use Data trait with write methods

src/instructions/write.rs

@@ -1,5 +1,6 @@
-use crate::bus::endian::{write_u16_le, write_u32_le};
+use crate::bus::endian::write_u16_le;
 use crate::{Client, Response, TransferError};
+use crate::bus::Data;
 use super::{instruction_id, read_response_if_not_broadcast};
 
 impl<SerialPort, Buffer> Client<SerialPort, Buffer>
@@ -11,46 +12,24 @@ where
 	///
 	/// You may specify [`crate::instructions::packet_id::BROADCAST`] as motor ID.
 	/// If you do, none of the devices will reply with a response, and this function will not wait for any.
-	pub fn write(&mut self, motor_id: u8, address: u16, data: &[u8]) -> Result<Response<()>, TransferError<SerialPort::Error>> {
+	pub fn write_bytes(&mut self, motor_id: u8, address: u16, data: &[u8]) -> Result<Response<()>, TransferError<SerialPort::Error>> {
 		self.write_instruction(motor_id, instruction_id::WRITE, 2 + data.len(), |buffer| {
 			write_u16_le(&mut buffer[0..], address);
 			buffer[2..].copy_from_slice(data)
 		})?;
 		Ok(read_response_if_not_broadcast(self, motor_id)?)
 	}
 
-	/// Write an 8 bit value to a specific motor.
+	/// Write value to a specific motor.
 	///
 	/// You may specify [`crate::instructions::packet_id::BROADCAST`] as motor ID.
 	/// If you do, none of the devices will reply with a response, and this function will not wait for any.
-	pub fn write_u8(&mut self, motor_id: u8, address: u16, value: u8) -> Result<Response<()>, TransferError<SerialPort::Error>> {
-		self.write_instruction(motor_id, instruction_id::WRITE, 2 + 1, |buffer| {
+	pub fn write<T: Data>(&mut self, motor_id: u8, address: u16, data: &T) -> Result<Response<()>, TransferError<SerialPort::Error>> {
+		self.write_instruction(motor_id, instruction_id::WRITE, 2 + T::ENCODED_SIZE as usize, |buffer| {
 			write_u16_le(&mut buffer[0..], address);
-			buffer[2] = value;
-		})?;
-		Ok(read_response_if_not_broadcast(self, motor_id)?)
-	}
+			// TODO: handle this unwrap
+			data.encode(&mut buffer[2..]).unwrap();
 
-	/// Write an 16 bit value to a specific motor.
-	///
-	/// You may specify [`crate::instructions::packet_id::BROADCAST`] as motor ID.
-	/// If you do, none of the devices will reply with a response, and this function will not wait for any.
-	pub fn write_u16(&mut self, motor_id: u8, address: u16, value: u16) -> Result<Response<()>, TransferError<SerialPort::Error>> {
-		self.write_instruction(motor_id, instruction_id::WRITE, 2 + 2, |buffer| {
-			write_u16_le(&mut buffer[0..], address);
-			write_u16_le(&mut buffer[2..], value);
-		})?;
-		Ok(read_response_if_not_broadcast(self, motor_id)?)
-	}
-
-	/// Write an 32 bit value to a specific motor.
-	///
-	/// You may specify [`crate::instructions::packet_id::BROADCAST`] as motor ID.
-	/// If you do, none of the devices will reply with a response, and this function will not wait for any.
-	pub fn write_u32(&mut self, motor_id: u8, address: u16, value: u32) -> Result<Response<()>, TransferError<SerialPort::Error>> {
-		self.write_instruction(motor_id, instruction_id::WRITE, 2 + 4, |buffer| {
-			write_u16_le(&mut buffer[0..], address);
-			write_u32_le(&mut buffer[2..], value);
 		})?;
 		Ok(read_response_if_not_broadcast(self, motor_id)?)
 	}