Listens to the modbus_read topic and publishes a message informing about a required brake test. More...

#include <modbus_adapter_brake_test.h>

Public Member Functions
bool	isBrakeTestRequired (pilz_msgs::IsBrakeTestRequired::Request &, pilz_msgs::IsBrakeTestRequired::Response &res)
	Stores the brake test required flag and initializes the brake test service, the first time the function is called. More...

	ModbusAdapterBrakeTest (TWriteModbusRegister &&write_modbus_register_func, const ModbusApiSpec &read_api_spec, const ModbusApiSpec &write_api_spec)

void	modbusMsgCallback (const ModbusMsgInStampedConstPtr &msg_raw)
	Called whenever a new modbus message arrives. More...

bool	sendBrakeTestResult (SendBrakeTestResult::Request &req, SendBrakeTestResult::Response &res)
	Sends the brake test result data to the modbus client. More...

Private Types
using	TBrakeTestRequired = pilz_msgs::IsBrakeTestRequiredResult::_value_type

using	TRegIdx = uint16_t

using	TRegIdxCont = std::map< std::string, TRegIdx >

Private Member Functions
void	updateBrakeTestRequiredState (TBrakeTestRequired brake_test_required)

Static Private Member Functions
static const TRegIdxCont::mapped_type &	getMaxRegisterIdx (const TRegIdxCont &reg_idx_cont)

static const TRegIdxCont::mapped_type &	getMinRegisterIdx (const TRegIdxCont &reg_idx_cont)

static unsigned long	getRegisterBlockSize (const TRegIdxCont &reg_idx_cont)

static TRegIdxCont	getRegisters (const ModbusApiSpec &write_api_spec)

Private Attributes
const ModbusApiSpec	api_spec_

TBrakeTestRequired	brake_test_required_ { pilz_msgs::IsBrakeTestRequiredResult::UNKNOWN }
	Store the current state of whether a brake test is required. More...

const RegCont::size_type	reg_block_size_ { getRegisterBlockSize(reg_idx_cont_) }

const TRegIdxCont	reg_idx_cont_

const TRegIdx	reg_start_idx_ { getMinRegisterIdx(reg_idx_cont_) }

TWriteModbusRegister	write_modbus_register_func_

Detailed Description

Listens to the modbus_read topic and publishes a message informing about a required brake test.

Definition at line 44 of file modbus_adapter_brake_test.h.

Member Typedef Documentation

◆ TBrakeTestRequired

using prbt_hardware_support::ModbusAdapterBrakeTest::TBrakeTestRequired = pilz_msgs::IsBrakeTestRequiredResult::_value_type

private

Definition at line 72 of file modbus_adapter_brake_test.h.

◆ TRegIdx

using prbt_hardware_support::ModbusAdapterBrakeTest::TRegIdx = uint16_t

private

Definition at line 76 of file modbus_adapter_brake_test.h.

◆ TRegIdxCont

using prbt_hardware_support::ModbusAdapterBrakeTest::TRegIdxCont = std::map<std::string, TRegIdx>

private

Definition at line 77 of file modbus_adapter_brake_test.h.

Constructor & Destructor Documentation

◆ ModbusAdapterBrakeTest()

prbt_hardware_support::ModbusAdapterBrakeTest::ModbusAdapterBrakeTest	(	TWriteModbusRegister &&	write_modbus_register_func,
		const ModbusApiSpec &	read_api_spec,
		const ModbusApiSpec &	write_api_spec
	)

Definition at line 30 of file modbus_adapter_brake_test.cpp.

Member Function Documentation

◆ getMaxRegisterIdx()

const ModbusAdapterBrakeTest::TRegIdxCont::mapped_type & prbt_hardware_support::ModbusAdapterBrakeTest::getMaxRegisterIdx ( const TRegIdxCont & reg_idx_cont )

inlinestaticprivate

Returns: the highest register index stored in the specified container.

Definition at line 132 of file modbus_adapter_brake_test.h.

◆ getMinRegisterIdx()

const ModbusAdapterBrakeTest::TRegIdxCont::mapped_type & prbt_hardware_support::ModbusAdapterBrakeTest::getMinRegisterIdx ( const TRegIdxCont & reg_idx_cont )

inlinestaticprivate

Returns: the lowest register index stored in the specified container.

Definition at line 122 of file modbus_adapter_brake_test.h.

◆ getRegisterBlockSize()

unsigned long prbt_hardware_support::ModbusAdapterBrakeTest::getRegisterBlockSize ( const TRegIdxCont & reg_idx_cont )

inlinestaticprivate

Returns: the number of registers specified by the given register index container.

Definition at line 143 of file modbus_adapter_brake_test.h.

◆ getRegisters()

ModbusAdapterBrakeTest::TRegIdxCont prbt_hardware_support::ModbusAdapterBrakeTest::getRegisters ( const ModbusApiSpec & write_api_spec )

staticprivate

Returns: the indicies of the modbus registers, needed to write the brake test results back to the modbus.

Definition at line 40 of file modbus_adapter_brake_test.cpp.

◆ isBrakeTestRequired()

bool prbt_hardware_support::ModbusAdapterBrakeTest::isBrakeTestRequired	(	pilz_msgs::IsBrakeTestRequired::Request &	,
		pilz_msgs::IsBrakeTestRequired::Response &	res
	)

inline

Stores the brake test required flag and initializes the brake test service, the first time the function is called.

Definition at line 111 of file modbus_adapter_brake_test.h.

◆ modbusMsgCallback()

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

Called whenever a new modbus message arrives.

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

Definition at line 71 of file modbus_adapter_brake_test.cpp.

◆ sendBrakeTestResult()

bool prbt_hardware_support::ModbusAdapterBrakeTest::sendBrakeTestResult	(	SendBrakeTestResult::Request &	req,
		SendBrakeTestResult::Response &	res
	)

Sends the brake test result data to the modbus client.

Definition at line 115 of file modbus_adapter_brake_test.cpp.

◆ updateBrakeTestRequiredState()

void prbt_hardware_support::ModbusAdapterBrakeTest::updateBrakeTestRequiredState ( TBrakeTestRequired brake_test_required )

private

Definition at line 104 of file modbus_adapter_brake_test.cpp.

Member Data Documentation

◆ api_spec_

const ModbusApiSpec prbt_hardware_support::ModbusAdapterBrakeTest::api_spec_

private

Definition at line 94 of file modbus_adapter_brake_test.h.

◆ brake_test_required_

TBrakeTestRequired prbt_hardware_support::ModbusAdapterBrakeTest::brake_test_required_ { pilz_msgs::IsBrakeTestRequiredResult::UNKNOWN }

private

Store the current state of whether a brake test is required.

Definition at line 97 of file modbus_adapter_brake_test.h.

◆ reg_block_size_

const RegCont::size_type prbt_hardware_support::ModbusAdapterBrakeTest::reg_block_size_ { getRegisterBlockSize(reg_idx_cont_) }

private

Definition at line 104 of file modbus_adapter_brake_test.h.

◆ reg_idx_cont_

const TRegIdxCont prbt_hardware_support::ModbusAdapterBrakeTest::reg_idx_cont_

private

Contains the indicies of the modbus registers, needed to write the brake test results back to the modbus.

Definition at line 101 of file modbus_adapter_brake_test.h.

◆ reg_start_idx_

const TRegIdx prbt_hardware_support::ModbusAdapterBrakeTest::reg_start_idx_ { getMinRegisterIdx(reg_idx_cont_) }

private

Definition at line 103 of file modbus_adapter_brake_test.h.

◆ write_modbus_register_func_

TWriteModbusRegister prbt_hardware_support::ModbusAdapterBrakeTest::write_modbus_register_func_

private

Definition at line 106 of file modbus_adapter_brake_test.h.

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

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ TBrakeTestRequired

◆ TRegIdx

◆ TRegIdxCont

Constructor & Destructor Documentation

◆ ModbusAdapterBrakeTest()

Member Function Documentation

◆ getMaxRegisterIdx()

◆ getMinRegisterIdx()

◆ getRegisterBlockSize()

◆ getRegisters()

◆ isBrakeTestRequired()

◆ modbusMsgCallback()

◆ sendBrakeTestResult()

◆ updateBrakeTestRequiredState()

Member Data Documentation

◆ api_spec_

◆ brake_test_required_

◆ reg_block_size_

◆ reg_idx_cont_

◆ reg_start_idx_

◆ write_modbus_register_func_