Add util function to fetch SDOs of a slave

src/lib.rs

@@ -6,6 +6,8 @@ use ethercat_sys as ec;
 mod master;
 mod types;
 
+pub mod util;
+
 pub use self::{
     master::{Domain, Master, MasterAccess, SlaveConfig},
     types::*,

src/util.rs

@@ -0,0 +1,26 @@
+use crate::{Error, Master, SdoEntryAddr, SdoEntryInfo, SdoIdx, SdoInfo, SdoPos, SlavePos, SubIdx};
+use std::collections::HashMap;
+
+type Result<T> = std::result::Result<T, Error>;
+
+pub fn slave_sdos(
+    master: &mut Master,
+    slave_pos: SlavePos,
+) -> Result<HashMap<SdoIdx, SdoEntryInfo>> {
+    let slave = master.get_slave_info(slave_pos)?;
+    let sdo_positions = (0..slave.sdo_count).into_iter().map(SdoPos::from);
+    let mut res = HashMap::new();
+    for sdo_pos in sdo_positions {
+        let SdoInfo {
+            idx, max_sub_idx, ..
+        } = master.get_sdo(slave_pos, sdo_pos)?;
+        let sdo_idxs = (0..u8::from(max_sub_idx))
+            .map(SubIdx::from)
+            .map(|sub_idx| SdoIdx { idx, sub_idx });
+        for sdo_idx in sdo_idxs {
+            let entry = master.get_sdo_entry(slave_pos, SdoEntryAddr::ByIdx(sdo_idx))?;
+            res.insert(sdo_idx, entry);
+        }
+    }
+    Ok(res)
+}