IceEmergencyStop.cpp

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#include "IceEmergencyStop.h"
 
#include <Ice/Exception.h>
 
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/interface/components/EmergencyStopInterface.h>
 
namespace armarx::navigation::server
{
 
    IceEmergencyStop::IceEmergencyStop(const EmergencyStopMasterInterfacePrx& master) :
        master_(master)
    {
    }
 
    bool
    IceEmergencyStop::isActive() const
    {
        if (not master_)
        {
            // Absent, not broken: a null proxy is the same condition as "this deployment has no
            // emergency stop master", which must not stop the robot from driving. Contrast the
            // catch below -- a proxy that was resolved and has since gone silent is broken, and
            // that does block activation.
            ARMARX_WARNING << "The emergency stop master proxy is null. Proceeding as if the "
                              "emergency stop were released.";
            return false;
        }
 
        try
        {
            return master_->getEmergencyStopState() == EmergencyStopState::eEmergencyStopActive;
        }
        catch (const Ice::Exception& e)
        {
            ARMARX_WARNING << deactivateSpam(5)
                           << "Could not query the emergency stop state: " << e.what()
                           << ". Assuming the emergency stop is engaged.";
            return true;
        }
    }
 
} // namespace armarx::navigation::server