Client behavior to turn ON all relay channels simultaneously. More...

#include <cb_all_relays_on.hpp>

Inheritance diagram for cl_modbus_tcp_relay::CbAllRelaysOn:

Collaboration diagram for cl_modbus_tcp_relay::CbAllRelaysOn:

Public Member Functions
	CbAllRelaysOn ()

virtual	~CbAllRelaysOn ()

template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

virtual void	onEntry () override

Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

virtual	~SmaccAsyncClientBehavior ()

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallback callback, T *object)

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallback callback, T *object)

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFailure (TCallback callback, T *object)

void	requestForceFinish ()

void	executeOnEntry () override

void	executeOnExit () override

void	waitOnEntryThread (bool requestFinish)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onFailure (TCallbackMethod callback, T *object)

Public Member Functions inherited from smacc2::ISmaccClientBehavior
	ISmaccClientBehavior ()

virtual	~ISmaccClientBehavior ()

ISmaccStateMachine *	getStateMachine ()

std::string	getName () const

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

virtual void	onExit ()

Private Attributes
ClModbusTcpRelay *	client_

CpModbusRelay *	relayComponent_

Additional Inherited Members
Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()

void	postFailureEvent ()

virtual void	dispose () override

bool	isShutdownRequested ()
	onEntry is executed in a new thread. However the current state cannot be left until the onEntry thread finishes. This flag can be checked from the onEntry thread to force finishing the thread.

Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

ISmaccState *	getCurrentState ()

virtual rclcpp::Node::SharedPtr	getNode () const

virtual rclcpp::Logger	getLogger () const

Detailed Description

Client behavior to turn ON all relay channels simultaneously.

Posts EvCbSuccess on successful write, EvCbFailure on error.

Definition at line 34 of file cb_all_relays_on.hpp.

Constructor & Destructor Documentation

◆ CbAllRelaysOn()

cl_modbus_tcp_relay::CbAllRelaysOn::CbAllRelaysOn ( )

inline

Definition at line 37 of file cb_all_relays_on.hpp.

37{}

◆ ~CbAllRelaysOn()

virtual cl_modbus_tcp_relay::CbAllRelaysOn::~CbAllRelaysOn ( )

inlinevirtual

Definition at line 39 of file cb_all_relays_on.hpp.

39{}

Member Function Documentation

◆ onEntry()

virtual void cl_modbus_tcp_relay::CbAllRelaysOn::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 50 of file cb_all_relays_on.hpp.

  {
    RCLCPP_INFO(getLogger(), "[CbAllRelaysOn] Turning ON all channels");
 
    if (!relayComponent_)
    {
      RCLCPP_ERROR(getLogger(), "[CbAllRelaysOn] Relay component not available");
      this->postFailureEvent();
      return;
    }
 
    bool success = relayComponent_->writeAllCoils(true);
 
    if (success)
    {
      RCLCPP_INFO(getLogger(), "[CbAllRelaysOn] All channels turned ON successfully");
      this->postSuccessEvent();
    }
    else
    {
      RCLCPP_ERROR(getLogger(), "[CbAllRelaysOn] Failed to turn ON all channels");
      this->postFailureEvent();
    }
  }

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), relayComponent_, and cl_modbus_tcp_relay::CpModbusRelay::writeAllCoils().

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◆ onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_modbus_tcp_relay::CbAllRelaysOn::onStateOrthogonalAllocation ( )

inline

Definition at line 42 of file cb_all_relays_on.hpp.

  {
    smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation<TOrthogonal, TSourceObject>();
 
    this->requiresClient(client_);
    this->requiresComponent(relayComponent_);
  }

References client_, smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(), relayComponent_, smacc2::ISmaccClientBehavior::requiresClient(), and smacc2::ISmaccClientBehavior::requiresComponent().

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Member Data Documentation

◆ client_

ClModbusTcpRelay* cl_modbus_tcp_relay::CbAllRelaysOn::client_

private

Definition at line 76 of file cb_all_relays_on.hpp.

Referenced by onStateOrthogonalAllocation().

◆ relayComponent_

CpModbusRelay* cl_modbus_tcp_relay::CbAllRelaysOn::relayComponent_

private

Definition at line 77 of file cb_all_relays_on.hpp.

Referenced by onEntry(), and onStateOrthogonalAllocation().

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

smacc2_client_library/cl_modbus_tcp_relay/include/cl_modbus_tcp_relay/client_behaviors/cb_all_relays_on.hpp

Public Member Functions

Private Attributes

Additional Inherited Members