GuardianStateMachine Class Reference

Event-driven safety state machine with callback hooks. More...

#include <GuardianStateMachine.hpp>

Public Member Functions
	GuardianStateMachine (int fc=30, int rc=3)
	Construct the FSM with frame-count hysteresis thresholds.
void	processEvent (GuardianEvent event)
	Process an explicit FSM event.
void	processFrame (FrameStatus status)
	Convenience wrapper that maps frame status to an FSM event.
void	operatorAcknowledge ()
	Inject an operator acknowledge event.
void	setOnFreezeCallback (std::function< void()> callback)
	Register callback fired when freeze is commanded.
void	setOnClearFreezeCallback (std::function< void()> callback)
	Register callback fired when freeze is cleared.
void	setOnStateChangeCallback (std::function< void(GuardianState, GuardianState)> callback)
	Register callback fired on state transitions.
GuardianState	getState () const
	Get current FSM state.
bool	isMotionBlocked () const
	True when guardian currently blocks motion.
bool	isMotionAllowed () const
	True when motion is currently allowed.
int	getBadCount () const
	Get current consecutive bad-frame count.
int	getGoodCount () const
	Get current consecutive good-frame count.
std::string	stateToString (GuardianState state) const
	Convert a state enum to a readable string.
std::string	getCurrentStateString () const
	Return readable string for current state.
void	printStatus () const
	Print a status snapshot for debugging.

Detailed Description

Integration model:

• processFrame(...) is called for each vision decision.
• operatorAcknowledge() is called when operator input is received.
• callbacks notify external systems (interlock/motion controller) on freeze/clear transitions.

Definition at line 63 of file GuardianStateMachine.hpp.

Constructor & Destructor Documentation

GuardianStateMachine()

GuardianStateMachine::GuardianStateMachine	(	int	fc = 30,
		int	rc = 3
	)

Parameters

fc	Consecutive bad frames required to freeze.
rc	Consecutive good frames required to clear after ack.

Definition at line 24 of file GuardianStateMachine.cpp.

Member Function Documentation

getBadCount()

int GuardianStateMachine::getBadCount

(

)

const

Definition at line 314 of file GuardianStateMachine.cpp.

getCurrentStateString()

std::string GuardianStateMachine::getCurrentStateString

(

)

const

Definition at line 343 of file GuardianStateMachine.cpp.

References stateToString().

Referenced by printStatus().

getGoodCount()

int GuardianStateMachine::getGoodCount

(

)

const

Definition at line 318 of file GuardianStateMachine.cpp.

getState()

GuardianState GuardianStateMachine::getState

(

)

const

Definition at line 302 of file GuardianStateMachine.cpp.

isMotionAllowed()

bool GuardianStateMachine::isMotionAllowed

(

)

const

Definition at line 310 of file GuardianStateMachine.cpp.

isMotionBlocked()

bool GuardianStateMachine::isMotionBlocked

(

)

const

Definition at line 306 of file GuardianStateMachine.cpp.

operatorAcknowledge()

void GuardianStateMachine::operatorAcknowledge

(

)

Definition at line 272 of file GuardianStateMachine.cpp.

References OPERATOR_ACK, and processEvent().

Referenced by AppController::runGuardianScenarioDemo().

printStatus()

void GuardianStateMachine::printStatus

(

)

const

Definition at line 354 of file GuardianStateMachine.cpp.

References getCurrentStateString().

Referenced by AppController::runGuardianScenarioDemo().

processEvent()

void GuardianStateMachine::processEvent

(

GuardianEvent

event

)

Definition at line 185 of file GuardianStateMachine.cpp.

References CLEAR_FREEZE, FRAME_BAD, FRAME_GOOD, FREEZE_NOW, FROZEN_UNSAFE, NONE, OPERATOR_ACK, RESET_PENDING, and SAFE_MONITORING.

Referenced by operatorAcknowledge(), and processFrame().

processFrame()

void GuardianStateMachine::processFrame

(

FrameStatus

status

)

Definition at line 255 of file GuardianStateMachine.cpp.

References FRAME_BAD, FRAME_GOOD, and processEvent().

Referenced by AppController::runGuardianScenarioDemo().

setOnClearFreezeCallback()

void GuardianStateMachine::setOnClearFreezeCallback

(

std::function< void()>

callback

)

Definition at line 288 of file GuardianStateMachine.cpp.

Referenced by AppController::runGuardianScenarioDemo().

setOnFreezeCallback()

void GuardianStateMachine::setOnFreezeCallback

(

std::function< void()>

callback

)

Definition at line 284 of file GuardianStateMachine.cpp.

Referenced by AppController::runGuardianScenarioDemo().

setOnStateChangeCallback()

void GuardianStateMachine::setOnStateChangeCallback

(

std::function< void(GuardianState, GuardianState)>

callback

)

Definition at line 292 of file GuardianStateMachine.cpp.

Referenced by AppController::runGuardianScenarioDemo().

stateToString()

std::string GuardianStateMachine::stateToString

(

GuardianState

state

)

const

Definition at line 329 of file GuardianStateMachine.cpp.

References FROZEN_UNSAFE, RESET_PENDING, and SAFE_MONITORING.

Referenced by getCurrentStateString().

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The documentation for this class was generated from the following files:

• GuardianStateMachine.hpp
• GuardianStateMachine.cpp