IceEmergencyStop.h

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#pragma once
 
#include <ArmarXCore/interface/components/EmergencyStopInterface.h>
 
#include <armarx/navigation/server/execution/EmergencyStopInterface.h>
 
namespace armarx::navigation::server
{
 
    /**
     * @brief `EmergencyStopInterface` over the emergency-stop master.
     *
     * The only file in this package that includes the Ice interface.
     *
     * Polls the master rather than listening on the `EmergencyStop` topic. The topic is writable
     * by anyone -- `RobotHealth` and the `InterventionDebugger` both publish to it without
     * changing the master's state -- so a listener can transiently disagree with the authority
     * about a state we refuse to drive on.
     */
    class IceEmergencyStop : public EmergencyStopInterface
    {
    public:
        explicit IceEmergencyStop(const EmergencyStopMasterInterfacePrx& master);
 
        /// Engaged whenever the master says so, and whenever a resolved master cannot be
        /// reached. A null proxy is instead read as "no emergency stop here" and reports
        /// released.
        bool isActive() const override;
 
    private:
        EmergencyStopMasterInterfacePrx master_;
    };
 
} // namespace armarx::navigation::server