Struct SafetyGate 

pub struct SafetyGate { /* private fields */ }

The single gate every motion command passes through, composing e-stop, watchdog, and limits.

This is the one call a control loop makes to drive safely: feed it the desired motion and the time step, and it returns what is actually safe to command. It stops hard (commands zero and forgets its motion history, so resuming eases from rest) whenever the e-stop is engaged or the watchdog has expired; otherwise it returns the desired motion bounded by the Limits. Call feed whenever a fresh command arrives to keep the watchdog satisfied.

Examples

use pamoja_kit::{Limits, SafetyGate, Twist};

let limits = Limits::new(1.0, 2.0, 0.5, 4.0);
let mut gate = SafetyGate::new(limits, 0.2); // stop if unfed for 0.2 s

gate.feed();
let cmd = gate.command(Twist::planar(1.0, 0.0), 0.1);
assert!((cmd.vx - 0.05).abs() < 1e-6); // eased on, acceleration-limited

gate.engage_estop();
assert_eq!(gate.command(Twist::planar(1.0, 0.0), 0.1), Twist::zero());

Implementations

impl SafetyGate

pub fn new(limits: Limits, watchdog_timeout: f32) -> Self

Creates a gate from motion limits and a watchdog timeout.

Arguments

• limits - the speed and acceleration bounds for normal motion.
• watchdog_timeout - the allowed silence before the gate stops the robot.

Returns

The gate, cleared and freshly fed.

pub fn feed(&mut self)

Feeds the watchdog; call this whenever a fresh command arrives.

pub fn engage_estop(&mut self)

Engages the latching emergency stop.

pub fn reset_estop(&mut self)

Clears the emergency stop.

pub fn is_stopped(&self) -> bool

Returns whether the gate is currently forcing a stop.

Returns

true if the e-stop is engaged or the watchdog has expired.

pub fn command(&mut self, desired: Twist, dt: f32) -> Twist

Returns the safe command for a desired motion over a time step.

Arguments

• desired - the requested body motion.
• dt - the time since the previous call.

Returns

Twist::zero when stopped, otherwise the desired motion bounded by the limits.

Trait Implementations

impl Clone for SafetyGate

fn clone(&self) -> SafetyGate

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for SafetyGate

impl Debug for SafetyGate

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.