cl_modbus_tcp_relay::CbRelayOn Class Reference

Client behavior to turn ON a specific relay channel. More...

#include <cb_relay_on.hpp>

Inheritance diagram for cl_modbus_tcp_relay::CbRelayOn:

Collaboration diagram for cl_modbus_tcp_relay::CbRelayOn:

Public Member Functions
	CbRelayOn (int channel)
	Construct behavior to turn on specified channel.
virtual	~CbRelayOn ()
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
int	channel_
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 a specific relay channel.

Posts EvCbSuccess on successful write, EvCbFailure on error.

Definition at line 34 of file cb_relay_on.hpp.

Constructor & Destructor Documentation

CbRelayOn()

cl_modbus_tcp_relay::CbRelayOn::CbRelayOn ( int channel )

inlineexplicit

Construct behavior to turn on specified channel.

Parameters

channel

Relay channel number (1-8)

Definition at line 41 of file cb_relay_on.hpp.

: channel_(channel) {}

~CbRelayOn()

virtual cl_modbus_tcp_relay::CbRelayOn::~CbRelayOn ( )

inlinevirtual

Definition at line 43 of file cb_relay_on.hpp.

{}

Member Function Documentation

onEntry()

virtual void cl_modbus_tcp_relay::CbRelayOn::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 54 of file cb_relay_on.hpp.

  {
    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();
    }
  }

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

Here is the call graph for this function:

onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_modbus_tcp_relay::CbRelayOn::onStateOrthogonalAllocation ( )

inline

Definition at line 46 of file cb_relay_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().

Here is the call graph for this function:

Member Data Documentation

channel_

int cl_modbus_tcp_relay::CbRelayOn::channel_

private

Definition at line 80 of file cb_relay_on.hpp.

Referenced by onEntry().

client_

ClModbusTcpRelay* cl_modbus_tcp_relay::CbRelayOn::client_

private

Definition at line 81 of file cb_relay_on.hpp.

Referenced by onStateOrthogonalAllocation().

relayComponent_

CpModbusRelay* cl_modbus_tcp_relay::CbRelayOn::relayComponent_

private

Definition at line 82 of file cb_relay_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_relay_on.hpp