cp_modbus_connection.hpp

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// Copyright 2024 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include <modbus/modbus.h>
 
#include <functional>
#include <mutex>
#include <smacc2/smacc.hpp>
#include <string>
 
namespace cl_modbus_tcp_relay
{
 
// Forward declarations for events
template <typename TSource, typename TOrthogonal>
struct EvConnectionLost;
 
template <typename TSource, typename TOrthogonal>
struct EvConnectionRestored;
 
class CpModbusConnection : public smacc2::ISmaccComponent, public smacc2::ISmaccUpdatable
{
public:
  CpModbusConnection();
  virtual ~CpModbusConnection();
 
  void onInitialize() override;
 
  template <typename TOrthogonal, typename TClient>
  void onStateOrthogonalAllocation()
  {
    postConnectionLostEvent_ = [this]()
    { this->template postEvent<EvConnectionLost<CpModbusConnection, TOrthogonal>>(); };
 
    postConnectionRestoredEvent_ = [this]()
    { this->template postEvent<EvConnectionRestored<CpModbusConnection, TOrthogonal>>(); };
  }
 
  // Connection management
  bool connect();
  void disconnect();
  bool reconnect();
  bool isConnected() const;
 
  // Thread-safe context access
  modbus_t * getContext();
  std::mutex & getMutex();
 
  // Configuration accessors
  std::string getIpAddress() const { return ip_address_; }
  int getPort() const { return port_; }
  int getSlaveId() const { return slave_id_; }
 
  // Signals for connection state changes
  smacc2::SmaccSignal<void()> onConnectionLost_;
  smacc2::SmaccSignal<void()> onConnectionRestored_;
  smacc2::SmaccSignal<void(const std::string &)> onConnectionError_;
 
  // Signal connection helpers
  template <typename T>
  smacc2::SmaccSignalConnection onConnectionLost(void (T::*callback)(), T * object)
  {
    return this->getStateMachine()->createSignalConnection(onConnectionLost_, callback, object);
  }
 
  template <typename T>
  smacc2::SmaccSignalConnection onConnectionRestored(void (T::*callback)(), T * object)
  {
    return this->getStateMachine()->createSignalConnection(onConnectionRestored_, callback, object);
  }
 
  template <typename T>
  smacc2::SmaccSignalConnection onConnectionError(
    void (T::*callback)(const std::string &), T * object)
  {
    return this->getStateMachine()->createSignalConnection(onConnectionError_, callback, object);
  }
 
protected:
  void update() override;  // Heartbeat check
 
private:
  // Configuration loaded from YAML in onInitialize()
  std::string ip_address_;
  int port_;
  int slave_id_;
  int heartbeat_interval_ms_;
  bool connect_on_init_;
 
  // Modbus context
  modbus_t * ctx_;
  bool connected_;
  mutable std::mutex mutex_;
 
  // Event posting functions
  std::function<void()> postConnectionLostEvent_;
  std::function<void()> postConnectionRestoredEvent_;
 
  // Helper for parameter loading
  template <typename T>
  void declareAndLoadParam(const std::string & name, T & value, const T & default_val);
};
 
}  // namespace cl_modbus_tcp_relay