industrial_modbus_tcp::Handler Class Reference

#include <handler.hpp>

Public Member Functions
void	clearData ()
const std::vector< std::shared_ptr< DataType > >	getData ()
	Handler (const std::shared_ptr< ros::NodeHandle > nh, const std::string name, const std::shared_ptr< ros::Publisher > error_pub, const std::string server_ip, const modbus_error_recovery_mode recovery=MODBUS_ERROR_RECOVERY_NONE, const unsigned server_port=MODBUS_TCP_DEFAULT_PORT)
void	setData (const std::vector< std::shared_ptr< DataType >> &data)
void	stop ()
	~Handler ()

Private Member Functions
void	readData (const std::size_t index)

Private Attributes
modbus_t *	ctx_
std::vector< std::shared_ptr< DataType > >	data_
std::shared_ptr< ros::Publisher >	error_publisher_
std::mutex	modbus_mutex_
std::string	name_
std::shared_ptr< ros::NodeHandle >	nh_
std::atomic< bool >	run_
std::vector< std::unique_ptr< std::thread > >	threads_

Detailed Description

Definition at line 22 of file handler.hpp.

Constructor & Destructor Documentation

Handler()

industrial_modbus_tcp::Handler::Handler	(	const std::shared_ptr< ros::NodeHandle >	nh,
		const std::string	name,
		const std::shared_ptr< ros::Publisher >	error_pub,
		const std::string	server_ip,
		const modbus_error_recovery_mode	recovery = MODBUS_ERROR_RECOVERY_NONE,
		const unsigned	server_port = MODBUS_TCP_DEFAULT_PORT
	)

Definition at line 6 of file handler.cpp.

~Handler()

industrial_modbus_tcp::Handler::~Handler

(

)

Definition at line 37 of file handler.cpp.

Member Function Documentation

clearData()

void industrial_modbus_tcp::Handler::clearData

(

)

Clear vector of data fetched (calls stop())

Definition at line 56 of file handler.cpp.

getData()

const std::vector< std::shared_ptr< DataType > > industrial_modbus_tcp::Handler::getData

(

)

Data that are currently fetched

Definition at line 77 of file handler.cpp.

readData()

void industrial_modbus_tcp::Handler::readData ( const std::size_t  index )

private

Thread safe function to retrieve data using the information in data_

Parameters

index

the data_ index

Definition at line 82 of file handler.cpp.

setData()

void industrial_modbus_tcp::Handler::setData

(

const std::vector< std::shared_ptr< DataType >> &

data

)

Set data to be fetched (starts fetching data)

Definition at line 64 of file handler.cpp.

stop()

void industrial_modbus_tcp::Handler::stop

(

)

Stop fetching data

Definition at line 44 of file handler.cpp.

Member Data Documentation

ctx_

modbus_t* industrial_modbus_tcp::Handler::ctx_

private

Modbus structure

Definition at line 84 of file handler.hpp.

data_

std::vector<std::shared_ptr<DataType> > industrial_modbus_tcp::Handler::data_

private

Data to be fetched on the Modbus server How fast Topic to publish

Definition at line 91 of file handler.hpp.

error_publisher_

std::shared_ptr<ros::Publisher> industrial_modbus_tcp::Handler::error_publisher_

private

Publisher for errors

Definition at line 63 of file handler.hpp.

modbus_mutex_

std::mutex industrial_modbus_tcp::Handler::modbus_mutex_

private

A modbus context is supposedely thread safe (https://libmodbus.org/docs/v3.0.6/) This is not the case, so this mutex makes sure we have no concurent calls to the modbus conctext

Definition at line 97 of file handler.hpp.

name_

std::string industrial_modbus_tcp::Handler::name_

private

Name of the handler

Definition at line 79 of file handler.hpp.

nh_

std::shared_ptr<ros::NodeHandle> industrial_modbus_tcp::Handler::nh_

private

Node handle

Definition at line 58 of file handler.hpp.

run_

std::atomic<bool> industrial_modbus_tcp::Handler::run_

private

Wether the threads are running or not

Definition at line 74 of file handler.hpp.

threads_

std::vector<std::unique_ptr<std::thread> > industrial_modbus_tcp::Handler::threads_

private

One thread per data fetched

Definition at line 102 of file handler.hpp.

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

• handler.hpp
• handler.cpp