RobotInterlock.hpp File Reference

Safety interlock gate between guardian decisions and robot motion. More...

#include <atomic>
#include <cstdint>

Go to the source code of this file.

Classes
class	RobotHardware
	Abstract hardware contract used by RobotInterlock. More...
class	RobotInterlock
	Thread-safe safety gate that owns interlock state transitions. More...
class	PhysicalRobotHardware
	Basic physical hardware adapter for interlock freeze/enable actions. More...

Enumerations
enum class	ControlEvent { FREEZE_NOW , ALLOW_MOTION }
	Control commands issued to the interlock. More...
enum class	InterlockState { SAFE , FROZEN , FAULT }
	Interlock state machine output states. More...
enum class	FreezeReason {   NONE , MARKER_LOST , MARKER_OUT_OF_ROI , VISION_TIMEOUT ,   POSITION_ERROR , DEPTH_EXCEEDED , WATCHDOG_TIMEOUT , UNKNOWN_FAULT }
	Latched freeze/fault reason. More...

Enumeration Type Documentation

ControlEvent

enum class ControlEvent

strong

Enumerator
FREEZE_NOW	Immediately freeze/deny motion.
ALLOW_MOTION	Attempt to allow motion when safety conditions permit.

Definition at line 14 of file RobotInterlock.hpp.

FreezeReason

enum class FreezeReason

strong

Enumerator
NONE	No freeze reason currently latched.
MARKER_LOST	Vision lost expected marker.
MARKER_OUT_OF_ROI	Marker/tool moved outside allowed ROI.
VISION_TIMEOUT	Vision heartbeat/timing failure.
POSITION_ERROR	Position-related safety violation.
DEPTH_EXCEEDED	Forbidden depth-layer/colour detected.
WATCHDOG_TIMEOUT	Guardian heartbeat timeout.
UNKNOWN_FAULT	Unspecified fault reason.

Definition at line 31 of file RobotInterlock.hpp.

InterlockState

enum class InterlockState

strong

Enumerator
SAFE	Motion allowed.
FROZEN	Motion blocked due to safety freeze.
FAULT	Motion blocked due to hardware/path fault.

Definition at line 22 of file RobotInterlock.hpp.