Enum HeaderLayout 

pub enum HeaderLayout {
    Robot,
    Gripper,
}

Which of the two protocol header layouts a TCP session frames with.

libfranka has one CommandHeader per protocol: the robot’s has a uint32_t command (research_interface/robot/service_types.h), the gripper’s a uint16_t command (research_interface/gripper/types.h). The framing code is otherwise identical, so the Rust crate::network::TcpSession is generic over this enum instead of over a type.

Variants

Robot

12-byte header: u32 command, u32 command_id, u32 size.

Gripper

10-byte header: u16 command, u32 command_id, u32 size.

Implementations

impl HeaderLayout

pub const fn header_len(self) -> usize

Size of the header in bytes (12 for the robot, 10 for the gripper).

pub const fn command_width(self) -> usize

Width of the leading command field in bytes (4 for the robot, 2 for the gripper).

pub fn encode_header( self, command: u32, command_id: u32, payload_len: usize, ) -> Vec<u8>

Writes a header for command into a fresh byte vector, reserving room for payload_len.

size counts the header itself, exactly like libfranka’s CommandHeader::size.

pub fn decode_header(self, buf: &[u8]) -> Option<(u32, u32, u32)>

Decodes command, command_id and size out of a header-sized prefix of buf.

Returns None when buf is shorter than HeaderLayout::header_len.

Trait Implementations

impl Clone for HeaderLayout

fn clone(&self) -> HeaderLayout

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for HeaderLayout

impl Debug for HeaderLayout

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Eq for HeaderLayout

impl PartialEq for HeaderLayout

fn eq(&self, other: &HeaderLayout) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for HeaderLayout