prbt_hardware_support::ModbusAdapterRunPermitted Class Reference

Listens to the modbus_read topic and reacts to updated RUN_PERMITTED states. More...

#include <modbus_adapter_run_permitted.h>

Public Member Functions
	ModbusAdapterRunPermitted (UpdateRunPermittedFunc &&update_run_permitted_func, const ModbusApiSpec &api_spec)
void	modbusMsgCallback (const ModbusMsgInStampedConstPtr &msg_raw)
	Called whenever a new modbus messages arrives. More...

Private Attributes
const ModbusApiSpec	api_spec_
UpdateRunPermittedFunc	update_run_permitted_

Static Private Attributes
static constexpr unsigned int	MODBUS_API_VERSION_REQUIRED {2}

Detailed Description

Listens to the modbus_read topic and reacts to updated RUN_PERMITTED states.

Definition at line 37 of file modbus_adapter_run_permitted.h.

Constructor & Destructor Documentation

prbt_hardware_support::ModbusAdapterRunPermitted::ModbusAdapterRunPermitted	(	UpdateRunPermittedFunc &&	update_run_permitted_func,
		const ModbusApiSpec &	api_spec
	)

Definition at line 27 of file modbus_adapter_run_permitted.cpp.

Member Function Documentation

void prbt_hardware_support::ModbusAdapterRunPermitted::modbusMsgCallback

(

const ModbusMsgInStampedConstPtr &

msg_raw

)

Called whenever a new modbus messages arrives.

Note

Filters like for example the UpdateFilter can restrict the number of incoming messages.

A STOP1 is triggered in case:

• of a disconnect from the modbus server,
• the modbus message does not contain the expected registers,
• the modbus API version is incorrect,
• the RUN_PERMITTED state changes to false.

Definition at line 34 of file modbus_adapter_run_permitted.cpp.

Member Data Documentation

const ModbusApiSpec prbt_hardware_support::ModbusAdapterRunPermitted::api_spec_

private

Definition at line 59 of file modbus_adapter_run_permitted.h.

constexpr unsigned int prbt_hardware_support::ModbusAdapterRunPermitted::MODBUS_API_VERSION_REQUIRED {2}

staticprivate

Definition at line 63 of file modbus_adapter_run_permitted.h.

UpdateRunPermittedFunc prbt_hardware_support::ModbusAdapterRunPermitted::update_run_permitted_

private

Definition at line 60 of file modbus_adapter_run_permitted.h.

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The documentation for this class was generated from the following files:

• modbus_adapter_run_permitted.h
• modbus_adapter_run_permitted.cpp