SafetyChannelMonitor Class Reference

Turns the safety channel's SafetyStatus messages into what EasyNav applies. More...

#include <SafetyChannelMonitor.hpp>

Classes
struct	Evaluation

Public Types
using	Clock = std::chrono::steady_clock
enum class	Condition : uint8_t { VALID , NO_STATUS , STALE , INVALID }
	Why the state is what it is. More...
using	Status = easynav_interfaces::msg::SafetyStatus

Public Member Functions
void	configure (double timeout)
	Sets the timeout (s, > 0) and forgets any status.
Evaluation	evaluate (Clock::time_point now) const
	The state to apply at now.
std::optional< Status >	last_status () const
	The last status received, if any.
void	received (const Status &msg, Clock::time_point now)
	A status msg was received at now.

Static Public Member Functions
static std::string	invalid_reason (const Status &msg)
	Why msg is invalid, or "".

Detailed Description

Turns the safety channel's SafetyStatus messages into what EasyNav applies.

With no valid status received within the last timeout seconds, the status is lost, and that is treated as a protective stop. Times are reception times on the monotonic clock, so they do not depend on the publisher's clock. received() and evaluate() may run in different threads.

Member Typedef Documentation

Clock

using Clock = std::chrono::steady_clock

Status

using Status = easynav_interfaces::msg::SafetyStatus

Member Enumeration Documentation

Condition

enum class Condition : uint8_t

strong

Why the state is what it is.

Enumerator
VALID
NO_STATUS
STALE
INVALID

Member Function Documentation

configure()

void configure

(

double

timeout

)

Sets the timeout (s, > 0) and forgets any status.

evaluate()

SafetyChannelMonitor::Evaluation evaluate

(

Clock::time_point

now

)

const

The state to apply at now.

invalid_reason()

std::string invalid_reason ( const Status & msg )

static

Why msg is invalid, or "".

last_status()

std::optional< SafetyChannelMonitor::Status > last_status

(

)

const

The last status received, if any.

received()

void received	(	const Status &	msg,
		Clock::time_point	now )

A status msg was received at now.

---

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

• easynav_system/include/easynav_system/safety/SafetyChannelMonitor.hpp
• easynav_system/src/easynav_system/safety/SafetyChannelMonitor.cpp