modbus_api_spec.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_API_SPEC_H
19 #define MODBUS_API_SPEC_H
20 
21 #include <algorithm>
22 #include <initializer_list>
23 #include <map>
24 #include <string>
25 #include <utility>
26 
27 #include <ros/ros.h>
28 #include <xmlrpcpp/XmlRpc.h>
29 
30 namespace prbt_hardware_support
31 {
32 static const std::string READ_API_SPEC_PARAM_NAME {"read_api_spec/"};
33 
34 namespace modbus_api_spec
35 {
36  static const std::string STO {"STO"};
37  static const std::string VERSION {"VERSION"};
38  static const std::string BRAKETEST_REQUEST {"BRAKETEST_REQUEST"};
39  static const std::string OPERATION_MODE {"OPERATION_MODE"};
40  static const std::string BRAKETEST_PERFORMED {"BRAKETEST_PERFORMED"};
41  static const std::string BRAKETEST_RESULT {"BRAKETEST_RESULT"};
42 }
43 
47 class ModbusApiSpecException : public std::runtime_error
48 {
49 public:
50  ModbusApiSpecException( const std::string& what_arg ):
51  std::runtime_error(what_arg)
52  {
53  }
54 };
55 
62 template <class T = ros::NodeHandle>
64 {
65 public:
66 
67  ModbusApiSpecTemplated(std::initializer_list< std::pair<std::string, unsigned short> > reg_list)
68  {
69  for(auto entry : reg_list){
70  setRegisterDefinition(entry.first, entry.second);
71  }
72  }
73 
88 
103  ModbusApiSpecTemplated(T &nh, const std::string &param_name)
104  {
106  if (!nh.getParam(param_name, rpc))
107  {
108  throw ModbusApiSpecException("No api specified. (Expected at " + nh.getNamespace() + "/" + param_name + ")");
109  }
110 
111  for (auto rpci = rpc.begin(); rpci != rpc.end(); ++rpci)
112  {
113  int value = rpci->second;
114  setRegisterDefinition(rpci->first.c_str(), static_cast<unsigned short>(value));
115  }
116 
117  }
118 
119  inline bool hasRegisterDefinition(const std::string &key) const
120  {
121  return register_mapping_.find(key) != register_mapping_.end();
122  }
123 
124  inline void setRegisterDefinition(const std::string &key, unsigned short value)
125  {
126  register_mapping_[key] = value;
127  }
128 
129  inline unsigned short getRegisterDefinition(const std::string &key) const
130  {
131  try
132  {
133  return register_mapping_.at(key);
134  }
135  catch(const std::out_of_range& e)
136  {
137  throw ModbusApiSpecException(e.what());
138  }
139  }
140  inline unsigned short getMinRegisterDefinition() const
141  {
142  if (register_mapping_.empty())
143  {
144  throw ModbusApiSpecException("Cannot read values. Api spec is empty.");
145  }
146 
147  typedef std::pair<std::string, unsigned short> RegisterMappingEntry;
148  // The following is excluded because lambda functions are not marked properly with gcc-7
149  // see https://github.com/gcc-mirror/gcc/commit/7de708f
150  // LCOV_EXCL_START
151  auto it = std::min_element(register_mapping_.begin(), register_mapping_.end(),
152  [] (const RegisterMappingEntry& a, const RegisterMappingEntry& b)
153  { return a.second < b.second; });
154  // LCVO EXCL_STOP
155  return it->second;
156  }
157 
158  inline unsigned short getMaxRegisterDefinition() const
159  {
160  if (register_mapping_.empty())
161  {
162  throw ModbusApiSpecException("Cannot read values. Api spec is empty.");
163  }
164 
165  typedef std::pair<std::string, unsigned short> RegisterMappingEntry;
166  // The following is excluded because lambda functions are not marked properly with gcc-7
167  // see https://github.com/gcc-mirror/gcc/commit/7de708f
168  // LCOV_EXCL_START
169  auto it = std::max_element(register_mapping_.begin(), register_mapping_.end(),
170  [] (const RegisterMappingEntry& a, const RegisterMappingEntry& b)
171  { return a.second < b.second; });
172  // LCVO EXCL_STOP
173  return it->second;
174  }
175 
176  inline void getAllDefinedRegisters(std::vector<unsigned short> &registers) {
177  for(auto it = register_mapping_.begin(); it != register_mapping_.end(); ++it){
178  registers.push_back(it->second);
179  std::sort(registers.begin(), registers.end());
180  }
181  }
182 
183  inline std::map<std::string, unsigned short>::size_type size() const
184  {
185  return register_mapping_.size();
186  }
187 
188 private:
189  std::map<std::string, unsigned short> register_mapping_;
190 };
191 
194 
195 } // namespace prbt_hardware_support
196 #endif // MODBUS_API_SPEC_H
static const std::string BRAKETEST_PERFORMED
static const std::string BRAKETEST_REQUEST
Expection thrown by prbt_hardware_support::ModbusApiSpec.
unsigned short getRegisterDefinition(const std::string &key) const
void getAllDefinedRegisters(std::vector< unsigned short > &registers)
static const std::string BRAKETEST_RESULT
ModbusApiSpecTemplated ModbusApiSpec
Simple typedef for class like usage.
ModbusApiSpecTemplated(std::initializer_list< std::pair< std::string, unsigned short > > reg_list)
ModbusApiSpecTemplated(T &nh, const std::string &param_name)
Construct a new Modbus Api Spec Templated object.
static const std::string OPERATION_MODE
static const std::string READ_API_SPEC_PARAM_NAME
ModbusApiSpecException(const std::string &what_arg)
void setRegisterDefinition(const std::string &key, unsigned short value)
std::map< std::string, unsigned short >::size_type size() const
std::map< std::string, unsigned short > register_mapping_
bool hasRegisterDefinition(const std::string &key) const
Specifies the meaning of the holding registers.
ModbusApiSpecTemplated(T &nh)
Construct a new Modbus Api Spec Templated object.


prbt_hardware_support
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autogenerated on Thu Mar 19 2020 03:13:27