@@ -476,6 +476,26 @@ fn compute_parent_indices(devices: &[Box<dyn TransportDevice>]) -> Vec<usize> {
 }
 
 impl Transport {
+    /// Creates a transport from a single device.
+    ///
+    /// This is the simplest way to create a transport when you know
+    /// exactly which device to use.
+    ///
+    /// # Example
+    ///
+    /// ```no_run
+    /// use moteus::transport::socketcan::SocketCan;
+    /// use moteus::Transport;
+    ///
+    /// fn main() -> Result<(), moteus::Error> {
+    ///     let transport = Transport::from_device(SocketCan::new("can0")?);
+    ///     Ok(())
+    /// }
+    /// ```
+    pub fn from_device(device: impl TransportDevice + 'static) -> Self {
+        Self::new(vec![Box::new(device)])
+    }
+
     /// Creates a new transport from a list of devices.
     ///
     /// The devices will be assigned sequential IDs starting from 0.