SafetyNode Class Reference

Inheritance diagram for SafetyNode:

Collaboration diagram for SafetyNode:

Public Member Functions
	SafetyNode (const std::string &node_name)
void	PublishSafetyInfo ()
void	SpinThread ()
void	HandleGuiNodeCallbacks (const ecat_msgs::msg::GuiButtonData::SharedPtr msg)
void	HandleLifecycleNodeCallbacks (const ecat_msgs::msg::DataReceived::SharedPtr msg)
void	init ()
unsigned int	get_state ()
	Requests the current state of the node. More...
bool	change_state (std::uint8_t transition)
	Invokes a transition. More...

Public Attributes
std::thread	spin_thread_
uint32_t	state_ = lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN
rclcpp::Subscription< sensor_msgs::msg::Joy >::SharedPtr	joystick_subscriber_
rclcpp::Subscription< ecat_msgs::msg::GuiButtonData >::SharedPtr	gui_button_subscriber_
rclcpp::Subscription< ecat_msgs::msg::DataReceived >::SharedPtr	lifecycle_node_subscriber_
rclcpp::Publisher< std_msgs::msg::UInt16 >::SharedPtr	safety_state_publisher_
ecat_msgs::msg::DataReceived	lifecycle_node_data_
Controller	controller_
std_msgs::msg::UInt16	safety_state_msg_
uint8_t	button_request_ =0
rclcpp::TimerBase::SharedPtr	timer_

Private Attributes
std::shared_ptr< rclcpp::Client< lifecycle_msgs::srv::GetState > >	client_get_state_
std::shared_ptr< rclcpp::Client< lifecycle_msgs::srv::ChangeState > >	client_change_state_

Constructor & Destructor Documentation

SafetyNode()

SafetyNode::SafetyNode ( const std::string &  node_name )

inlineexplicit

Subscribtion for control node. Subscribtion for slave feedback values acquired from connected slaves.

Member Function Documentation

change_state()

bool SafetyNode::change_state ( std::uint8_t  transition )

inline

Invokes a transition.

We send a Service request and indicate that we want to invoke transition with the id "transition". By default, these transitions are

• configure
• activate
• cleanup
• shutdown

  Parameters

  transition	id specifying which transition to invoke
  time_out	Duration in seconds specifying how long we wait for a response before returning unknown state

get_state()

unsigned int SafetyNode::get_state ( )

inline

Requests the current state of the node.

In this function, we send a service request asking for the current state of the node ecat_node. If it does return within the given time_out, we return the current state of the node, if not, we return an unknown state.

Parameters

time_out

Duration in seconds specifying how long we wait for a response before returning unknown state

HandleGuiNodeCallbacks()

void SafetyNode::HandleGuiNodeCallbacks ( const ecat_msgs::msg::GuiButtonData::SharedPtr  msg )

inline

HandleLifecycleNodeCallbacks()

void SafetyNode::HandleLifecycleNodeCallbacks ( const ecat_msgs::msg::DataReceived::SharedPtr  msg )

inline

init()

void SafetyNode::init ( )

inline

PublishSafetyInfo()

void SafetyNode::PublishSafetyInfo ( )

inline

SpinThread()

void SafetyNode::SpinThread ( )

inline

Member Data Documentation

button_request_

uint8_t SafetyNode::button_request_ =0

client_change_state_

std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::ChangeState> > SafetyNode::client_change_state_

private

client_get_state_

std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::GetState> > SafetyNode::client_get_state_

private

controller_

Controller SafetyNode::controller_

gui_button_subscriber_

rclcpp::Subscription<ecat_msgs::msg::GuiButtonData>::SharedPtr SafetyNode::gui_button_subscriber_

joystick_subscriber_

rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr SafetyNode::joystick_subscriber_

lifecycle_node_data_

ecat_msgs::msg::DataReceived SafetyNode::lifecycle_node_data_

lifecycle_node_subscriber_

rclcpp::Subscription<ecat_msgs::msg::DataReceived>::SharedPtr SafetyNode::lifecycle_node_subscriber_

safety_state_msg_

std_msgs::msg::UInt16 SafetyNode::safety_state_msg_

safety_state_publisher_

rclcpp::Publisher<std_msgs::msg::UInt16>::SharedPtr SafetyNode::safety_state_publisher_

spin_thread_

std::thread SafetyNode::spin_thread_

state_

uint32_t SafetyNode::state_ = lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN

timer_

rclcpp::TimerBase::SharedPtr SafetyNode::timer_

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

• src/safety_pkg/src/safety_node.cpp