SafetySupervisor Class Reference
What SystemNode does for safety, kept out of the navigation logic. More...
#include <SafetySupervisor.hpp>
Public Member Functions | |
| bool | allows_reconfiguration (const std::string &reason) const |
| Whether a reconfiguration may be requested; logs why not. | |
| bool | check_controller (ControllerNode &controller) const |
Checks controller against "safety.plc_limits" and what "safety.mode" requires. | |
| bool | check_system (rclcpp_lifecycle::LifecycleNode &node, rclcpp::CallbackGroup::SharedPtr rt_group=nullptr) |
Reads node's safety parameters and checks them, before the subnodes configure. | |
| bool | cycle_rt (NavState &nav_state, RtMonitor::Clock::time_point now) |
At the start of each RT cycle, at now: monitors it, publishes the heartbeat when due, and writes the safety channel's state to NavState. | |
| void | declare_parameters (rclcpp_lifecycle::LifecycleNode &node) |
Declares the "safety.*" parameters in node (SystemNode). | |
| const std::string & | failure () const |
| Why cycle_rt() asked to stop. | |
| std::string | get_configuration_hash () const |
| SHA-256 (hex) of every EasyNav parameter, as of the last configure. | |
| const RtMonitor & | get_rt_monitor () const |
| bool | is_memory_lock_requested () const |
| "safety.lock_memory", as of the last configure. | |
| bool | is_safety_mode () const |
| "safety.mode", as of the last configure. | |
| bool | is_safety_status_enabled () const |
| Whether the safety status is received ("safety.status.timeout" > 0). | |
| void | on_activate () |
| On activation: the RT monitor starts over. | |
| void | on_configured (const Nodes &nodes, NavState &nav_state) |
After a successful configure: fingerprints and, in safety mode, freezes nodes. | |
Detailed Description
What SystemNode does for safety, kept out of the navigation logic.
Its parameters, in SystemNode:
- "safety.plc_limits.*": the limits configured in the safety channel (e.g. the PLC's safely limited speed). Not applied to the commands (controller_node's "robot_limits" are, in any mode): "robot_limits" may not exceed them.
- "safety.mode" (default false) makes EasyNav stricter: "safety.plc_limits.*", the command keepalive and timeout, and real-time scheduling (checked on configure) are required; the configuration is frozen once configured, and reconfiguration requests are rejected.
- "safety.lock_memory" (default false, any mode): system_main locks the process memory; if RLIMIT_MEMLOCK does not allow it, configuring fails.
- "safety.heartbeat.period" (s, default 0: off; required in safety mode): a Heartbeat is published on "easynav_heartbeat" from the RT cycle, so it stops if that cycle does.
- "safety.rt_monitor.*": an RT cycle starting more than "max_period_factor" periods after the previous one is late; "max_late_cycles" in a row are reported ("diagnostics.rt_cycle"): a WARN, or in safety mode an ERROR that stops EasyNav (the RT cycle receives the sensors and publishes the commands). Whether each component keeps its own frequency is reported separately, as a WARN ("diagnostics.<plugin>.rt_rate" / ".rate", see MethodBase).
- "safety.status.timeout" (s, default 0: off; required in safety mode): the safety channel's state (SafetyStatus) is received on "easynav_safety_status" and applied every RT cycle through NavState ("safety_status"): during a protective stop EasyNav commands zero and keeps the mission; a safely limited speed cuts the robot limits down. With no valid status within the timeout, it is a protective stop.
- "safety.max_pose_age" (s, default 1.0; 0: off): a "robot_pose" older than this (its stamp, ROS time), or not finite, is an ERROR ("diagnostics.robot_pose"); in safety mode, motion is also inhibited ("inhibit_motion": the robot brakes to zero) until it is usable again.
Every configure, it fingerprints the configuration: a SHA-256 of every parameter, logged and shared in NavState ("configuration_hash"), with the parameters saved in the ROS log directory ("easynav_configuration_[<ns>_]<hash>.txt") and published, latched, on "easynav_configuration".
Member Function Documentation
◆ allows_reconfiguration()
| bool allows_reconfiguration | ( | const std::string & | reason | ) | const |
Whether a reconfiguration may be requested; logs why not.
◆ check_controller()
| bool check_controller | ( | ControllerNode & | controller | ) | const |
Checks controller against "safety.plc_limits" and what "safety.mode" requires.
◆ check_system()
| bool check_system | ( | rclcpp_lifecycle::LifecycleNode & | node, |
| rclcpp::CallbackGroup::SharedPtr | rt_group = nullptr ) |
Reads node's safety parameters and checks them, before the subnodes configure.
The safety status is received in rt_group (SystemNode's RT callback group), if given.
◆ cycle_rt()
| bool cycle_rt | ( | NavState & | nav_state, |
| RtMonitor::Clock::time_point | now ) |
At the start of each RT cycle, at now: monitors it, publishes the heartbeat when due, and writes the safety channel's state to NavState.
- Returns
- false if EasyNav must stop (see failure()), until on_activate().
◆ declare_parameters()
| void declare_parameters | ( | rclcpp_lifecycle::LifecycleNode & | node | ) |
Declares the "safety.*" parameters in node (SystemNode).
◆ failure()
|
nodiscard |
Why cycle_rt() asked to stop.
◆ get_configuration_hash()
|
nodiscard |
SHA-256 (hex) of every EasyNav parameter, as of the last configure.
◆ get_rt_monitor()
|
nodiscard |
◆ is_memory_lock_requested()
|
nodiscard |
"safety.lock_memory", as of the last configure.
◆ is_safety_mode()
|
nodiscard |
"safety.mode", as of the last configure.
◆ is_safety_status_enabled()
|
nodiscard |
Whether the safety status is received ("safety.status.timeout" > 0).
◆ on_activate()
| void on_activate | ( | ) |
On activation: the RT monitor starts over.
◆ on_configured()
After a successful configure: fingerprints and, in safety mode, freezes nodes.
The documentation for this class was generated from the following files:
- easynav_system/include/easynav_system/safety/SafetySupervisor.hpp
- easynav_system/src/easynav_system/safety/SafetySupervisor.cpp
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1.18.0