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

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

#include <modbus_msg_sto_wrapper.h>

Inheritance diagram for prbt_hardware_support::ModbusMsgStoWrapper:
Inheritance graph
[legend]

Public Member Functions

virtual void checkStructuralIntegrity () const override
 Calls ModbusMsgWrapper::checkStructuralIntegrity(). More...
 
bool getSTO () const
 Get the STO from the Modbus message. More...
 
 ModbusMsgStoWrapper (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 hasSTO () const
 Check if the message contains a STO 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 STO clearance.

Definition at line 35 of file modbus_msg_sto_wrapper.h.

Constructor & Destructor Documentation

◆ ModbusMsgStoWrapper()

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

Definition at line 8 of file modbus_msg_sto_wrapper.cpp.

Member Function Documentation

◆ checkStructuralIntegrity()

void ModbusMsgStoWrapper::checkStructuralIntegrity ( ) const
overridevirtual

Calls ModbusMsgWrapper::checkStructuralIntegrity().

Exceptions
ModbusMsgStoWrapperExceptionif STO register is missing.

Reimplemented from prbt_hardware_support::ModbusMsgWrapper.

Definition at line 14 of file modbus_msg_sto_wrapper.cpp.

◆ getSTO()

bool prbt_hardware_support::ModbusMsgStoWrapper::getSTO ( ) const
inline

Get the STO from the Modbus message.

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

Definition at line 71 of file modbus_msg_sto_wrapper.h.

◆ hasSTO()

bool prbt_hardware_support::ModbusMsgStoWrapper::hasSTO ( ) const
inlineprivate

Check if the message contains a STO definition.

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

Definition at line 66 of file modbus_msg_sto_wrapper.h.


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


prbt_hardware_support
Author(s):
autogenerated on Tue Feb 25 2020 03:19:31