Connects to a modbus server and publishes the received data into ROS. More...

#include <pilz_modbus_client.h>

Public Member Functions
bool	init (const char *ip, unsigned int port)
	Tries to connect to a modbus server. More...

bool	init (const char *ip, unsigned int port, int retries, const ros::Duration &timeout_ms)
	Tries to connect to a modbus server. More...

bool	isRunning ()
	True if 'run()' method is active, false if 'run()' method is not active or, currently, finishing. More...

	PilzModbusClient (ros::NodeHandle &nh, const std::vector< unsigned short > &registers_to_read, ModbusClientUniquePtr modbus_client, unsigned int response_timeout_ms, const std::string &modbus_read_topic_name, const std::string &modbus_write_service_name, double read_frequency_hz=DEFAULT_MODBUS_READ_FREQUENCY_HZ)
	Sets up publisher. To open the modbus connection call PilzModbusClient::init. More...

void	run ()
	Publishes the register values as messages. More...

void	terminate ()
	Ends the infinite loop started in method 'run()'. More...

Static Public Member Functions
static std::vector< std::vector< unsigned short > >	splitIntoBlocks (std::vector< unsigned short > &in)
	Splits a vector of integers into a vector of vectors with consecutive groups. More...

Private Types
typedef std::unique_ptr< ModbusClient >	ModbusClientUniquePtr

enum	State { not_initialized, initializing, initialized, running }
	States of the Modbus-client. More...

Private Member Functions
bool	modbus_write_service_cb (WriteModbusRegister::Request &req, WriteModbusRegister::Response &res)
	Stores the register which have to be send to the modbus server in a local buffer for further processing by the modbus thread. More...

void	sendDisconnectMsg ()

Private Attributes
ModbusClientUniquePtr	modbus_client_

ros::Publisher	modbus_read_pub_

ros::ServiceServer	modbus_write_service_

ros::Subscriber	modbus_write_sub_

const double	READ_FREQUENCY_HZ
	Defines how often the Modbus registers are read in. More...

std::vector< unsigned short >	registers_to_read_
	Registers which have to be read. More...

const unsigned int	RESPONSE_TIMEOUT_MS
	Defines how long we wait for a response from the Modbus-server. More...

std::atomic< State >	state_ { State::not_initialized }

std::atomic_bool	stop_run_ { false }

std::queue< ModbusRegisterBlock >	write_reg_blocks_

std::mutex	write_reg_blocks_mutex_

Static Private Attributes
static constexpr double	DEFAULT_MODBUS_READ_FREQUENCY_HZ { 500 }

static constexpr int	DEFAULT_QUEUE_SIZE_MODBUS { 1 }

Detailed Description

Connects to a modbus server and publishes the received data into ROS.

Definition at line 39 of file pilz_modbus_client.h.

Member Typedef Documentation

◆ ModbusClientUniquePtr

typedef std::unique_ptr<ModbusClient> prbt_hardware_support::PilzModbusClient::ModbusClientUniquePtr

private

Definition at line 41 of file pilz_modbus_client.h.

Member Enumeration Documentation

◆ State

enum prbt_hardware_support::PilzModbusClient::State

private

States of the Modbus-client.

Enumerator
not_initialized
initializing
initialized
running

Definition at line 118 of file pilz_modbus_client.h.

Constructor & Destructor Documentation

◆ PilzModbusClient()

prbt_hardware_support::PilzModbusClient::PilzModbusClient	(	ros::NodeHandle &	nh,
		const std::vector< unsigned short > &	registers_to_read,
		ModbusClientUniquePtr	modbus_client,
		unsigned int	response_timeout_ms,
		const std::string &	modbus_read_topic_name,
		const std::string &	modbus_write_service_name,
		double	read_frequency_hz = `DEFAULT_MODBUS_READ_FREQUENCY_HZ`
	)

Sets up publisher. To open the modbus connection call PilzModbusClient::init.

Parameters

nh	Node handle.
registers_to_read	Registers which have to be read.
modbus_client	ModbusClient to use
response_timeout_ms	Time to wait for a response from Modbus server.
modbus_read_topic_name	Name of the topic to which is published.
modbus_write_service_name	Name under which the modbus write service is advertised.
read_frequency_hz	Defines how often Modbus registers are read in.

Definition at line 27 of file pilz_modbus_client.cpp.

Member Function Documentation

◆ init() [1/2]

bool prbt_hardware_support::PilzModbusClient::init	(	const char *	ip,
		unsigned int	port
	)

Tries to connect to a modbus server.

Parameters

ip
port

Returns: True if a connection is established, false otherwise.

Definition at line 70 of file pilz_modbus_client.cpp.

◆ init() [2/2]

bool prbt_hardware_support::PilzModbusClient::init	(	const char *	ip,
		unsigned int	port,
		int	retries,
		const ros::Duration &	timeout_ms
	)

Tries to connect to a modbus server.

Parameters

ip
port
retries	Number of retries getting a connection to the server. Set -1 for infinite retries.
timeout_ms	between retries

Returns: True if a connection is established, false otherwise.

Definition at line 41 of file pilz_modbus_client.cpp.

◆ isRunning()

bool prbt_hardware_support::PilzModbusClient::isRunning ( )

inline

True if 'run()' method is active, false if 'run()' method is not active or, currently, finishing.

Definition at line 155 of file pilz_modbus_client.h.

◆ modbus_write_service_cb()

bool prbt_hardware_support::PilzModbusClient::modbus_write_service_cb	(	WriteModbusRegister::Request &	req,
		WriteModbusRegister::Response &	res
	)

inlineprivate

Stores the register which have to be send to the modbus server in a local buffer for further processing by the modbus thread.

Definition at line 160 of file pilz_modbus_client.h.

◆ run()

void prbt_hardware_support::PilzModbusClient::run ( )

Publishes the register values as messages.

The value of the modbus register is read in a loop. Once a loop the value is published as a message. In order for clients to differentiate between messages notifying about changes in the register the timestamp of the message is only changed if a register value changed.

Definition at line 103 of file pilz_modbus_client.cpp.

◆ sendDisconnectMsg()

void prbt_hardware_support::PilzModbusClient::sendDisconnectMsg ( )

private

Definition at line 94 of file pilz_modbus_client.cpp.

◆ splitIntoBlocks()

std::vector< std::vector< unsigned short > > prbt_hardware_support::PilzModbusClient::splitIntoBlocks ( std::vector< unsigned short > & in )

static

Splits a vector of integers into a vector of vectors with consecutive groups.

Definition at line 197 of file pilz_modbus_client.cpp.

◆ terminate()

void prbt_hardware_support::PilzModbusClient::terminate ( )

inline

Ends the infinite loop started in method 'run()'.

Definition at line 150 of file pilz_modbus_client.h.

Member Data Documentation

◆ DEFAULT_MODBUS_READ_FREQUENCY_HZ

constexpr double prbt_hardware_support::PilzModbusClient::DEFAULT_MODBUS_READ_FREQUENCY_HZ { 500 }

staticprivate

Definition at line 135 of file pilz_modbus_client.h.

◆ DEFAULT_QUEUE_SIZE_MODBUS

constexpr int prbt_hardware_support::PilzModbusClient::DEFAULT_QUEUE_SIZE_MODBUS { 1 }

staticprivate

Definition at line 136 of file pilz_modbus_client.h.

◆ modbus_client_

ModbusClientUniquePtr prbt_hardware_support::PilzModbusClient::modbus_client_

private

Definition at line 141 of file pilz_modbus_client.h.

◆ modbus_read_pub_

ros::Publisher prbt_hardware_support::PilzModbusClient::modbus_read_pub_

private

Definition at line 142 of file pilz_modbus_client.h.

◆ modbus_write_service_

ros::ServiceServer prbt_hardware_support::PilzModbusClient::modbus_write_service_

private

Definition at line 144 of file pilz_modbus_client.h.

◆ modbus_write_sub_

ros::Subscriber prbt_hardware_support::PilzModbusClient::modbus_write_sub_

private

Definition at line 143 of file pilz_modbus_client.h.

◆ READ_FREQUENCY_HZ

const double prbt_hardware_support::PilzModbusClient::READ_FREQUENCY_HZ

private

Defines how often the Modbus registers are read in.

Definition at line 132 of file pilz_modbus_client.h.

◆ registers_to_read_

std::vector<unsigned short> prbt_hardware_support::PilzModbusClient::registers_to_read_

private

Registers which have to be read.

Definition at line 127 of file pilz_modbus_client.h.

◆ RESPONSE_TIMEOUT_MS

const unsigned int prbt_hardware_support::PilzModbusClient::RESPONSE_TIMEOUT_MS

private

Defines how long we wait for a response from the Modbus-server.

Definition at line 130 of file pilz_modbus_client.h.

◆ state_

std::atomic<State> prbt_hardware_support::PilzModbusClient::state_ { State::not_initialized }

private

Definition at line 139 of file pilz_modbus_client.h.

◆ stop_run_

std::atomic_bool prbt_hardware_support::PilzModbusClient::stop_run_ { false }

private

Definition at line 140 of file pilz_modbus_client.h.

◆ write_reg_blocks_

std::queue<ModbusRegisterBlock> prbt_hardware_support::PilzModbusClient::write_reg_blocks_

private

Definition at line 147 of file pilz_modbus_client.h.

◆ write_reg_blocks_mutex_

std::mutex prbt_hardware_support::PilzModbusClient::write_reg_blocks_mutex_

private

Definition at line 146 of file pilz_modbus_client.h.

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

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ ModbusClientUniquePtr

Member Enumeration Documentation

◆ State

Constructor & Destructor Documentation

◆ PilzModbusClient()

Member Function Documentation

◆ init() [1/2]

◆ init() [2/2]

◆ isRunning()

◆ modbus_write_service_cb()

◆ run()

◆ sendDisconnectMsg()

◆ splitIntoBlocks()

◆ terminate()

Member Data Documentation

◆ DEFAULT_MODBUS_READ_FREQUENCY_HZ

◆ DEFAULT_QUEUE_SIZE_MODBUS

◆ modbus_client_

◆ modbus_read_pub_

◆ modbus_write_service_

◆ modbus_write_sub_

◆ READ_FREQUENCY_HZ

◆ registers_to_read_

◆ RESPONSE_TIMEOUT_MS

◆ state_

◆ stop_run_

◆ write_reg_blocks_

◆ write_reg_blocks_mutex_