Public Member Functions | Private Member Functions | List of all members
prbt_hardware_support::ModbusMsgRunPermittedWrapper Class Reference

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

#include <modbus_msg_run_permitted_wrapper.h>

Inheritance diagram for prbt_hardware_support::ModbusMsgRunPermittedWrapper:
Inheritance graph
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Public Member Functions

virtual void checkStructuralIntegrity () const override
 Calls ModbusMsgWrapper::checkStructuralIntegrity(). More...
 
bool getRunPermitted () const
 Get the RUN_PERMITTED from the Modbus message. More...
 
 ModbusMsgRunPermittedWrapper (const ModbusMsgInStampedConstPtr &modbus_msg_raw, const ModbusApiSpec &api_spec)
 
- Public Member Functions inherited from prbt_hardware_support::ModbusMsgWrapper
const ros::TimegetTimeStamp () 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
 

Private Member Functions

bool hasRunPermitted () const
 Check if the message contains a RUN_PERMITTED definition. More...
 

Additional Inherited Members

- Protected Member Functions inherited from prbt_hardware_support::ModbusMsgWrapper
const ModbusApiSpecgetApiSpec () 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...
 

Detailed Description

Wrapper class to add semantic to a raw ModbusMsgInStamped.

Allows to easy access to the content behind a raw modbus message which is assumed to contain data about RUN_PERMITTED clearance.

Definition at line 36 of file modbus_msg_run_permitted_wrapper.h.

Constructor & Destructor Documentation

◆ ModbusMsgRunPermittedWrapper()

ModbusMsgRunPermittedWrapper::ModbusMsgRunPermittedWrapper ( const ModbusMsgInStampedConstPtr &  modbus_msg_raw,
const ModbusApiSpec api_spec 
)

Definition at line 25 of file modbus_msg_run_permitted_wrapper.cpp.

Member Function Documentation

◆ checkStructuralIntegrity()

void ModbusMsgRunPermittedWrapper::checkStructuralIntegrity ( ) const
overridevirtual

Calls ModbusMsgWrapper::checkStructuralIntegrity().

Exceptions
ModbusMsgRunPermittedStatusMissingif RUN_PERMITTED register is missing.

Reimplemented from prbt_hardware_support::ModbusMsgWrapper.

Definition at line 31 of file modbus_msg_run_permitted_wrapper.cpp.

◆ getRunPermitted()

bool prbt_hardware_support::ModbusMsgRunPermittedWrapper::getRunPermitted ( ) const
inline

Get the RUN_PERMITTED from the Modbus message.

Returns
true if the RUN_PERMITTED is active (manipulator should stop)
false if the RUN_PERMITTED is clear (manipulator can move)

Definition at line 71 of file modbus_msg_run_permitted_wrapper.h.

◆ hasRunPermitted()

bool prbt_hardware_support::ModbusMsgRunPermittedWrapper::hasRunPermitted ( ) const
inlineprivate

Check if the message contains a RUN_PERMITTED definition.

Returns
true if a RUN_PERMITTED is defined
false if there is no RUN_PERMITTED defined in the message

Definition at line 66 of file modbus_msg_run_permitted_wrapper.h.


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


prbt_hardware_support
Author(s):
autogenerated on Thu Sep 10 2020 03:14:36