18 #ifndef MODBUS_ADAPTER_OPERATION_MODE_H 19 #define MODBUS_ADAPTER_OPERATION_MODE_H 25 #include <pilz_msgs/OperationModes.h> 29 #include <prbt_hardware_support/ModbusMsgInStamped.h> 68 #endif // MODBUS_ADAPTER_OPERATION_MODE_H void modbusMsgCallback(const ModbusMsgInStampedConstPtr &msg_raw)
Called whenever a new modbus messages arrives.
static pilz_msgs::OperationModes createUnknownOperationMode()
Listens to the modbus_read topic and offers a service informing about the active operation mode...
const ModbusApiSpec api_spec_
ModbusAdapterOperationMode(ros::NodeHandle &nh, const ModbusApiSpec &api_spec)
std::unique_ptr< FilterPipeline > filter_pipeline_
Publishes information on the active operation mode. Also offers a service for querying the operation ...
Specifies the meaning of the holding registers.
virtual ~ModbusAdapterOperationMode()=default