write_modbus_register_call.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 WRITE_MODBUS_REGISTER_CALL_H
19 #define WRITE_MODBUS_REGISTER_CALL_H
20 
21 #include <ros/ros.h>
22 
23 #include <prbt_hardware_support/WriteModbusRegister.h>
25 
26 
27 namespace prbt_hardware_support
28 {
29 
30 template<class T>
31 static bool writeModbusRegisterCall(T& modbus_service,
32  const uint16_t& start_idx,
33  const RegCont& values)
34 {
35  WriteModbusRegister srv;
36  srv.request.holding_register_block.start_idx = start_idx;
37  srv.request.holding_register_block.values = values;
38 
39  ROS_DEBUG_STREAM("Calling service: " << modbus_service.getService());
40  bool call_success = modbus_service.call(srv);
41  if (!call_success)
42  {
43  ROS_ERROR_STREAM("Service call " << modbus_service.getService() << " failed.");
44  return false;
45  }
46 
47  if (!srv.response.success)
48  {
49  ROS_ERROR_STREAM("Writing of modbus register failed.");
50  return false;
51  }
52 
53  return true;
54 }
55 
56 }
57 
58 #endif // WRITE_MODBUS_REGISTER_CALL_H
std::vector< uint16_t > RegCont
Convenience data type defining the data type for a collection of registers.
#define ROS_DEBUG_STREAM(args)
#define ROS_ERROR_STREAM(args)
static bool writeModbusRegisterCall(T &modbus_service, const uint16_t &start_idx, const RegCont &values)


prbt_hardware_support
Author(s):
autogenerated on Fri Feb 28 2020 03:16:57