Finite-state safety supervisor used by ARGUS. More...

#include <functional>
#include <string>

Classes
class	GuardianStateMachine
	Event-driven safety state machine with callback hooks. More...

Enumerations
enum class	GuardianState { SAFE_MONITORING , FROZEN_UNSAFE , RESET_PENDING }
	Internal FSM states. More...

enum class	FrameStatus { FRAME_GOOD , FRAME_BAD }
	Per-frame safety classification delivered by vision. More...

enum class	GuardianEvent { FRAME_GOOD , FRAME_BAD , OPERATOR_ACK }
	Events consumed by the FSM transition logic. More...

enum class	GuardianAction { NONE , FREEZE_NOW , CLEAR_FREEZE }
	Side effects emitted by transitions. More...

Detailed Description

The Guardian is a compact three-state FSM with hysteresis:

This design avoids oscillation on noisy vision input while keeping behavior deterministic and easy to audit in logs.

Enumeration Type Documentation

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Enumerator
FRAME_GOOD	Frame classified as safe.
FRAME_BAD	Frame classified as unsafe.

Definition at line 31 of file GuardianStateMachine.hpp.

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Enumerator
NONE	No hardware action required.
FREEZE_NOW	Immediate freeze/block action.
CLEAR_FREEZE	Clear freeze and allow motion.

Definition at line 48 of file GuardianStateMachine.hpp.

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Enumerator
FRAME_GOOD	Safe-frame event.
FRAME_BAD	Unsafe-frame event.
OPERATOR_ACK	Operator/manual acknowledge event.

Definition at line 39 of file GuardianStateMachine.hpp.

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Enumerator
SAFE_MONITORING	Normal operation; monitoring incoming frame status.
FROZEN_UNSAFE	Unsafe condition latched; motion remains blocked.
RESET_PENDING	Operator acknowledged; waiting for stable good frames.

Definition at line 22 of file GuardianStateMachine.hpp.