write_modbus_register_call.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 WRITE_MODBUS_REGISTER_CALL_H
19 #define WRITE_MODBUS_REGISTER_CALL_H
20 
21 #include <ros/ros.h>
22 
23 #include <prbt_hardware_support/WriteModbusRegister.h>
25 
26 namespace prbt_hardware_support
27 {
28 template <class T>
29 static bool writeModbusRegisterCall(T& modbus_service, const uint16_t& start_idx, const RegCont& values)
30 {
31  WriteModbusRegister srv;
32  srv.request.holding_register_block.start_idx = start_idx;
33  srv.request.holding_register_block.values = values;
34 
35  ROS_DEBUG_STREAM("Calling service: " << modbus_service.getService());
36  bool call_success = modbus_service.call(srv);
37  if (!call_success)
38  {
39  ROS_ERROR_STREAM("Service call " << modbus_service.getService() << " failed.");
40  return false;
41  }
42 
43  if (!srv.response.success)
44  {
45  ROS_ERROR_STREAM("Writing of modbus register failed.");
46  return false;
47  }
48 
49  return true;
50 }
51 
52 } // namespace prbt_hardware_support
53 
54 #endif // WRITE_MODBUS_REGISTER_CALL_H
std::vector< uint16_t > RegCont
Convenience data type defining the data type for a collection of registers.
#define ROS_DEBUG_STREAM(args)
#define ROS_ERROR_STREAM(args)
static bool writeModbusRegisterCall(T &modbus_service, const uint16_t &start_idx, const RegCont &values)


prbt_hardware_support
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autogenerated on Thu Oct 22 2020 03:16:04