modbus_adapter_sto.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_STO_H
19 #define MODBUS_ADAPTER_STO_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 
32 using UpdateStoFunc = std::function<void(const bool)>;
33 
38 {
39 public:
40  ModbusAdapterSto(UpdateStoFunc&& update_sto_func,
41  const ModbusApiSpec& api_spec);
42 
43 public:
56  void modbusMsgCallback(const ModbusMsgInStampedConstPtr& msg_raw);
57 
58 private:
61 
62 private:
63  static constexpr unsigned int MODBUS_API_VERSION_REQUIRED {2};
64 };
65 
66 
67 } // namespace prbt_hardware_support
68 #endif // MODBUS_ADAPTER_STO_H
std::function< void(const bool)> UpdateStoFunc
void modbusMsgCallback(const ModbusMsgInStampedConstPtr &msg_raw)
Called whenever a new modbus messages arrives.
static constexpr unsigned int MODBUS_API_VERSION_REQUIRED
Listens to the modbus_read topic and reacts to updated STO states.
ModbusAdapterSto(UpdateStoFunc &&update_sto_func, const ModbusApiSpec &api_spec)
Specifies the meaning of the holding registers.


prbt_hardware_support
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autogenerated on Thu Feb 13 2020 03:16:51