prbt_hardware_support::ModbusAdapterOperationMode Class Reference

Listens to the modbus_read topic and offers a service informing about the active operation mode. More...

#include <modbus_adapter_operation_mode.h>

Inheritance diagram for prbt_hardware_support::ModbusAdapterOperationMode:

Public Member Functions
	ModbusAdapterOperationMode (ros::NodeHandle &nh, const ModbusApiSpec &api_spec)
virtual	~ModbusAdapterOperationMode ()=default
Public Member Functions inherited from prbt_hardware_support::AdapterOperationMode
	AdapterOperationMode (ros::NodeHandle &nh)
virtual	~AdapterOperationMode ()=default

Private Member Functions
void	modbusMsgCallback (const ModbusMsgInStampedConstPtr &msg_raw)
	Called whenever a new modbus messages arrives. More...

Static Private Member Functions
static pilz_msgs::OperationModes	createUnknownOperationMode ()

Private Attributes
const ModbusApiSpec	api_spec_
std::unique_ptr< FilterPipeline >	filter_pipeline_

Additional Inherited Members
Protected Member Functions inherited from prbt_hardware_support::AdapterOperationMode
void	updateOperationMode (const pilz_msgs::OperationModes &mode)
	Stores the operation mode and publishes it, if it has changed. More...

Detailed Description

Listens to the modbus_read topic and offers a service informing about the active operation mode.

Definition at line 39 of file modbus_adapter_operation_mode.h.

Constructor & Destructor Documentation

ModbusAdapterOperationMode()

prbt_hardware_support::ModbusAdapterOperationMode::ModbusAdapterOperationMode	(	ros::NodeHandle &	nh,
		const ModbusApiSpec &	api_spec
	)

Definition at line 32 of file modbus_adapter_operation_mode.cpp.

~ModbusAdapterOperationMode()

virtual prbt_hardware_support::ModbusAdapterOperationMode::~ModbusAdapterOperationMode ( )

virtualdefault

Member Function Documentation

createUnknownOperationMode()

pilz_msgs::OperationModes prbt_hardware_support::ModbusAdapterOperationMode::createUnknownOperationMode ( )

staticprivate

Definition at line 39 of file modbus_adapter_operation_mode.cpp.

modbusMsgCallback()

void prbt_hardware_support::ModbusAdapterOperationMode::modbusMsgCallback ( const ModbusMsgInStampedConstPtr &  msg_raw )

private

Called whenever a new modbus messages arrives.

Note

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

The operation mode gets unknown in case:

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

Definition at line 47 of file modbus_adapter_operation_mode.cpp.

Member Data Documentation

api_spec_

const ModbusApiSpec prbt_hardware_support::ModbusAdapterOperationMode::api_spec_

private

Definition at line 63 of file modbus_adapter_operation_mode.h.

filter_pipeline_

std::unique_ptr<FilterPipeline> prbt_hardware_support::ModbusAdapterOperationMode::filter_pipeline_

private

Definition at line 64 of file modbus_adapter_operation_mode.h.

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

• modbus_adapter_operation_mode.h
• modbus_adapter_operation_mode.cpp