cl_modbus_tcp_relay::ClModbusTcpRelay Class Reference

SMACC2 Client for controlling Modbus TCP relays. More...

#include <cl_modbus_tcp_relay.hpp>

Inheritance diagram for cl_modbus_tcp_relay::ClModbusTcpRelay:

Collaboration diagram for cl_modbus_tcp_relay::ClModbusTcpRelay:

Public Member Functions
	ClModbusTcpRelay ()
virtual	~ClModbusTcpRelay ()
void	onInitialize () override
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
CpModbusConnection *	getConnectionComponent ()
CpModbusRelay *	getRelayComponent ()
Public Member Functions inherited from smacc2::ISmaccClient
	ISmaccClient ()
virtual	~ISmaccClient ()
virtual std::string	getName () const
template<typename TComponent >
TComponent *	getComponent ()
template<typename TComponent >
TComponent *	getComponent (std::string name)
template<typename TComponent >
TComponent *	getComponent (int index)
virtual smacc2::introspection::TypeInfo::Ptr	getType ()
ISmaccStateMachine *	getStateMachine ()
template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::*callback)(), T *object)
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)
const std::vector< std::shared_ptr< ISmaccComponent > > &	iterateComponents () const
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()

Private Attributes
CpModbusConnection *	connectionComponent_ = nullptr
CpModbusRelay *	relayComponent_ = nullptr

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccClient
template<typename TOrthogonal , typename TClient >
void	onComponentInitialization ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()
Protected Attributes inherited from smacc2::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc2::ISmaccComponent > >	components_

Detailed Description

SMACC2 Client for controlling Modbus TCP relays.

This client manages connection and control of Modbus TCP relay devices, specifically designed for 8-channel relays like the Waveshare POE ETH Relay.

Configuration is loaded from YAML parameters: modbus_relay.ip_address: IP address of the relay (default: "192.168.1.254") modbus_relay.port: Modbus TCP port (default: 502) modbus_relay.slave_id: Modbus slave ID (default: 1) modbus_relay.heartbeat_interval_ms: Heartbeat check interval (default: 1000) modbus_relay.connect_on_init: Connect automatically on init (default: true)

Definition at line 64 of file cl_modbus_tcp_relay.hpp.

Constructor & Destructor Documentation

ClModbusTcpRelay()

cl_modbus_tcp_relay::ClModbusTcpRelay::ClModbusTcpRelay

(

)

Definition at line 26 of file cl_modbus_tcp_relay.cpp.

{}

~ClModbusTcpRelay()

cl_modbus_tcp_relay::ClModbusTcpRelay::~ClModbusTcpRelay ( )

virtual

Definition at line 28 of file cl_modbus_tcp_relay.cpp.

{}

Member Function Documentation

getConnectionComponent()

CpModbusConnection * cl_modbus_tcp_relay::ClModbusTcpRelay::getConnectionComponent ( )

inline

Definition at line 96 of file cl_modbus_tcp_relay.hpp.

{ return connectionComponent_; }

References connectionComponent_.

getRelayComponent()

CpModbusRelay * cl_modbus_tcp_relay::ClModbusTcpRelay::getRelayComponent ( )

inline

Definition at line 99 of file cl_modbus_tcp_relay.hpp.

{ return relayComponent_; }

References relayComponent_.

onInitialize()

void cl_modbus_tcp_relay::ClModbusTcpRelay::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccClient.

Definition at line 30 of file cl_modbus_tcp_relay.cpp.

{
  // Components will be created here in Phase 2
  RCLCPP_INFO(getLogger(), "[ClModbusTcpRelay] Client initialized");
}

References smacc2::ISmaccClient::getLogger().

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onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_modbus_tcp_relay::ClModbusTcpRelay::onStateOrthogonalAllocation ( )

inline

Definition at line 74 of file cl_modbus_tcp_relay.hpp.

  {
    // Create connection component if not already created
    if (!connectionComponent_)
    {
      connectionComponent_ =
        this->template createComponent<CpModbusConnection, TOrthogonal, ClModbusTcpRelay>();
    }
 
    // Create relay component if not already created
    if (!relayComponent_)
    {
      relayComponent_ =
        this->template createComponent<CpModbusRelay, TOrthogonal, ClModbusTcpRelay>();
    }
 
    // Configure components for this orthogonal
    connectionComponent_->template onStateOrthogonalAllocation<TOrthogonal, ClModbusTcpRelay>();
    relayComponent_->template onStateOrthogonalAllocation<TOrthogonal, ClModbusTcpRelay>();
  }

References connectionComponent_, smacc2::ISmaccClient::createComponent(), onStateOrthogonalAllocation(), and relayComponent_.

Referenced by onStateOrthogonalAllocation().

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Member Data Documentation

connectionComponent_

CpModbusConnection* cl_modbus_tcp_relay::ClModbusTcpRelay::connectionComponent_ = nullptr

private

Definition at line 102 of file cl_modbus_tcp_relay.hpp.

Referenced by getConnectionComponent(), and onStateOrthogonalAllocation().

relayComponent_

CpModbusRelay* cl_modbus_tcp_relay::ClModbusTcpRelay::relayComponent_ = nullptr

private

Definition at line 103 of file cl_modbus_tcp_relay.hpp.

Referenced by getRelayComponent(), and onStateOrthogonalAllocation().

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

• smacc2_client_library/cl_modbus_tcp_relay/include/cl_modbus_tcp_relay/cl_modbus_tcp_relay.hpp
• smacc2_client_library/cl_modbus_tcp_relay/src/cl_modbus_tcp_relay/cl_modbus_tcp_relay.cpp