Listens to the modbus_read topic and offers a service informing about the active operation mode.
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#include <modbus_adapter_operation_mode.h>
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void | modbusMsgCallback (const ModbusMsgInStampedConstPtr &msg_raw) |
| Called whenever a new modbus messages arrives. More...
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void | updateOperationMode (const pilz_msgs::OperationModes &mode) |
| Stores the operation mode and publishes it, if it has changed. More...
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Listens to the modbus_read topic and offers a service informing about the active operation mode.
Definition at line 39 of file modbus_adapter_operation_mode.h.
◆ ModbusAdapterOperationMode()
◆ ~ModbusAdapterOperationMode()
virtual prbt_hardware_support::ModbusAdapterOperationMode::~ModbusAdapterOperationMode |
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◆ createUnknownOperationMode()
pilz_msgs::OperationModes prbt_hardware_support::ModbusAdapterOperationMode::createUnknownOperationMode |
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◆ modbusMsgCallback()
void prbt_hardware_support::ModbusAdapterOperationMode::modbusMsgCallback |
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const ModbusMsgInStampedConstPtr & |
msg_raw | ) |
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Called whenever a new modbus messages arrives.
- Note
- Filters like for example the UpdateFilter can restrict the number of incoming messages.
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The operation mode gets unknown in case:
- of a disconnect from the modbus server,
- the modbus message does not contain the expected registers,
- the modbus API version is incorrect.
Definition at line 47 of file modbus_adapter_operation_mode.cpp.
◆ api_spec_
const ModbusApiSpec prbt_hardware_support::ModbusAdapterOperationMode::api_spec_ |
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◆ filter_pipeline_
std::unique_ptr<FilterPipeline> prbt_hardware_support::ModbusAdapterOperationMode::filter_pipeline_ |
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The documentation for this class was generated from the following files: