From 8be336309a6585980b37e5e192cb6c8bdfb24e43 Mon Sep 17 00:00:00 2001
From: Sebastian Kuzminsky <seb@highlab.com>
Date: Thu, 23 Apr 2026 09:56:37 -0600
Subject: [PATCH] add a way to send Sync from bus_manager and cli

---
 zencan-cli/src/bin/zencan-cli.rs             | 4 ++++
 zencan-cli/src/command.rs                    | 8 ++++++++
 zencan-client/src/bus_manager/bus_manager.rs | 8 +++++++-
 3 files changed, 19 insertions(+), 1 deletion(-)

diff --git a/zencan-cli/src/bin/zencan-cli.rs b/zencan-cli/src/bin/zencan-cli.rs
index da71bdf..476d2a3 100644
--- a/zencan-cli/src/bin/zencan-cli.rs
+++ b/zencan-cli/src/bin/zencan-cli.rs
@@ -476,6 +476,10 @@ async fn run_command<S: AsyncCanSender + Sync + Send>(cmd: Commands, manager: &m
                 Err(e) => println!("Error reading PDO config: {e}"),
             }
         }
+        Commands::Sync(args) => {
+            manager.sync(args.count).await;
+            println!("SYNC sent");
+        }
     }
 }
 
diff --git a/zencan-cli/src/command.rs b/zencan-cli/src/command.rs
index 9653345..ea980f3 100644
--- a/zencan-cli/src/command.rs
+++ b/zencan-cli/src/command.rs
@@ -30,6 +30,8 @@ pub enum Commands {
     /// LSS commands
     #[command(subcommand)]
     Lss(LssCommands),
+    /// Send a SYNC packet
+    Sync(SyncArgs),
 }
 
 #[derive(Debug, Args)]
@@ -94,6 +96,12 @@ pub struct SaveObjectsArgs {
     pub node_id: u8,
 }
 
+#[derive(Debug, Args)]
+pub struct SyncArgs {
+    /// The optional count value (0-255). When omitted, sends a SYNC with zero data length.
+    pub count: Option<u8>,
+}
+
 /// Specifies a node to apply an NMT command
 #[derive(Debug, Clone, Copy, PartialEq)]
 pub enum NmtNodeArg {
diff --git a/zencan-client/src/bus_manager/bus_manager.rs b/zencan-client/src/bus_manager/bus_manager.rs
index 372a3d4..4ac4213 100644
--- a/zencan-client/src/bus_manager/bus_manager.rs
+++ b/zencan-client/src/bus_manager/bus_manager.rs
@@ -9,7 +9,7 @@ use zencan_common::constants::object_ids::{
     RPDO_COMM_BASE, RPDO_MAP_BASE, TPDO_COMM_BASE, TPDO_MAP_BASE,
 };
 use zencan_common::lss::{LssIdentity, LssState};
-use zencan_common::messages::{NmtCommand, NmtCommandSpecifier, ZencanMessage};
+use zencan_common::messages::{NmtCommand, NmtCommandSpecifier, SyncObject, ZencanMessage};
 use zencan_common::nmt::NmtState;
 use zencan_common::node_id::ConfiguredNodeId;
 use zencan_common::sdo::AbortCode;
@@ -549,6 +549,12 @@ impl<S: AsyncCanSender + Sync + Send> BusManager<S> {
         self.send_nmt_cmd(NmtCommandSpecifier::Stop, node).await
     }
 
+    /// Send a SYNC packet on the bus
+    pub async fn sync(&mut self, count: Option<u8>) {
+        let sync_obj = SyncObject::new(count);
+        self.sender.send(sync_obj.into()).await.ok();
+    }
+
     async fn send_nmt_cmd(&mut self, cmd: NmtCommandSpecifier, node: u8) {
         let message = NmtCommand { cs: cmd, node };
         self.sender.send(message.into()).await.ok();