MainWindow Class Reference

#include <main_window.hpp>

Inheritance diagram for MainWindow:

Collaboration diagram for MainWindow:

Public Member Functions
	MainWindow (int argc, char **argv, QWidget *parent=nullptr)
	~MainWindow ()

Private Slots
void	UpdateGUI ()
void	ResetControlButtonValues (unsigned char &button_val)
void	on_b_enable_cyclic_pos_clicked ()
void	on_b_enable_cylic_vel_clicked ()
void	on_b_enable_vel_clicked ()
void	on_b_enable_pos_clicked ()
void	on_b_init_ecat_clicked ()
void	on_b_reinit_ecat_clicked ()
void	on_b_enable_drives_clicked ()
void	on_b_disable_drives_clicked ()
void	on_b_enter_cyclic_pdo_clicked ()
void	on_b_stop_cyclic_pdo_clicked ()
void	on_b_emergency_mode_clicked ()
void	on_b_send_clicked ()

Private Member Functions
void	rosSpinThread ()
	To use ROS2 spinining functionality in our specific thread. More...
void	ShowAllMotorStatus ()
	Shows motor status in GUI. More...
void	ShowComStatus ()
	Shows communication status in GUI. More...
void	ShowEmergencyStatus ()
	Shows emergency button and switch status in GUI. More...
QString	GetReadableStatusWord (int index)
	Reads status word and turns it to readable string format. More...
void	CallUnconfiguredStateUI ()
	This function will update UI style (enable-disable buttons) based on unconfigured state style. More...
void	CallInactiveStateUI ()
	This function will update UI style (enable-disable buttons) based on inactive state style. More...
void	CallActiveStateUI ()
	This function will update UI style (enable-disable buttons) based on active state style. More...
void	SetDisabledStyleSheet (QPushButton *button)
	Sets GUI appearance for disabled buttons. More...
void	SetEnabledStyleSheetSDO (QPushButton *button)
	Sets GUI appearance for enabled buttons. More...
void	SetEnabledStyleSheetPDO (QPushButton *button)
void	ShowOperationMode ()
QString	GetDriveErrorMessage (const int &err_code)
int	GetDriveStates (const int &statusWord)
	timer to update GUI in specific intervals.In this case 25ms. More...

Private Attributes
Ui::MainWindow *	ui
int	argc_
char **	argv_
const QString	blue_style_sheet_
const QString	sdo_style_sheet_
const QString	red_style_sheet
QTimer	my_timer
std::shared_ptr< GuiNode >	gui_node_
VideoCapture *	opencv_video_cap
std::thread	ros_spin_thread_
uint8_t	em_state_ =0

Constructor & Destructor Documentation

MainWindow()

MainWindow::MainWindow	(	int	argc,
		char **	argv,
		QWidget *	parent = nullptr
	)

~MainWindow()

MainWindow::~MainWindow

(

)

Member Function Documentation

CallActiveStateUI()

void MainWindow::CallActiveStateUI ( )

private

This function will update UI style (enable-disable buttons) based on active state style.

Note

In this state only Emergency Mode and Stop Cyclic Exchange buttons will be enabled.

CallInactiveStateUI()

void MainWindow::CallInactiveStateUI ( )

private

This function will update UI style (enable-disable buttons) based on inactive state style.

Note

In this state state only Initialize/Reinitialize Ethercat buttons and STOP Cyclic Exchange button will be disabled other will be enabled.

CallUnconfiguredStateUI()

void MainWindow::CallUnconfiguredStateUI ( )

private

This function will update UI style (enable-disable buttons) based on unconfigured state style.

Note

In unconfigured state only Initialize Ethercat button will be enabled.

That this state naming comes from lifecycle node in ROS2.

GetDriveErrorMessage()

QString MainWindow::GetDriveErrorMessage ( const int &  err_code )

private

GetDriveStates()

int MainWindow::GetDriveStates ( const int &  statusWord )

private

timer to update GUI in specific intervals.In this case 25ms.

GetReadableStatusWord()

QString MainWindow::GetReadableStatusWord ( int  index )

private

Reads status word and turns it to readable string format.

Parameters

index

slave index

Returns

QString readable status word format.

on_b_disable_drives_clicked

void MainWindow::on_b_disable_drives_clicked ( )

privateslot

on_b_emergency_mode_clicked

void MainWindow::on_b_emergency_mode_clicked ( )

privateslot

on_b_enable_cyclic_pos_clicked

void MainWindow::on_b_enable_cyclic_pos_clicked ( )

privateslot

on_b_enable_cylic_vel_clicked

void MainWindow::on_b_enable_cylic_vel_clicked ( )

privateslot

on_b_enable_drives_clicked

void MainWindow::on_b_enable_drives_clicked ( )

privateslot

on_b_enable_pos_clicked

void MainWindow::on_b_enable_pos_clicked ( )

privateslot

on_b_enable_vel_clicked

void MainWindow::on_b_enable_vel_clicked ( )

privateslot

on_b_enter_cyclic_pdo_clicked

void MainWindow::on_b_enter_cyclic_pdo_clicked ( )

privateslot

on_b_init_ecat_clicked

void MainWindow::on_b_init_ecat_clicked ( )

privateslot

on_b_reinit_ecat_clicked

void MainWindow::on_b_reinit_ecat_clicked ( )

privateslot

on_b_send_clicked

void MainWindow::on_b_send_clicked ( )

privateslot

on_b_stop_cyclic_pdo_clicked

void MainWindow::on_b_stop_cyclic_pdo_clicked ( )

privateslot

ResetControlButtonValues

void MainWindow::ResetControlButtonValues ( unsigned char &  button_val )

privateslot

rosSpinThread()

void MainWindow::rosSpinThread ( )

private

To use ROS2 spinining functionality in our specific thread.

SetDisabledStyleSheet()

void MainWindow::SetDisabledStyleSheet ( QPushButton *  button )

private

Sets GUI appearance for disabled buttons.

SetEnabledStyleSheetPDO()

void MainWindow::SetEnabledStyleSheetPDO ( QPushButton *  button )

private

SetEnabledStyleSheetSDO()

void MainWindow::SetEnabledStyleSheetSDO ( QPushButton *  button )

private

Sets GUI appearance for enabled buttons.

ShowAllMotorStatus()

void MainWindow::ShowAllMotorStatus ( )

private

Shows motor status in GUI.

ShowComStatus()

void MainWindow::ShowComStatus ( )

private

Shows communication status in GUI.

ShowEmergencyStatus()

void MainWindow::ShowEmergencyStatus ( )

private

Shows emergency button and switch status in GUI.

ShowOperationMode()

void MainWindow::ShowOperationMode ( )

private

UpdateGUI

void MainWindow::UpdateGUI ( )

privateslot

Member Data Documentation

argc_

int MainWindow::argc_

private

argv_

char** MainWindow::argv_

private

blue_style_sheet_

const QString MainWindow::blue_style_sheet_

private

Initial value:

="QPushButton:pressed {background-color: rgb(5, 153, 44);}"
                                    "QPushButton {color: rgb(255, 255, 255);"
                                    "selection-background-color: rgb(238, 238, 236);"
                                    "selection-color: rgb(238, 238, 236);"
                                    "background-color: rgb(19, 61, 128);"
                                    "alternate-background-color: rgb(0, 0, 0);"
                                    "font: bold 75 16pt \"Noto Sans\";}"

em_state_

uint8_t MainWindow::em_state_ =0

private

gui_node_

std::shared_ptr<GuiNode> MainWindow::gui_node_

private

my_timer

QTimer MainWindow::my_timer

private

opencv_video_cap

VideoCapture* MainWindow::opencv_video_cap

private

red_style_sheet

const QString MainWindow::red_style_sheet

private

Initial value:

= "QPushButton:pressed {background-color: rgb(252, 186, 3);}"
                                          "QPushButton {color: rgb(255, 255, 255);"
                                          "background-color: rgb(252, 0, 0);"
                                          "font: bold 75 15pt \"Noto Sans\";}"

ros_spin_thread_

std::thread MainWindow::ros_spin_thread_

private

sdo_style_sheet_

const QString MainWindow::sdo_style_sheet_

private

Initial value:

= "QPushButton:pressed {background-color: rgb(5, 153, 44);}"
                                    "QPushButton {color: rgb(255, 255, 255);"
                                    "background-color: rgb(252, 119, 3);"
                                    "font: bold 75 15pt \"Noto Sans\";}"

ui

Ui::MainWindow* MainWindow::ui

private

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

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