Client behavior to read relay channel status. More...

#include <cb_relay_status.hpp>

Inheritance diagram for cl_modbus_tcp_relay::CbRelayStatus:

Collaboration diagram for cl_modbus_tcp_relay::CbRelayStatus:

Public Member Functions
	CbRelayStatus ()
	Construct behavior to read all channel statuses.

	CbRelayStatus (int channel)
	Construct behavior to read a specific channel status.

virtual	~CbRelayStatus ()

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

virtual void	onEntry () override

uint8_t	getChannelStates () const
	Get the last read channel states (bitmask)

virtual void	onStatusRead (uint8_t channelStates)
	Virtual callback for status read completion Override in derived classes for custom handling.

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 Member Functions
void	readSingleChannel (int channel)

void	readAllChannels ()

Private Attributes
std::optional< int >	channel_

ClModbusTcpRelay *	client_

CpModbusRelay *	relayComponent_

uint8_t	channelStates_ = 0

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 read relay channel status.

Can read single channel or all channels. Posts EvCbSuccess on successful read, EvCbFailure on error.

Definition at line 37 of file cb_relay_status.hpp.

Constructor & Destructor Documentation

◆ CbRelayStatus() [1/2]

cl_modbus_tcp_relay::CbRelayStatus::CbRelayStatus ( )

inline

Construct behavior to read all channel statuses.

Definition at line 43 of file cb_relay_status.hpp.

43: channel_(std::nullopt) {}

cl_modbus_tcp_relay::CbRelayStatus::channel_

std::optional< int > channel_

Definition cb_relay_status.hpp:91

◆ CbRelayStatus() [2/2]

cl_modbus_tcp_relay::CbRelayStatus::CbRelayStatus ( int channel )

inlineexplicit

Construct behavior to read a specific channel status.

Parameters

channel Relay channel number (1-8)

Definition at line 49 of file cb_relay_status.hpp.

49: channel_(channel) {}

◆ ~CbRelayStatus()

virtual cl_modbus_tcp_relay::CbRelayStatus::~CbRelayStatus ( )

inlinevirtual

Definition at line 51 of file cb_relay_status.hpp.

51{}

Member Function Documentation

◆ getChannelStates()

uint8_t cl_modbus_tcp_relay::CbRelayStatus::getChannelStates ( ) const

inline

Get the last read channel states (bitmask)

Returns: Bitmask of channel states (bit 0 = channel 1, etc.)

Definition at line 78 of file cb_relay_status.hpp.

78{ return channelStates_; }

cl_modbus_tcp_relay::CbRelayStatus::channelStates_

uint8_t channelStates_

Definition cb_relay_status.hpp:94

References channelStates_.

◆ onEntry()

virtual void cl_modbus_tcp_relay::CbRelayStatus::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 62 of file cb_relay_status.hpp.

  {
    if (channel_.has_value())
    {
      readSingleChannel(channel_.value());
    }
    else
    {
      readAllChannels();
    }
  }

References channel_, readAllChannels(), and readSingleChannel().

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◆ onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_modbus_tcp_relay::CbRelayStatus::onStateOrthogonalAllocation ( )

inline

Definition at line 54 of file cb_relay_status.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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◆ onStatusRead()

virtual void cl_modbus_tcp_relay::CbRelayStatus::onStatusRead ( uint8_t channelStates )

inlinevirtual

Virtual callback for status read completion Override in derived classes for custom handling.

Parameters

channelStates Bitmask of channel states

Definition at line 85 of file cb_relay_status.hpp.

  {
    RCLCPP_INFO(getLogger(), "[CbRelayStatus] Status read callback: 0x%02X", channelStates);
  }

References smacc2::ISmaccClientBehavior::getLogger().

Referenced by readAllChannels(), and readSingleChannel().

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◆ readAllChannels()

void cl_modbus_tcp_relay::CbRelayStatus::readAllChannels ( )

inlineprivate

Definition at line 124 of file cb_relay_status.hpp.

  {
    RCLCPP_INFO(getLogger(), "[CbRelayStatus] Reading all channel statuses");
 
    if (!relayComponent_)
    {
      RCLCPP_ERROR(getLogger(), "[CbRelayStatus] Relay component not available");
      this->postFailureEvent();
      return;
    }
 
    bool success = relayComponent_->readAllCoils(channelStates_);
 
    if (success)
    {
      RCLCPP_INFO(getLogger(), "[CbRelayStatus] All channel statuses: 0x%02X", channelStates_);
 
      // Log individual channel states
      for (int i = 0; i < 8; i++)
      {
        bool state = (channelStates_ & (1 << i)) != 0;
        RCLCPP_INFO(getLogger(), "[CbRelayStatus]   Channel %d: %s", i + 1, state ? "ON" : "OFF");
      }
 
      onStatusRead(channelStates_);
      this->postSuccessEvent();
    }
    else
    {
      RCLCPP_ERROR(getLogger(), "[CbRelayStatus] Failed to read channel statuses");
      this->postFailureEvent();
    }
  }

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

Referenced by onEntry().

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◆ readSingleChannel()

void cl_modbus_tcp_relay::CbRelayStatus::readSingleChannel ( int channel )

inlineprivate

Definition at line 96 of file cb_relay_status.hpp.

  {
    RCLCPP_INFO(getLogger(), "[CbRelayStatus] Reading channel %d status", channel);
 
    if (!relayComponent_)
    {
      RCLCPP_ERROR(getLogger(), "[CbRelayStatus] Relay component not available");
      this->postFailureEvent();
      return;
    }
 
    bool state;
    bool success = relayComponent_->readCoil(channel, state);
 
    if (success)
    {
      channelStates_ = state ? (1 << (channel - 1)) : 0;
      RCLCPP_INFO(getLogger(), "[CbRelayStatus] Channel %d is %s", channel, state ? "ON" : "OFF");
      onStatusRead(channelStates_);
      this->postSuccessEvent();
    }
    else
    {
      RCLCPP_ERROR(getLogger(), "[CbRelayStatus] Failed to read channel %d", channel);
      this->postFailureEvent();
    }
  }

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

Referenced by onEntry().

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Member Data Documentation

◆ channel_

std::optional<int> cl_modbus_tcp_relay::CbRelayStatus::channel_

private

Definition at line 91 of file cb_relay_status.hpp.

Referenced by onEntry().

◆ channelStates_

uint8_t cl_modbus_tcp_relay::CbRelayStatus::channelStates_ = 0

private

Definition at line 94 of file cb_relay_status.hpp.

Referenced by getChannelStates(), readAllChannels(), and readSingleChannel().

◆ client_

ClModbusTcpRelay* cl_modbus_tcp_relay::CbRelayStatus::client_

private

Definition at line 92 of file cb_relay_status.hpp.

Referenced by onStateOrthogonalAllocation().

◆ relayComponent_

CpModbusRelay* cl_modbus_tcp_relay::CbRelayStatus::relayComponent_

private

Definition at line 93 of file cb_relay_status.hpp.

Referenced by onStateOrthogonalAllocation(), readAllChannels(), and readSingleChannel().

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_status.hpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbRelayStatus() [1/2]

◆ CbRelayStatus() [2/2]

◆ ~CbRelayStatus()

Member Function Documentation

◆ getChannelStates()

◆ onEntry()

◆ onStateOrthogonalAllocation()

◆ onStatusRead()

◆ readAllChannels()

◆ readSingleChannel()

Member Data Documentation

◆ channel_

◆ channelStates_

◆ client_

◆ relayComponent_