GUI::GuiNode Class Reference

This node will be responsible from all GUI interaction and visualization of feedback information acquired via EtherCAT communication. More...

#include <gui_node.hpp>

Inheritance diagram for GUI::GuiNode:

Collaboration diagram for GUI::GuiNode:

Public Member Functions
	GuiNode ()
virtual	~GuiNode ()

Public Attributes
ecat_msgs::msg::DataReceived	slave_feedback_data_
	Received data structure to store all subscribed data. More...
ecat_msgs::msg::DataSent	master_command_data_
ecat_msgs::msg::GuiButtonData	ui_control_buttons_
	GUI button value to publish emergency button state. More...
std_msgs::msg::UInt16	safety_info_
Timing	time_info_
	For time measurements. More...
uint8_t	current_lifecycle_state = 0

Private Member Functions
void	timer_callback ()
	Publishes gui button value in specified interval. More...
void	HandleControllerCallbacks (const sensor_msgs::msg::Joy::SharedPtr msg)
	Function will be used for subscribtion callbacks from controller node for Controller topic. More...
void	HandleMasterCommandCallbacks (const ecat_msgs::msg::DataSent::SharedPtr msg)
	Function will be used for subscribtion callbacks from EthercatLifecycle node for Master_Commands topic. More...
void	HandleSlaveFeedbackCallbacks (const ecat_msgs::msg::DataReceived::SharedPtr msg)
	Function will be used for subscribtion callbacks from EthercatLifecycle node for Master_Commands topic. More...
void	ResetContolButtonValues ()
	Resets control button values coming from control UI. More...
void	HandleSafetyNodeCallback (const std_msgs::msg::UInt16::SharedPtr msg)

Private Attributes
rclcpp::Subscription< ecat_msgs::msg::DataReceived >::SharedPtr	slave_feedback_
rclcpp::Subscription< ecat_msgs::msg::DataSent >::SharedPtr	master_commands_
	Subscribed to commands that's being sent by ecat_master. More...
rclcpp::Subscription< sensor_msgs::msg::Joy >::SharedPtr	controller_commands_
rclcpp::Subscription< std_msgs::msg::UInt16 >::SharedPtr	safety_info_subscriber_
rclcpp::TimerBase::SharedPtr	timer_
	Timer for timer callbacks, publishing will be done in certain interval. More...
rclcpp::Publisher< ecat_msgs::msg::GuiButtonData >::SharedPtr	gui_publisher_
	Gui publisher, which contains clicked button information. More...

Detailed Description

This node will be responsible from all GUI interaction and visualization of feedback information acquired via EtherCAT communication.

Constructor & Destructor Documentation

GuiNode()

GuiNode::GuiNode

(

)

Subscribtion for control node.

Subscribtion for slave feedback values acquired from connected slaves.

Subscribtions for master commands to slaves.

Gui button value publisher

Timer callback set to 33HZ.

~GuiNode()

GuiNode::~GuiNode ( )

virtual

Member Function Documentation

HandleControllerCallbacks()

void GuiNode::HandleControllerCallbacks ( const sensor_msgs::msg::Joy::SharedPtr  msg )

private

Function will be used for subscribtion callbacks from controller node for Controller topic.

Parameters

msg	controller command structure published by controller node.

HandleMasterCommandCallbacks()

void GuiNode::HandleMasterCommandCallbacks ( const ecat_msgs::msg::DataSent::SharedPtr  msg )

private

Function will be used for subscribtion callbacks from EthercatLifecycle node for Master_Commands topic.

Parameters

msg	Master commands structure published by EthercatLifecycle node

HandleSafetyNodeCallback()

void GUI::GuiNode::HandleSafetyNodeCallback ( const std_msgs::msg::UInt16::SharedPtr  msg )

private

HandleSlaveFeedbackCallbacks()

void GuiNode::HandleSlaveFeedbackCallbacks ( const ecat_msgs::msg::DataReceived::SharedPtr  msg )

private

Function will be used for subscribtion callbacks from EthercatLifecycle node for Master_Commands topic.

Parameters

msg	Slave feedback structure published by EthercatLifecycle node

Servo Drive feedbacks

Costum slave feedbacks.

ResetContolButtonValues()

void GuiNode::ResetContolButtonValues ( )

private

Resets control button values coming from control UI.

timer_callback()

void GuiNode::timer_callback ( )

private

Publishes gui button value in specified interval.

Member Data Documentation

controller_commands_

rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr GUI::GuiNode::controller_commands_

private

current_lifecycle_state

uint8_t GUI::GuiNode::current_lifecycle_state = 0

gui_publisher_

rclcpp::Publisher<ecat_msgs::msg::GuiButtonData>::SharedPtr GUI::GuiNode::gui_publisher_

private

Gui publisher, which contains clicked button information.

master_command_data_

ecat_msgs::msg::DataSent GUI::GuiNode::master_command_data_

master_commands_

rclcpp::Subscription<ecat_msgs::msg::DataSent>::SharedPtr GUI::GuiNode::master_commands_

private

Subscribed to commands that's being sent by ecat_master.

safety_info_

std_msgs::msg::UInt16 GUI::GuiNode::safety_info_

safety_info_subscriber_

rclcpp::Subscription<std_msgs::msg::UInt16>::SharedPtr GUI::GuiNode::safety_info_subscriber_

private

slave_feedback_

rclcpp::Subscription<ecat_msgs::msg::DataReceived>::SharedPtr GUI::GuiNode::slave_feedback_

private

ROS2 subscriptions. Acquired feedback information from connected slaves

slave_feedback_data_

ecat_msgs::msg::DataReceived GUI::GuiNode::slave_feedback_data_

Received data structure to store all subscribed data.

time_info_

Timing GUI::GuiNode::time_info_

For time measurements.

timer_

rclcpp::TimerBase::SharedPtr GUI::GuiNode::timer_

private

Timer for timer callbacks, publishing will be done in certain interval.

ui_control_buttons_

ecat_msgs::msg::GuiButtonData GUI::GuiNode::ui_control_buttons_

GUI button value to publish emergency button state.

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

• src/gui_pkg/include/gui_pkg/gui_node.hpp
• src/gui_pkg/src/gui_node.cpp