moto-hses-proto

Protocol definitions and serialization for Yaskawa High-Speed Ethernet Server (HSES).

Overview

This crate provides the core protocol definitions and serialization/deserialization functionality for communicating with Yaskawa robots using the HSES (High Speed Ethernet Server) protocol over UDP.

Verified Robot Models

The following robot models have been tested and verified for compatibility:

Supported Commands

Robot Control Commands

File Control Commands

Features

• Type-safe protocol definitions: Rust structs and enums for all HSES message types
• Efficient serialization: Zero-copy deserialization where possible
• Comprehensive error handling: Detailed error types for protocol violations
• Japanese language support: Proper handling of Japanese text (Shift-JIS) in robot data

Installation

Add this to your Cargo.toml:

[dependencies]
moto-hses-proto = "0.2"

Usage

use moto_hses_proto::{HsesRequestMessage, HsesResponseMessage, Service, Division, ReadAlarmData, Alarm, AlarmAttribute};

// Create a read alarm command
let read_alarm = ReadAlarmData::new(1, AlarmAttribute::All);

// Create HSES request message
let request = HsesRequestMessage::new(
    Division::Robot as u8,  // division
    0,                      // ack (request)
    1,                      // request_id
    ReadAlarmData::command_id(), // command
    read_alarm.instance(),  // instance
    read_alarm.attribute(), // attribute
    read_alarm.service(),   // service
    vec![],                 // payload
)?;

// Serialize to bytes
let request_bytes = request.encode();

// Deserialize from bytes
let parsed_request = HsesRequestMessage::decode(&request_bytes)?;

// Example: Create an alarm for testing
let alarm = Alarm::new(
    1001,  // alarm code
    0,     // data
    0,     // alarm type
    "2024-01-01 12:00:00".to_string(), // time
    "Test alarm".to_string()           // name
);

License

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

Related Crates

• moto-hses-client - Async UDP client for HSES communication
• moto-hses-mock - Mock HSES server for testing

References

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