The robot's software emergency stop, as far as navigation needs to know it. More...
#include <armarx/navigation/server/execution/EmergencyStopInterface.h>
Inheritance diagram for EmergencyStopInterface:Public Member Functions | |
| virtual bool | isActive () const =0 |
| True when controllers must not be activated. | |
| virtual | ~EmergencyStopInterface ()=default |
Detailed Description
The robot's software emergency stop, as far as navigation needs to know it.
Deliberately narrower than armarx::EmergencyStopMasterInterface: navigation only ever asks, never sets, and keeping the question in a package-local interface keeps the Ice types out of every header that wants to be safe.
The state this reports is the software emergency stop – the one the GUI's SS2 buttons drive. It also rises on hardware STO and on bus errors, so it is a superset of "the drives have lost power", but it does not promise IEC 61800-5-2 SS2 semantics: nothing here guarantees a controlled stop.
Definition at line 18 of file EmergencyStopInterface.h.
Constructor & Destructor Documentation
◆ ~EmergencyStopInterface()
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virtualdefault |
Member Function Documentation
◆ isActive()
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pure virtual |
True when controllers must not be activated.
Implementations must not throw. A source that cannot be reached reports engaged, so a safety source that has gone silent blocks activation instead of being ignored.
Implemented in IceEmergencyStop.
The documentation for this class was generated from the following file:
- armarx/navigation/server/execution/EmergencyStopInterface.h
