Component that manages Modbus TCP connection lifecycle and heartbeat monitoring. More...

#include <cp_modbus_connection.hpp>

Inheritance diagram for cl_modbus_tcp_relay::CpModbusConnection:

Collaboration diagram for cl_modbus_tcp_relay::CpModbusConnection:

Public Member Functions
	CpModbusConnection ()

virtual	~CpModbusConnection ()

void	onInitialize () override

template<typename TOrthogonal , typename TClient >
void	onStateOrthogonalAllocation ()
	Configure component for event posting during orthogonal allocation.

bool	connect ()

void	disconnect ()

bool	reconnect ()

bool	isConnected () const

modbus_t *	getContext ()

std::mutex &	getMutex ()

std::string	getIpAddress () const

int	getPort () const

int	getSlaveId () const

template<typename T >
smacc2::SmaccSignalConnection	onConnectionLost (void(T::callback)(), T object)

template<typename T >
smacc2::SmaccSignalConnection	onConnectionRestored (void(T::callback)(), T object)

template<typename T >
smacc2::SmaccSignalConnection	onConnectionError (void(T::callback)(const std::string &), T object)

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

virtual	~ISmaccComponent ()

virtual std::string	getName () const

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

	ISmaccUpdatable (rclcpp::Duration duration)

void	executeUpdate (rclcpp::Node::SharedPtr node)

void	setUpdatePeriod (rclcpp::Duration duration)

Public Attributes
smacc2::SmaccSignal< void()>	onConnectionLost_

smacc2::SmaccSignal< void()>	onConnectionRestored_

smacc2::SmaccSignal< void(const std::string &)>	onConnectionError_

Protected Member Functions
void	update () override

Protected Member Functions inherited from smacc2::ISmaccComponent
template<typename TOrthogonal , typename TClient >
void	onComponentInitialization ()

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

template<typename EventType >
void	postEvent ()

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

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

template<typename TComponent >
void	requiresComponent (std::string name, TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)

rclcpp::Node::SharedPtr	getNode ()

rclcpp::Logger	getLogger () const

ISmaccStateMachine *	getStateMachine ()

Protected Member Functions inherited from smacc2::ISmaccUpdatable

Private Member Functions
template<typename T >
void	declareAndLoadParam (const std::string &name, T &value, const T &default_val)

Private Attributes
std::string	ip_address_

int	port_

int	slave_id_

int	heartbeat_interval_ms_

bool	connect_on_init_

modbus_t *	ctx_

bool	connected_

std::mutex	mutex_

std::function< void()>	postConnectionLostEvent_

std::function< void()>	postConnectionRestoredEvent_

Additional Inherited Members
Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_

ISmaccClient *	owner_

Detailed Description

Component that manages Modbus TCP connection lifecycle and heartbeat monitoring.

Responsibilities:

Create/destroy modbus_t context
Manage TCP connection state
Periodic heartbeat via ISmaccUpdatable (reads coil status to verify connectivity)
Emit connection state change signals
Thread-safe connection access via mutex

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 56 of file cp_modbus_connection.hpp.

Constructor & Destructor Documentation

◆ CpModbusConnection()

cl_modbus_tcp_relay::CpModbusConnection::CpModbusConnection ( )

Definition at line 26 of file cp_modbus_connection.cpp.

: ISmaccUpdatable(rclcpp::Duration::from_seconds(1.0)),  // Default 1 second update period
  ip_address_("192.168.1.254"),
  port_(502),
  slave_id_(1),
  heartbeat_interval_ms_(1000),
  connect_on_init_(true),
  ctx_(nullptr),
  connected_(false)
{
}

◆ ~CpModbusConnection()

cl_modbus_tcp_relay::CpModbusConnection::~CpModbusConnection ( )

virtual

Definition at line 38 of file cp_modbus_connection.cpp.

{
  disconnect();
  if (ctx_)
  {
    modbus_free(ctx_);
    ctx_ = nullptr;
  }
}

References ctx_, and disconnect().

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Member Function Documentation

◆ connect()

bool cl_modbus_tcp_relay::CpModbusConnection::connect ( )

Definition at line 114 of file cp_modbus_connection.cpp.

{
  std::lock_guard<std::mutex> lock(mutex_);
 
  if (!ctx_)
  {
    RCLCPP_ERROR(getLogger(), "[CpModbusConnection] Cannot connect: context is null");
    return false;
  }
 
  if (connected_)
  {
    RCLCPP_DEBUG(getLogger(), "[CpModbusConnection] Already connected");
    return true;
  }
 
  RCLCPP_INFO(
    getLogger(), "[CpModbusConnection] Connecting to %s:%d...", ip_address_.c_str(), port_);
 
  int rc = modbus_connect(ctx_);
  if (rc == -1)
  {
    std::string error_msg = std::string("Connection failed: ") + modbus_strerror(errno);
    RCLCPP_ERROR(getLogger(), "[CpModbusConnection] %s", error_msg.c_str());
    onConnectionError_(error_msg);
    return false;
  }
 
  connected_ = true;
  RCLCPP_INFO(getLogger(), "[CpModbusConnection] Connected successfully");
  return true;
}

References connected_, ctx_, smacc2::ISmaccComponent::getLogger(), ip_address_, mutex_, onConnectionError_, and port_.

Referenced by onInitialize(), and reconnect().

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◆ declareAndLoadParam()

template<typename T >

void cl_modbus_tcp_relay::CpModbusConnection::declareAndLoadParam	(	const std::string &	name,
		T &	value,
		const T &	default_val )

private

Definition at line 49 of file cp_modbus_connection.cpp.

{
  auto node = getNode();
  if (!node->has_parameter(name))
  {
    node->declare_parameter(name, default_val);
  }
  node->get_parameter(name, value);
}

References smacc2::ISmaccComponent::getNode().

Referenced by onInitialize().

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◆ disconnect()

void cl_modbus_tcp_relay::CpModbusConnection::disconnect ( )

Definition at line 147 of file cp_modbus_connection.cpp.

{
  std::lock_guard<std::mutex> lock(mutex_);
 
  if (ctx_ && connected_)
  {
    modbus_close(ctx_);
    connected_ = false;
    RCLCPP_INFO(getLogger(), "[CpModbusConnection] Disconnected");
  }
}

References connected_, ctx_, smacc2::ISmaccComponent::getLogger(), and mutex_.

Referenced by reconnect(), and ~CpModbusConnection().

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◆ getContext()

modbus_t * cl_modbus_tcp_relay::CpModbusConnection::getContext ( )

Definition at line 172 of file cp_modbus_connection.cpp.

172{ return ctx_; }

References ctx_.

Referenced by cl_modbus_tcp_relay::CpModbusRelay::readAllCoils(), cl_modbus_tcp_relay::CpModbusRelay::readCoil(), cl_modbus_tcp_relay::CpModbusRelay::writeAllCoils(), and cl_modbus_tcp_relay::CpModbusRelay::writeCoil().

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◆ getIpAddress()

std::string cl_modbus_tcp_relay::CpModbusConnection::getIpAddress ( ) const

inline

Definition at line 88 of file cp_modbus_connection.hpp.

88{ return ip_address_; }

References ip_address_.

◆ getMutex()

std::mutex & cl_modbus_tcp_relay::CpModbusConnection::getMutex ( )

Definition at line 174 of file cp_modbus_connection.cpp.

174{ return mutex_; }

References mutex_.

Referenced by cl_modbus_tcp_relay::CpModbusRelay::readAllCoils(), cl_modbus_tcp_relay::CpModbusRelay::readCoil(), cl_modbus_tcp_relay::CpModbusRelay::writeAllCoils(), and cl_modbus_tcp_relay::CpModbusRelay::writeCoil().

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◆ getPort()

int cl_modbus_tcp_relay::CpModbusConnection::getPort ( ) const

inline

Definition at line 89 of file cp_modbus_connection.hpp.

89{ return port_; }

References port_.

◆ getSlaveId()

int cl_modbus_tcp_relay::CpModbusConnection::getSlaveId ( ) const

inline

Definition at line 90 of file cp_modbus_connection.hpp.

90{ return slave_id_; }

References slave_id_.

◆ isConnected()

bool cl_modbus_tcp_relay::CpModbusConnection::isConnected ( ) const

Definition at line 166 of file cp_modbus_connection.cpp.

{
  std::lock_guard<std::mutex> lock(mutex_);
  return connected_;
}

References connected_, and mutex_.

Referenced by cl_modbus_tcp_relay::CpModbusRelay::readAllCoils(), cl_modbus_tcp_relay::CpModbusRelay::readCoil(), cl_modbus_tcp_relay::CpModbusRelay::writeAllCoils(), and cl_modbus_tcp_relay::CpModbusRelay::writeCoil().

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◆ onConnectionError()

template<typename T >

smacc2::SmaccSignalConnection cl_modbus_tcp_relay::CpModbusConnection::onConnectionError	(	void(T::*	callback )(const std::string &),
		T *	object )

inline

Definition at line 111 of file cp_modbus_connection.hpp.

  {
    return this->getStateMachine()->createSignalConnection(onConnectionError_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccComponent::getStateMachine().

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◆ onConnectionLost()

template<typename T >

smacc2::SmaccSignalConnection cl_modbus_tcp_relay::CpModbusConnection::onConnectionLost	(	void(T::*	callback )(),
		T *	object )

inline

Definition at line 99 of file cp_modbus_connection.hpp.

  {
    return this->getStateMachine()->createSignalConnection(onConnectionLost_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccComponent::getStateMachine().

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◆ onConnectionRestored()

template<typename T >

smacc2::SmaccSignalConnection cl_modbus_tcp_relay::CpModbusConnection::onConnectionRestored	(	void(T::*	callback )(),
		T *	object )

inline

Definition at line 105 of file cp_modbus_connection.hpp.

  {
    return this->getStateMachine()->createSignalConnection(onConnectionRestored_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccComponent::getStateMachine().

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◆ onInitialize()

void cl_modbus_tcp_relay::CpModbusConnection::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 74 of file cp_modbus_connection.cpp.

{
  RCLCPP_INFO(getLogger(), "[CpModbusConnection] Initializing...");
 
  // Load configuration from YAML with defaults
  declareAndLoadParam("modbus_relay.ip_address", ip_address_, std::string("192.168.1.254"));
  declareAndLoadParam("modbus_relay.port", port_, 502);
  declareAndLoadParam("modbus_relay.slave_id", slave_id_, 1);
  declareAndLoadParam("modbus_relay.heartbeat_interval_ms", heartbeat_interval_ms_, 1000);
  declareAndLoadParam("modbus_relay.connect_on_init", connect_on_init_, true);
 
  RCLCPP_INFO(
    getLogger(),
    "[CpModbusConnection] Config: %s:%d (slave=%d, heartbeat=%dms, connect_on_init=%s)",
    ip_address_.c_str(), port_, slave_id_, heartbeat_interval_ms_,
    connect_on_init_ ? "true" : "false");
 
  // Set update period for heartbeat
  this->setUpdatePeriod(rclcpp::Duration::from_seconds(heartbeat_interval_ms_ / 1000.0));
 
  // Create modbus context
  ctx_ = modbus_new_tcp(ip_address_.c_str(), port_);
  if (ctx_)
  {
    modbus_set_slave(ctx_, slave_id_);
    modbus_set_response_timeout(ctx_, 1, 0);  // 1 second timeout
 
    if (connect_on_init_)
    {
      connect();
    }
  }
  else
  {
    std::string error_msg = "Failed to create modbus context";
    RCLCPP_ERROR(getLogger(), "[CpModbusConnection] %s", error_msg.c_str());
    onConnectionError_(error_msg);
  }
}

References connect(), connect_on_init_, ctx_, declareAndLoadParam(), smacc2::ISmaccComponent::getLogger(), heartbeat_interval_ms_, ip_address_, onConnectionError_, port_, smacc2::ISmaccUpdatable::setUpdatePeriod(), and slave_id_.

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◆ onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TClient >

void cl_modbus_tcp_relay::CpModbusConnection::onStateOrthogonalAllocation ( )

inline

Configure component for event posting during orthogonal allocation.

Definition at line 68 of file cp_modbus_connection.hpp.

  {
    postConnectionLostEvent_ = [this]()
    { this->template postEvent<EvConnectionLost<CpModbusConnection, TOrthogonal>>(); };
 
    postConnectionRestoredEvent_ = [this]()
    { this->template postEvent<EvConnectionRestored<CpModbusConnection, TOrthogonal>>(); };
  }

References postConnectionLostEvent_, postConnectionRestoredEvent_, and smacc2::ISmaccComponent::postEvent().

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◆ reconnect()

bool cl_modbus_tcp_relay::CpModbusConnection::reconnect ( )

Definition at line 159 of file cp_modbus_connection.cpp.

{
  RCLCPP_INFO(getLogger(), "[CpModbusConnection] Reconnecting...");
  disconnect();
  return connect();
}

References connect(), disconnect(), and smacc2::ISmaccComponent::getLogger().

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◆ update()

void cl_modbus_tcp_relay::CpModbusConnection::update ( )

overrideprotectedvirtual

Implements smacc2::ISmaccUpdatable.

Definition at line 176 of file cp_modbus_connection.cpp.

{
  std::lock_guard<std::mutex> lock(mutex_);
 
  if (!ctx_)
  {
    return;
  }
 
  if (!connected_)
  {
    // Try to reconnect if not connected
    RCLCPP_DEBUG(getLogger(), "[CpModbusConnection] Not connected, attempting to connect...");
    int rc = modbus_connect(ctx_);
    if (rc == 0)
    {
      connected_ = true;
      RCLCPP_INFO(getLogger(), "[CpModbusConnection] Connection restored");
      onConnectionRestored_();
      if (postConnectionRestoredEvent_)
      {
        postConnectionRestoredEvent_();
      }
    }
    return;
  }
 
  // Heartbeat: Try to read a single coil to verify connectivity
  uint8_t status;
  int rc = modbus_read_bits(ctx_, 0x0000, 1, &status);
 
  if (rc == -1)
  {
    connected_ = false;
    std::string error_msg = modbus_strerror(errno);
    RCLCPP_WARN(getLogger(), "[CpModbusConnection] Heartbeat failed: %s", error_msg.c_str());
    onConnectionLost_();
    if (postConnectionLostEvent_)
    {
      postConnectionLostEvent_();
    }
  }
  else
  {
    RCLCPP_DEBUG(getLogger(), "[CpModbusConnection] Heartbeat OK (coil 0 status: %d)", status);
  }
}

References connected_, ctx_, smacc2::ISmaccComponent::getLogger(), mutex_, onConnectionLost_, onConnectionRestored_, postConnectionLostEvent_, and postConnectionRestoredEvent_.

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Member Data Documentation

◆ connect_on_init_

bool cl_modbus_tcp_relay::CpModbusConnection::connect_on_init_

private

Definition at line 126 of file cp_modbus_connection.hpp.

Referenced by onInitialize().

◆ connected_

bool cl_modbus_tcp_relay::CpModbusConnection::connected_

private

Definition at line 130 of file cp_modbus_connection.hpp.

Referenced by connect(), disconnect(), isConnected(), and update().

◆ ctx_

modbus_t* cl_modbus_tcp_relay::CpModbusConnection::ctx_

private

Definition at line 129 of file cp_modbus_connection.hpp.

Referenced by connect(), disconnect(), getContext(), onInitialize(), update(), and ~CpModbusConnection().

◆ heartbeat_interval_ms_

int cl_modbus_tcp_relay::CpModbusConnection::heartbeat_interval_ms_

private

Definition at line 125 of file cp_modbus_connection.hpp.

Referenced by onInitialize().

◆ ip_address_

std::string cl_modbus_tcp_relay::CpModbusConnection::ip_address_

private

Definition at line 122 of file cp_modbus_connection.hpp.

Referenced by connect(), getIpAddress(), and onInitialize().

◆ mutex_

std::mutex cl_modbus_tcp_relay::CpModbusConnection::mutex_

mutableprivate

Definition at line 131 of file cp_modbus_connection.hpp.

Referenced by connect(), disconnect(), getMutex(), isConnected(), and update().

◆ onConnectionError_

smacc2::SmaccSignal<void(const std::string &)> cl_modbus_tcp_relay::CpModbusConnection::onConnectionError_

Definition at line 95 of file cp_modbus_connection.hpp.

Referenced by connect(), and onInitialize().

◆ onConnectionLost_

smacc2::SmaccSignal<void()> cl_modbus_tcp_relay::CpModbusConnection::onConnectionLost_

Definition at line 93 of file cp_modbus_connection.hpp.

Referenced by update().

◆ onConnectionRestored_

smacc2::SmaccSignal<void()> cl_modbus_tcp_relay::CpModbusConnection::onConnectionRestored_

Definition at line 94 of file cp_modbus_connection.hpp.

Referenced by update().

◆ port_

int cl_modbus_tcp_relay::CpModbusConnection::port_

private

Definition at line 123 of file cp_modbus_connection.hpp.

Referenced by connect(), getPort(), and onInitialize().

◆ postConnectionLostEvent_

std::function<void()> cl_modbus_tcp_relay::CpModbusConnection::postConnectionLostEvent_

private

Definition at line 134 of file cp_modbus_connection.hpp.

Referenced by onStateOrthogonalAllocation(), and update().

◆ postConnectionRestoredEvent_

std::function<void()> cl_modbus_tcp_relay::CpModbusConnection::postConnectionRestoredEvent_

private

Definition at line 135 of file cp_modbus_connection.hpp.

Referenced by onStateOrthogonalAllocation(), and update().

◆ slave_id_

int cl_modbus_tcp_relay::CpModbusConnection::slave_id_

private

Definition at line 124 of file cp_modbus_connection.hpp.

Referenced by getSlaveId(), and onInitialize().

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

smacc2_client_library/cl_modbus_tcp_relay/include/cl_modbus_tcp_relay/components/cp_modbus_connection.hpp
smacc2_client_library/cl_modbus_tcp_relay/src/cl_modbus_tcp_relay/components/cp_modbus_connection.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CpModbusConnection()

◆ ~CpModbusConnection()

Member Function Documentation

◆ connect()

◆ declareAndLoadParam()

◆ disconnect()

◆ getContext()

◆ getIpAddress()

◆ getMutex()

◆ getPort()

◆ getSlaveId()

◆ isConnected()

◆ onConnectionError()

◆ onConnectionLost()

◆ onConnectionRestored()

◆ onInitialize()

◆ onStateOrthogonalAllocation()

◆ reconnect()

◆ update()

Member Data Documentation

◆ connect_on_init_

◆ connected_

◆ ctx_

◆ heartbeat_interval_ms_

◆ ip_address_

◆ mutex_

◆ onConnectionError_

◆ onConnectionLost_

◆ onConnectionRestored_

◆ port_

◆ postConnectionLostEvent_

◆ postConnectionRestoredEvent_

◆ slave_id_