cp_modbus_relay.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 <cl_modbus_tcp_relay/components/cp_modbus_connection.hpp>
#include <smacc2/smacc.hpp>
 
#include <cstdint>
#include <functional>
 
namespace cl_modbus_tcp_relay
{
 
// Forward declarations for events
template <typename TSource, typename TOrthogonal>
struct EvRelayWriteSuccess;
 
template <typename TSource, typename TOrthogonal>
struct EvRelayWriteFailure;
 
class CpModbusRelay : public smacc2::ISmaccComponent
{
public:
  static constexpr int NUM_CHANNELS = 8;
  static constexpr int COIL_BASE_ADDRESS = 0x0000;
 
  CpModbusRelay();
  virtual ~CpModbusRelay();
 
  void onInitialize() override;
 
  template <typename TOrthogonal, typename TClient>
  void onStateOrthogonalAllocation()
  {
    postWriteSuccessEvent_ = [this]()
    { this->template postEvent<EvRelayWriteSuccess<CpModbusRelay, TOrthogonal>>(); };
 
    postWriteFailureEvent_ = [this]()
    { this->template postEvent<EvRelayWriteFailure<CpModbusRelay, TOrthogonal>>(); };
  }
 
  // Single channel operations (channel 1-8)
  bool writeCoil(int channel, bool state);
  bool readCoil(int channel, bool & state);
 
  // All channels operations
  bool writeAllCoils(bool state);
  bool writeAllCoils(uint8_t mask);
  bool readAllCoils(uint8_t & states);
 
  // Signals for operation results
  smacc2::SmaccSignal<void(int channel, bool state)> onWriteSuccess_;
  smacc2::SmaccSignal<void(int channel, const std::string & error)> onWriteFailure_;
  smacc2::SmaccSignal<void(uint8_t states)> onReadComplete_;
 
  // Signal connection helpers
  template <typename T>
  smacc2::SmaccSignalConnection onWriteSuccess(void (T::*callback)(int, bool), T * object)
  {
    return this->getStateMachine()->createSignalConnection(onWriteSuccess_, callback, object);
  }
 
  template <typename T>
  smacc2::SmaccSignalConnection onWriteFailure(
    void (T::*callback)(int, const std::string &), T * object)
  {
    return this->getStateMachine()->createSignalConnection(onWriteFailure_, callback, object);
  }
 
  template <typename T>
  smacc2::SmaccSignalConnection onReadComplete(void (T::*callback)(uint8_t), T * object)
  {
    return this->getStateMachine()->createSignalConnection(onReadComplete_, callback, object);
  }
 
private:
  CpModbusConnection * connectionComponent_;
 
  std::function<void()> postWriteSuccessEvent_;
  std::function<void()> postWriteFailureEvent_;
 
  // Helper to convert channel (1-8) to coil address (0-7)
  int channelToAddress(int channel) const { return COIL_BASE_ADDRESS + (channel - 1); }
 
  // Validate channel number
  bool isValidChannel(int channel) const { return channel >= 1 && channel <= NUM_CHANNELS; }
};
 
}  // namespace cl_modbus_tcp_relay