franka/wire/robot/mod.rs
1//! Robot protocol wire structs, one module per FCI version.
2//!
3//! FCI version 10 (Franka Research 3, libfranka 0.21.2) lives in [`v10`] and is re-exported
4//! here, so that the rest of the crate can refer to `wire::robot::RobotState` without naming a
5//! version. FCI version 5 (Franka Emika Robot, FER, libfranka 0.9.2) lives in [`v5`] and is always
6//! named explicitly.
7//!
8//! [`codec`] is the seam between the two: it turns an [`codec::FciVersion`] plus
9//! version-agnostic arguments into the right bytes, and version-specific bytes back into the
10//! shared Rust types.
11
12pub mod codec;
13pub mod v10;
14pub mod v5;
15
16pub use v10::*;