EmergencyStopInterface.h

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#pragma once
 
namespace armarx::navigation::server
{
 
    /**
     * @brief 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.
     */
    class EmergencyStopInterface
    {
    public:
        /**
         * @brief 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.
         */
        virtual bool isActive() const = 0;
 
        // Non-API.
        virtual ~EmergencyStopInterface() = default;
    };
 
} // namespace armarx::navigation::server