modbus_adapter_operation_mode.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 MODBUS_ADAPTER_OPERATION_MODE_H
19 #define MODBUS_ADAPTER_OPERATION_MODE_H
20 
21 #include <memory>
22 
23 #include <ros/ros.h>
24 
27 #include <prbt_hardware_support/ModbusMsgInStamped.h>
30 
31 namespace prbt_hardware_support
32 {
33 
39 {
40 public:
42  virtual ~ModbusAdapterOperationMode() = default;
43 
44 private:
56  void modbusMsgCallback(const ModbusMsgInStampedConstPtr& msg_raw);
57 
58 private:
59  static OperationModes createUnknownOperationMode();
60 
61 private:
63  std::unique_ptr<FilterPipeline> filter_pipeline_;
64 
65 private:
66  static constexpr unsigned int MODBUS_API_VERSION_REQUIRED {2};
67 };
68 
69 } // namespace prbt_hardware_support
70 #endif // MODBUS_ADAPTER_OPERATION_MODE_H
void modbusMsgCallback(const ModbusMsgInStampedConstPtr &msg_raw)
Called whenever a new modbus messages arrives.
Listens to the modbus_read topic and offers a service informing about the active operation mode...
ModbusAdapterOperationMode(ros::NodeHandle &nh, const ModbusApiSpec &api_spec)
Publishes information on the active operation mode. Also offers a service for querying the operation ...
Specifies the meaning of the holding registers.


prbt_hardware_support
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autogenerated on Sat Apr 4 2020 03:17:18