prbt_hardware_support::ModbusMsgWrapper Class Reference

Wrapper class to add semantic to a raw ModbusMsgInStamped. More...

#include <modbus_msg_wrapper.h>

Inheritance diagram for prbt_hardware_support::ModbusMsgWrapper:

Public Member Functions
virtual void	checkStructuralIntegrity () const
	Checks that the Modbus messages consists of all registers needed. More...
const ros::Time &	getTimeStamp () const
unsigned int	getVersion () const
bool	isDisconnect () const
	Check if the Modbus message informs about a disconnect from the server. More...
	ModbusMsgWrapper (const ModbusMsgInStampedConstPtr &modbus_msg_raw, const ModbusApiSpec &api_spec)
	Construct a new Modbus Msg Wrapper object. More...
virtual	~ModbusMsgWrapper ()=default

Protected Member Functions
const ModbusApiSpec &	getApiSpec () const
uint16_t	getRegister (uint32_t reg) const
bool	hasRegister (uint32_t reg) const
	Check if a certain holding register is define in the Modbus message. More...
bool	hasVersion () const
	Check if the modbus_msg contains the API version. More...

Private Attributes
const ModbusApiSpec	api_spec_
const ModbusMsgInStampedConstPtr	msg_

Detailed Description

Wrapper class to add semantic to a raw ModbusMsgInStamped.

Allows easy access to the content behind a raw modbus message.

Definition at line 33 of file modbus_msg_wrapper.h.

Constructor & Destructor Documentation

ModbusMsgWrapper()

prbt_hardware_support::ModbusMsgWrapper::ModbusMsgWrapper ( const ModbusMsgInStampedConstPtr &  modbus_msg_raw, const ModbusApiSpec &  api_spec  )

inline

Construct a new Modbus Msg Wrapper object.

Definition at line 98 of file modbus_msg_wrapper.h.

~ModbusMsgWrapper()

virtual prbt_hardware_support::ModbusMsgWrapper::~ModbusMsgWrapper ( )

virtualdefault

Member Function Documentation

checkStructuralIntegrity()

void prbt_hardware_support::ModbusMsgWrapper::checkStructuralIntegrity ( ) const

inlinevirtual

Checks that the Modbus messages consists of all registers needed.

Please note: This method does not check if the content of the registers is correct. It only checks that they exist.

Exceptions

ModbusMsgWrapperException

if no version can be found in the message and thus interpretation is impossible.

Reimplemented in prbt_hardware_support::ModbusMsgBrakeTestWrapper, prbt_hardware_support::ModbusMsgOperationModeWrapper, and prbt_hardware_support::ModbusMsgRunPermittedWrapper.

Definition at line 131 of file modbus_msg_wrapper.h.

getApiSpec()

const ModbusApiSpec & prbt_hardware_support::ModbusMsgWrapper::getApiSpec ( ) const

inlineprotected

Returns

a reference to the internally stored API specification.

Definition at line 139 of file modbus_msg_wrapper.h.

getRegister()

uint16_t prbt_hardware_support::ModbusMsgWrapper::getRegister ( uint32_t  reg ) const

inlineprotected

Returns

the content of the holding register.

Definition at line 111 of file modbus_msg_wrapper.h.

getTimeStamp()

const ros::Time & prbt_hardware_support::ModbusMsgWrapper::getTimeStamp ( ) const

inline

Definition at line 144 of file modbus_msg_wrapper.h.

getVersion()

unsigned int prbt_hardware_support::ModbusMsgWrapper::getVersion ( ) const

inline

Returns

Get the API version defined in the Modbus message.

Definition at line 121 of file modbus_msg_wrapper.h.

hasRegister()

bool prbt_hardware_support::ModbusMsgWrapper::hasRegister ( uint32_t  reg ) const

inlineprotected

Check if a certain holding register is define in the Modbus message.

Returns

true if the message has the register defined, otherwise false.

Definition at line 104 of file modbus_msg_wrapper.h.

hasVersion()

bool prbt_hardware_support::ModbusMsgWrapper::hasVersion ( ) const

inlineprotected

Check if the modbus_msg contains the API version.

Definition at line 116 of file modbus_msg_wrapper.h.

isDisconnect()

bool prbt_hardware_support::ModbusMsgWrapper::isDisconnect ( ) const

inline

Check if the Modbus message informs about a disconnect from the server.

Returns

true if the message informs about a disconnect, otherwise false.

Definition at line 126 of file modbus_msg_wrapper.h.

Member Data Documentation

api_spec_

const ModbusApiSpec prbt_hardware_support::ModbusMsgWrapper::api_spec_

private

Definition at line 94 of file modbus_msg_wrapper.h.

msg_

const ModbusMsgInStampedConstPtr prbt_hardware_support::ModbusMsgWrapper::msg_

private

Definition at line 95 of file modbus_msg_wrapper.h.

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

• modbus_msg_wrapper.h