prbt_hardware_support::ModbusMsgRunPermittedWrapper Class Reference

Wrapper class to add semantic to a raw ModbusMsgInStamped. More...

#include <modbus_msg_run_permitted_wrapper.h>

Inheritance diagram for prbt_hardware_support::ModbusMsgRunPermittedWrapper:

Public Member Functions
virtual void	checkStructuralIntegrity () const override
	Calls ModbusMsgWrapper::checkStructuralIntegrity(). More...
bool	getRunPermitted () const
	Get the RUN_PERMITTED from the Modbus message. More...
	ModbusMsgRunPermittedWrapper (const ModbusMsgInStampedConstPtr &modbus_msg_raw, const ModbusApiSpec &api_spec)
Public Member Functions inherited from prbt_hardware_support::ModbusMsgWrapper
const ros::Time &	getTimeStamp () const
unsigned int	getVersion () const
bool	isDisconnect () const
	Check if the Modbus message informs about a disconnect from the server. More...
	ModbusMsgWrapper (const ModbusMsgInStampedConstPtr &modbus_msg_raw, const ModbusApiSpec &api_spec)
	Construct a new Modbus Msg Wrapper object. More...
virtual	~ModbusMsgWrapper ()=default

Private Member Functions
bool	hasRunPermitted () const
	Check if the message contains a RUN_PERMITTED definition. More...

Additional Inherited Members
Protected Member Functions inherited from prbt_hardware_support::ModbusMsgWrapper
const ModbusApiSpec &	getApiSpec () const
uint16_t	getRegister (uint32_t reg) const
bool	hasRegister (uint32_t reg) const
	Check if a certain holding register is define in the Modbus message. More...
bool	hasVersion () const
	Check if the modbus_msg contains the API version. More...

Detailed Description

Wrapper class to add semantic to a raw ModbusMsgInStamped.

Allows to easy access to the content behind a raw modbus message which is assumed to contain data about RUN_PERMITTED clearance.

Definition at line 36 of file modbus_msg_run_permitted_wrapper.h.

Constructor & Destructor Documentation

ModbusMsgRunPermittedWrapper()

ModbusMsgRunPermittedWrapper::ModbusMsgRunPermittedWrapper	(	const ModbusMsgInStampedConstPtr &	modbus_msg_raw,
		const ModbusApiSpec &	api_spec
	)

Definition at line 25 of file modbus_msg_run_permitted_wrapper.cpp.

Member Function Documentation

checkStructuralIntegrity()

void ModbusMsgRunPermittedWrapper::checkStructuralIntegrity ( ) const

overridevirtual

Calls ModbusMsgWrapper::checkStructuralIntegrity().

Exceptions

ModbusMsgRunPermittedStatusMissing

if RUN_PERMITTED register is missing.

Reimplemented from prbt_hardware_support::ModbusMsgWrapper.

Definition at line 31 of file modbus_msg_run_permitted_wrapper.cpp.

getRunPermitted()

bool prbt_hardware_support::ModbusMsgRunPermittedWrapper::getRunPermitted ( ) const

inline

Get the RUN_PERMITTED from the Modbus message.

Returns

true if the RUN_PERMITTED is active (manipulator should stop)

false if the RUN_PERMITTED is clear (manipulator can move)

Definition at line 71 of file modbus_msg_run_permitted_wrapper.h.

hasRunPermitted()

bool prbt_hardware_support::ModbusMsgRunPermittedWrapper::hasRunPermitted ( ) const

inlineprivate

Check if the message contains a RUN_PERMITTED definition.

Returns

true if a RUN_PERMITTED is defined

false if there is no RUN_PERMITTED defined in the message

Definition at line 66 of file modbus_msg_run_permitted_wrapper.h.

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The documentation for this class was generated from the following files:

• modbus_msg_run_permitted_wrapper.h
• modbus_msg_run_permitted_wrapper.cpp