Lib.rs

RPDO

RoboPLC Data Objects Protocol is a lightweight fieldbus data exchange protocol, inspired by Modbus, OPC-UA and TwinCAT/ADS.

Technical documentation

Available at https://info.bma.ai/en/actual/roboplc/rpdo.html

Locking safety

By default, the crate uses parking_lot for locking. For real-time applications, the following features are available:

• locking-rt - use parking_lot_rt crate which is a spin-free fork of parking_lot.

• locking-rt-safe - use rtsc priority-inheritance locking, which is not affected by priority inversion (Linux only).

Note: to switch locking policy, disable the crate default features.

Protocol specification

About

RPDO is a part of RoboPLC project.