Emergency Stop Button Monitoring APIs

The emergency stop button monitoring APIs are implemented by the following class. You can find the corresponding header file in the c++/include/sensor directory to access the complete set of APIs.

Header File	Class Name	Description
sensor_emergency_stop_monitor.h	EStopMonitor	Emergency stop button monitor that provides active querying of the emergency stop button state and supports setting event callbacks.

Constructor

• Method:

  EStopMonitor(const EStopMConfig& cfg = EStopMConfig())

• Parameter:

  Parameter	Type	Description
  cfg	Input	Configuration parameter. For details, please refer to EStopMConfig.

Start Monitoring

If EStopMConfig::auto_start_ is set to true (default), the monitoring process will start automatically, and there is no need to manually call run().

Calling run() multiple times has no effect.

Once monitoring is started, the registered event callback functions may be triggered.

• Method:

  bool run()

• Return Value:

  true if started successfully, false otherwise.

Pause Monitoring

After monitoring is paused, the registered event callback functions will not be triggered.

Calling pause() multiple times has no effect.

• Method:

  bool pause()

• Return Value:

  true if paused successfully, false otherwise.

Check if Monitoring Is Running

• Method:

  bool is_running()

• Return Value:

  true if monitoring is running, false otherwise.

Get Current Emergency Stop Button State

• Method:

  ESState get_state()

• Return Value:

  The emergency stop button state. For details, please refer to ESState.

Register Emergency Stop Button Pressed Callback Function

• Method:

  int set_pressed_event_callback(std::function<void()> f)

• Parameter:

  Parameter	Type	Description
  f	Input	Callback function triggered when the emergency stop button is pressed. Multiple callback functions are allowed if EStopMConfig::allow_multicb_ is true.

• Return Value:

  0 or 1 indicates success (where 1 means an existing callback was replaced, which only occurs when only one callback is allowed). -1 indicates failure.

Register Emergency Stop Button Released Callback Function

• Method:

  int set_released_event_callback(std::function<void()> f)

• Parameter:

  Parameter	Type	Description
  f	Input	Callback function triggered when the emergency stop button is released. Multiple callback functions are allowed if EStopMConfig::allow_multicb_ is true.

• Return Value:

  0 or 1 indicates success (where 1 means an existing callback was replaced, which only occurs when only one callback is allowed). -1 indicates failure.