moto-hses-mock

Mock HSES UDP server for testing and development.

Overview

This crate provides a mock implementation of the Yaskawa High-Speed Ethernet Server (HSES) protocol for testing and development purposes. It simulates a real Yaskawa robot's HSES server, allowing you to test your client applications without requiring actual hardware.

Features

• Full HSES protocol support: Implements all major HSES protocol commands
• Configurable responses: Customize robot behavior and responses
• Async implementation: Built on Tokio for high-performance testing

Installation

Add this to your Cargo.toml:

[dev-dependencies]
moto-hses-mock = "0.0.2"
tokio = { version = "1.0", features = ["full"] }

Usage

use moto_hses_mock::{MockServer, MockServerBuilder};
use moto_hses_proto::Alarm;

#[tokio::main]
async fn main() -> Result<(), Box<dyn std::error::Error>> {
    // Start mock server with custom configuration using builder pattern
    let server = MockServerBuilder::new()
        .host("192.168.1.100")
        .robot_port(20000)
        .file_port(20001)
        .with_alarm(Alarm::new(1001, 0, 0, "2024-01-01 12:00:00".to_string(), "Test alarm".to_string()))
        .with_io_state(1, true)
        .build()
        .await?;
    
    // Server will run until the program exits
    server.run().await?;
    
    Ok(())
}

Supported Operations

The mock server supports all major HSES operations:

Variable Operations

• Read/write integer, real, string, and position variables
• Configurable variable values
• Batch operations

I/O Operations

• Digital I/O simulation
• Analog I/O operations
• I/O status monitoring

File Operations

• File upload/download simulation
• File management operations
• Directory operations

Status Operations

• Robot status simulation
• Alarm data generation
• System information

Position Operations

• Cartesian position simulation
• Joint position data
• Position monitoring

Examples

The crate includes examples demonstrating various usage patterns:

• mock_basic_usage.rs - Basic mock server usage
• Integration with moto-hses-client for end-to-end testing

Running Examples

# Run the basic usage example
cargo run --example mock_basic_usage

# Run with custom address and port
cargo run --example mock_basic_usage -- 192.168.1.100 10040 10041

License

This project is licensed under the Apache License, Version 2.0. See the LICENSE file for details.

Related Crates

• moto-hses-proto - Protocol definitions and serialization
• moto-hses-client - Async UDP client for HSES communication

References

• Yaskawa HSES Manual
• fizyr/yaskawa_ethernet - C++ reference implementation
• hsinkoyu/fs100 - Python reference implementation