modbus_adapter_run_permitted.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_RUN_PERMITTED_H
19 #define MODBUS_ADAPTER_RUN_PERMITTED_H
20 
21 #include <memory>
22 #include <functional>
23 
24 #include <ros/ros.h>
25 
26 #include <prbt_hardware_support/ModbusMsgInStamped.h>
28 
29 namespace prbt_hardware_support
30 {
31 using UpdateRunPermittedFunc = std::function<void(const bool)>;
32 
37 {
38 public:
39  ModbusAdapterRunPermitted(UpdateRunPermittedFunc&& update_run_permitted_func, const ModbusApiSpec& api_spec);
40 
41 public:
54  void modbusMsgCallback(const ModbusMsgInStampedConstPtr& msg_raw);
55 
56 private:
59 };
60 
61 } // namespace prbt_hardware_support
62 #endif // MODBUS_ADAPTER_RUN_PERMITTED_H
void modbusMsgCallback(const ModbusMsgInStampedConstPtr &msg_raw)
Called whenever a new modbus messages arrives.
Listens to the modbus_read topic and reacts to updated RUN_PERMITTED states.
ModbusAdapterRunPermitted(UpdateRunPermittedFunc &&update_run_permitted_func, const ModbusApiSpec &api_spec)
std::function< void(const bool)> UpdateRunPermittedFunc
Specifies the meaning of the holding registers.


prbt_hardware_support
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autogenerated on Mon Aug 10 2020 03:10:57