cb_relay_on.hpp

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// Copyright 2024 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#pragma once
 
#include <cl_modbus_tcp_relay/cl_modbus_tcp_relay.hpp>
#include <smacc2/smacc_asynchronous_client_behavior.hpp>
 
namespace cl_modbus_tcp_relay
{
 
class CbRelayOn : public smacc2::SmaccAsyncClientBehavior
{
public:
  explicit CbRelayOn(int channel) : channel_(channel) {}
 
  virtual ~CbRelayOn() {}
 
  template <typename TOrthogonal, typename TSourceObject>
  void onStateOrthogonalAllocation()
  {
    smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation<TOrthogonal, TSourceObject>();
 
    this->requiresClient(client_);
    this->requiresComponent(relayComponent_);
  }
 
  virtual void onEntry() override
  {
    RCLCPP_INFO(getLogger(), "[CbRelayOn] Turning ON channel %d", channel_);
 
    if (!relayComponent_)
    {
      RCLCPP_ERROR(getLogger(), "[CbRelayOn] Relay component not available");
      this->postFailureEvent();
      return;
    }
 
    bool success = relayComponent_->writeCoil(channel_, true);
 
    if (success)
    {
      RCLCPP_INFO(getLogger(), "[CbRelayOn] Channel %d turned ON successfully", channel_);
      this->postSuccessEvent();
    }
    else
    {
      RCLCPP_ERROR(getLogger(), "[CbRelayOn] Failed to turn ON channel %d", channel_);
      this->postFailureEvent();
    }
  }
 
private:
  int channel_;
  ClModbusTcpRelay * client_;
  CpModbusRelay * relayComponent_;
};
 
}  // namespace cl_modbus_tcp_relay