Orca Robotics

00001 #ifndef SEGWAYRMP_ESTOP_H
00002 #define SEGWAYRMP_ESTOP_H
00003 
00004 #include <IceUtil/Mutex.h>
00005 #include <orcaifaceimpl/estopImpl.h>
00006 #include <gbxsickacfr/gbxiceutilacfr/timer.h>
00007 
00008 namespace segwayrmp {
00009 
00010 //
00011 // @brief Establishes an orca::EStop interface, and works out when 
00012 //        the e-stop needs to be activated.
00013 //
00014 // Note: we begin in the EStop-triggered state: ie we're not moving unless
00015 //       someone explicitly says it's OK.
00016 //
00017 // @author Alex Brooks
00018 //
00019 class EStop : public orcaifaceimpl::EStopNonStandardImpl
00020 {
00021 
00022 public: 
00023 
00024     EStop( double                  keepAlivePeriodSec,
00025            const orcaice::Context &context );
00026 
00028     void initInterface( gbxsickacfr::gbxiceutilacfr::Thread* thread );
00029 
00030     // If true, we should _NOT_MOVE_ !!
00031     bool isEStopTriggered();
00032 
00033     // Inherited from orcaifaceimpl::EStopNonStandardImpl
00034     void activateEStop();
00035     void keepAlive();
00036     double getRequiredKeepAlivePeriodSec();
00037     void setToOperatingMode();
00038 
00039 private: 
00040 
00041     IceUtil::Mutex mutex_;
00042 
00043     bool                isEStopTriggered_;
00044     double              keepAlivePeriodSec_;
00045     gbxsickacfr::gbxiceutilacfr::Timer keepAliveTimer_;
00046 
00047     orcaifaceimpl::EStopImplPtr eStopImpl_;
00048 
00049     orcaice::Context context_;
00050 
00051 };
00052 
00053 }
00054 
00055 #endif
estop.h
