v0.3.2

Added

• #122 Added Slave{Ref}::propagation_delay() to get the EtherCAT propagation delay for a
  specific device on the network.
• #126 Implement PduRead and PduData for [u8; N].

Fixed

• #121 Linux only: Relax 'static lifetime requirement on std::tx_rx_task to a named
  lifetime to allow non-'static storage to be used.
• #124 Fixed some spurious panics from race conditions by using atomic wakers.
• #127 Improve frame allocation reliability when contention is high.

Changed

• (breaking) #124 Changed PduTx::waker() to PduTx::replace_waker(). Instead of calling
  e.g. pdu_tx.waker().replace(ctx.waker().clone()), now it should be
  pdu_tx.replace_waker(ctx.waker()).
• (potentially breaking) #125 Package upgrades, notably async_io and futures_lite from 1.x to
  2.0.

v0.3.1

Housekeeping release. Please see release notes for v0.3.0.

v0.3.0

Added

• #91 Add support for "cross" topologies, e.g. with EK1122.

• #102 PDU retry behaviour is now configurable between no retries, a limited count, or retrying
  forever with the RetryBehaviour struct and associated ClientConfig.retry_behaviour option.

• #103 Added optional serde feature to enable ser/de of some EtherCrab items.

• #104 Implement std::error::Error for ethercrab::error::Error when the std feature is
  enabled.

• #107 Add watchdog fields to Register enum: WatchdogDivider, PdiWatchdog
SyncManagerWatchdog, SyncManagerWatchdogStatus SyncManagerWatchdogCounter,
  PdiWatchdogCounter.

• #113 SlaveState now implements PduRead so can now be read directly, e.g.

  let (status, _wkc) =
      Command::fprd(slave.configured_address(), RegisterAddress::AlStatus.into())
          .receive::<SlaveState>(&client)
          .await?;

Changed

• #92 If no slave devices are detected, Client::init will no longer exit with an error.
• (breaking) #101 SendableFrame::send_blocking and SendableFrame::send must now return the
  number of bytes sent over the network.
• (breaking) #101 SendableFrame::write_ethernet_packet is no longer pub. Instead, use
  SendableFrame::send_blocking or SendableFrame::send.
• #103 Removed inner smoltcp::error::Error from PduError::Ethernet and PduError::CreateFrame
  as these don't add much meaning to the variant.
• (breaking) #109 Make all methods on PduLoop private.
• (breaking) #113 Command::{code,address,parse} are no longer pub.
• (breaking) #119 Changed SlaveState::Unknown to SlaveState::Other(u8) to better represent
  unknown or different states of multiple slaves (e.g. when sending a BRD).

Removed

• (breaking) #99 All PDU methods on Client (Client::bwr, Client::fprd) have been
  removed. Instead, use the same methods on Command like Command::bwr, Command::fprd etc.

v0.2.1

Fixed

• #84 GroupSlave::iter will now panic instead of completing early if a slave device is already
  borrowed.

Added

• #83 Add SlaveRef::identity method to get the vendor ID, hardware revision, etc of a slave
  device.

Changed

• #84 The SlaveGroupState trait is now not-doc-hidden so the GroupSlave::slave method is more
  easily accessible.

v0.2.0

Added

• #47 Add the ability to read/write registers/SDOs from grouped slave devices, with the methods
  SlaveRef::register_read, SlaveRef::register_write, SlaveRef::sdo_read and
  SlaveRef::sdo_write.
• #30 Added Copy, Clone, PartialEq and Eq implementations to Error and PduError.
• #1 Added SlaveGroup::len and SlaveGroup::is_empty methods.
• #29 Implement Display for Error, PduError, MailboxError, EepromError,
  VisibleStringError and PduValidationError
• (breaking) #31 Added a ClientConfig argument to Client::new to allow configuration of
  various EtherCrab behaviours.
• #55 Added Client::init_single_group to reduce boilerplate when only using a single group of
  devices.
• #55 Removed MSRV commitment (was 1.68)
• #59 Added SendableFrame::send_blocking method.

Removed

• (breaking) #75 Client::request_slave_state is removed. Groups should be transitioned into
  the various states individually using into_op or into_safe_op.
• (breaking) #75 SlaveGroup::new is removed. Slave groups can be created with
  SlaveGroup::default() instead
• (breaking) #45 The SlaveGroupContainer trait is no longer needed and has been removed.

Changed

• (breaking) #75 Client::init no longer takes a groups argument and now requires
  G: Default.

• (breaking) #75 SlaveGroups no longer configure using a closure - instead use
  SlaveGroup::iter or SlaveGroup::slave to configure slave devices inline.

• (breaking) #75 SlaveGroups now have a type state. Use into_safe_op and into_op to
  transition from PRE-OP as provided by Client::init into run mode.

• #47 Slave sdo_read and sdo_write methods no longer require the use of SubIndex. For single
  accesses, a raw u8 can be passed instead for cleaner configuration code.

• (breaking) #47 SlaveGroup::slave and SlaveGroup::iter (was slaves) now requires the
  passing of a Client reference when called.

• (breaking) #47 SlaveGroup::slaves is renamed to SlaveGroup::iter

• (breaking) #47 Grouped slaves that were previously represented as GroupSlaves are now
  represented as SlaveRef<'_, SlavePdi<'_>> instead. GroupSlave is removed.

• (breaking) #47 The io(), inputs() and outputs() methods on grouped slaves have been
  renamed to io_raw(), inputs_raw() and outputs_raw() respecitively.

• (breaking) #47 The Slave.name and Slave.identity fields have been replaced with methods
  of the same name.

• (breaking) #45 The grouping closure passed to Client::init now requires a
  &dyn SlaveGroupHandle to be returned. This is a sealed trait only implemented for SlaveGroups
  and allows some internal refactors by erasing the const generics from SlaveGroup.

• (breaking) #32 To mitigate some internal issues, PduStorage now requires N (the number
  of storage elements) to be a power of two.

• (breaking) #33 send_frames_blocking is removed. It is replaced with
  PduTx::next_sendable_frame which can be used to send any available frames in a loop until it
  returns None.

• (breaking) #30 Removed PduError::Encode variant.

• (breaking) #25 Renamed pdu_rx to receive_frame to mirror send_frames_blocking.

• (breaking) #20 Changed the way the client, tx and rx instances are initialised to only allow
  one TX and RX to exist.

  Before

  static PDU_STORAGE: PduStorage<MAX_FRAMES, MAX_PDU_DATA> = PduStorage::new();
  static PDU_LOOP: PduLoop = PduLoop::new(PDU_STORAGE.as_ref());
  
  async fn main_app(ex: &LocalExecutor<'static>) -> Result<(), Error> {
      let client = Arc::new(Client::new(&PDU_LOOP, Timeouts::default()));
  
      ex.spawn(tx_rx_task(INTERFACE, &client).unwrap()).detach();
  }

  After

  static PDU_STORAGE: PduStorage<MAX_FRAMES, MAX_PDU_DATA> = PduStorage::new();
  
  async fn main_app(ex: &LocalExecutor<'static>) -> Result<(), Error> {
      let (tx, rx, pdu_loop) = PDU_STORAGE.try_split().expect("can only split once");
  
      let client = Arc::new(Client::new(pdu_loop, Timeouts::default()));
  
      ex.spawn(tx_rx_task(INTERFACE, tx, rx).unwrap()).detach();
  }

• (breaking) #16 Remove TIMER/TIMEOUT generic parameter. std environments will now use
  the timer provided by smol (async-io). no_std environments will use embassy-time.

• (breaking) #9 Rename the fields of some variants in ethercrab::error::Error to make them
  less confusing.

• (breaking) #2 Rename slave_group::Configurator to SlaveGroupRef.

• (breaking) #1 SlaveGroup::slaves now returns an iterator over each slave with IO in the
  group, instead of a plain slave.

Fixed

• #28 Fix abort code parsing for expedited SDO responses.
• #26 🎉 EtherCrab now works on stable Rust. The MSRV is 1.68.
• #23 Strip trailing null bytes (\0) in strings read from SII
• #14 Fixed various overflow/arithmetic bugs in distributed clock time calculations and PDI
  configuration
• #6 Fixed topology detection not stopping at first upstream fork when there is a slave device
  before the fork.
• #6 Internal bugfixes to topology discovery code.
• #2 Fixed multiple group PDI mapping calculation during initialisation.
• [#57] Fixed a buffer size calculation crash when reading SDOs.

v0.1.0

Added

• Initial release