modbus_adapter_operation_mode.h
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1 /*
2  * Copyright (c) 2019 Pilz GmbH & Co. KG
3  *
4  * This program is free software: you can redistribute it and/or modify
5  * it under the terms of the GNU Lesser General Public License as published by
6  * the Free Software Foundation, either version 3 of the License, or
7  * (at your option) any later version.
8 
9  * This program is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU Lesser General Public License for more details.
13 
14  * You should have received a copy of the GNU Lesser General Public License
15  * along with this program. If not, see <http://www.gnu.org/licenses/>.
16  */
17 
18 #ifndef MODBUS_ADAPTER_OPERATION_MODE_H
19 #define MODBUS_ADAPTER_OPERATION_MODE_H
20 
21 #include <memory>
22 
23 #include <ros/ros.h>
24 
25 #include <pilz_msgs/OperationModes.h>
26 
29 #include <prbt_hardware_support/ModbusMsgInStamped.h>
32 
33 namespace prbt_hardware_support
34 {
40 {
41 public:
43  virtual ~ModbusAdapterOperationMode() = default;
44 
45 private:
57  void modbusMsgCallback(const ModbusMsgInStampedConstPtr& msg_raw);
58 
59 private:
60  static pilz_msgs::OperationModes createUnknownOperationMode();
61 
62 private:
64  std::unique_ptr<FilterPipeline> filter_pipeline_;
65 };
66 
67 } // namespace prbt_hardware_support
68 #endif // MODBUS_ADAPTER_OPERATION_MODE_H
void modbusMsgCallback(const ModbusMsgInStampedConstPtr &msg_raw)
Called whenever a new modbus messages arrives.
Listens to the modbus_read topic and offers a service informing about the active operation mode...
ModbusAdapterOperationMode(ros::NodeHandle &nh, const ModbusApiSpec &api_spec)
Publishes information on the active operation mode. Also offers a service for querying the operation ...
Specifies the meaning of the holding registers.


prbt_hardware_support
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autogenerated on Wed Nov 25 2020 03:10:38