Types.hpp File Reference

Shared data types passed between ARGUS pipeline components. More...

#include <chrono>
#include <opencv2/core.hpp>

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Classes
struct	SafetyResult
	Output of VisionProcessor::process() for each camera frame. More...
struct	FrameData
	Camera frame bundled with its capture timestamp. More...

Enumerations
enum class	SafetyState {   SAFE , TOOL_NOT_DETECTED , OUTSIDE_ALLOWED_ZONE , EXCESSIVE_SPEED ,   INVALID_ORIENTATION , DEPTH_EXCEEDED }
	Outcome of a single vision safety evaluation. More...

Detailed Description

Defines the core structs and enums passed between components in the ARGUS pipeline. Acts as a shared contract between classes so that each module (CameraCapture, VisionProcessor, GuardianStateMachine, etc.) can communicate without being tightly coupled to one another.

Definition in file Types.hpp.

Enumeration Type Documentation

SafetyState

enum class SafetyState

strong

Produced by VisionProcessor::process() and consumed by GuardianStateMachine::processFrame() to drive state transitions.

Enumerator
SAFE	Marker detected - position, speed, and orientation all within bounds.
TOOL_NOT_DETECTED	No marker found in the frame - tool removed, occluded, or camera fault.
OUTSIDE_ALLOWED_ZONE	Marker centroid lies outside the configured safe zone rectangle.
EXCESSIVE_SPEED	Marker moved faster than config_.maxSpeed between frames.
INVALID_ORIENTATION	Marker rotation falls outside the configured angular range.
DEPTH_EXCEEDED	The forbidden playdough layer colour was detected within the ROI, indicating the tool has penetrated beyond the permitted depth. Triggers an immediate FREEZE_NOW event and retract command via RobotInterlock.

Definition at line 22 of file Types.hpp.