RobotInterlock Class Reference

Thread-safe safety gate that owns interlock state transitions. More...

#include <RobotInterlock.hpp>

Public Member Functions
	RobotInterlock (RobotHardware &hardware) noexcept
	Construct interlock bound to a hardware implementation.
void	onControlEvent (ControlEvent event, FreezeReason reason=FreezeReason::UNKNOWN_FAULT) noexcept
	Submit a control event to the interlock state machine.
void	guardianHeartbeat (std::uint32_t tick) noexcept
	Update guardian heartbeat tick observed by interlock.
void	watchdogCheck (std::uint32_t now, std::uint32_t max_allowed_delay) noexcept
	Evaluate watchdog timeout against last guardian heartbeat.
void	operatorAcknowledge () noexcept
	Register operator acknowledge for motion resume attempts.
bool	motionAllowed () const noexcept
	Query whether motion is currently allowed.
FreezeReason	freezeReason () const noexcept
	Get currently latched freeze reason.
InterlockState	state () const noexcept
	Get current interlock state.

Detailed Description

Definition at line 65 of file RobotInterlock.hpp.

Constructor & Destructor Documentation

RobotInterlock()

RobotInterlock::RobotInterlock ( RobotHardware &  hardware )

explicitnoexcept

Parameters

hardware

Hardware adapter used for freeze/enable side effects.

Definition at line 11 of file RobotInterlock.cpp.

Member Function Documentation

freezeReason()

FreezeReason RobotInterlock::freezeReason ( ) const

noexcept

Returns

Freeze reason.

Definition at line 53 of file RobotInterlock.cpp.

guardianHeartbeat()

void RobotInterlock::guardianHeartbeat ( std::uint32_t  tick )

noexcept

Parameters

tick	Monotonic guardian tick counter.

Definition at line 28 of file RobotInterlock.cpp.

motionAllowed()

bool RobotInterlock::motionAllowed ( ) const

noexcept

Returns

true when interlock state is SAFE.

Definition at line 49 of file RobotInterlock.cpp.

References SAFE.

onControlEvent()

void RobotInterlock::onControlEvent ( ControlEvent  event, FreezeReason  reason = FreezeReason::UNKNOWN_FAULT  )

noexcept

Parameters

event	Control event (FREEZE_NOW or ALLOW_MOTION).
reason	Associated freeze reason when applicable.

Definition at line 18 of file RobotInterlock.cpp.

References FREEZE_NOW.

operatorAcknowledge()

void RobotInterlock::operatorAcknowledge ( )

noexcept

Definition at line 43 of file RobotInterlock.cpp.

References FROZEN.

state()

InterlockState RobotInterlock::state ( ) const

noexcept

Returns

Interlock state.

Definition at line 57 of file RobotInterlock.cpp.

watchdogCheck()

void RobotInterlock::watchdogCheck ( std::uint32_t  now, std::uint32_t  max_allowed_delay  )

noexcept

Parameters

now	Current monotonic tick.
max_allowed_delay	Maximum allowed stale-heartbeat delay in ticks.

Definition at line 32 of file RobotInterlock.cpp.

References WATCHDOG_TIMEOUT.

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

• RobotInterlock.hpp
• RobotInterlock.cpp