modbus_msg_brake_test_wrapper.h

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/*
 * Copyright (c) 2019 Pilz GmbH & Co. KG
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.

 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.

 * You should have received a copy of the GNU Lesser General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
#ifndef MODBUS_MSG_BRAKE_TEST_WRAPPER_H
#define MODBUS_MSG_BRAKE_TEST_WRAPPER_H

#include <pilz_msgs/IsBrakeTestRequired.h>
#include <pilz_msgs/IsBrakeTestRequiredResult.h>

#include <prbt_hardware_support/ModbusMsgInStamped.h>
#include <prbt_hardware_support/modbus_api_spec.h>
#include <prbt_hardware_support/modbus_msg_wrapper.h>
#include <prbt_hardware_support/modbus_msg_brake_test_wrapper_exception.h>

namespace prbt_hardware_support
{
static constexpr uint16_t REGISTER_VALUE_BRAKETEST_NOT_REQUIRED{ 0 };
static constexpr uint16_t REGISTER_VALUE_BRAKETEST_REQUIRED{ 1 };

class ModbusMsgBrakeTestWrapper : public ModbusMsgWrapper
{
public:
  ModbusMsgBrakeTestWrapper(const ModbusMsgInStampedConstPtr& modbus_msg_raw, const ModbusApiSpec& api_spec);

  virtual void checkStructuralIntegrity() const override;

  pilz_msgs::IsBrakeTestRequiredResult::_value_type getBrakeTestRequirementStatus() const;

private:
  bool hasBrakeTestRequiredFlag() const;
};

inline ModbusMsgBrakeTestWrapper::ModbusMsgBrakeTestWrapper(const ModbusMsgInStampedConstPtr& modbus_msg_raw,
                                                            const ModbusApiSpec& api_spec)
  : ModbusMsgWrapper(modbus_msg_raw, api_spec)
{
}

inline bool ModbusMsgBrakeTestWrapper::hasBrakeTestRequiredFlag() const
{
  return hasRegister(getApiSpec().getRegisterDefinition(modbus_api_spec::BRAKETEST_REQUEST));
}

inline pilz_msgs::IsBrakeTestRequiredResult::_value_type
ModbusMsgBrakeTestWrapper::getBrakeTestRequirementStatus() const
{
  switch (getRegister(getApiSpec().getRegisterDefinition(modbus_api_spec::BRAKETEST_REQUEST)))
  {
    case REGISTER_VALUE_BRAKETEST_NOT_REQUIRED:
      return pilz_msgs::IsBrakeTestRequiredResult::NOT_REQUIRED;

    case REGISTER_VALUE_BRAKETEST_REQUIRED:
      return pilz_msgs::IsBrakeTestRequiredResult::REQUIRED;

    default:
      return pilz_msgs::IsBrakeTestRequiredResult::UNKNOWN;
  }
}

inline void ModbusMsgBrakeTestWrapper::checkStructuralIntegrity() const
{
  ModbusMsgWrapper::checkStructuralIntegrity();

  if (!hasBrakeTestRequiredFlag())
  {
    throw ModbusMsgBrakeTestWrapperException("Received message does not contain a brake test status.");
  }
}

}  // namespace prbt_hardware_support

#endif  // MODBUS_MSG_BRAKE_TEST_WRAPPER_H