Emergency Stop Button Monitoring APIs

EStopMonitor

EStopMonitor is an emergency stop button monitor that provides active querying of the emergency stop button state and supports setting event callbacks.

Constructor

• Method:

  __init__(self, cfg: EStopMConfig = ...) -> None

• Parameters:

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

• Return Value:

  None.

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:

  run(self) -> bool

• 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:

  pause(self) -> bool

• Return Value:

  True if paused successfully, False otherwise.

Check if Monitoring Is Running

• Method:

  is_running(self) -> bool

• Return Value:

  True if monitoring is running, False otherwise.

Get Current Emergency Stop Button State

• Method:

  get_state(self) -> ESState

• Return Value:

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

Register Emergency Stop Button Pressed Callback Function

• Method:

  set_pressed_event_callback(self, callback: typing.Callable[[], None]) -> int

• Parameter:

  Parameter	Description
  callback	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:

  set_released_event_callback(self, callback: typing.Callable[[], None]) -> int

• Parameter:

  Parameter	Description
  callback	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.

EStopMConfig

Attributes

Attribute	Data Type	Description
pressed_level_	int	GPIO level polarity when the emergency stop button is pressed. - 0: Active-Low. The pin level is low when the button is pressed. - 1: Active-High. The pin level is high when the button is pressed.
allow_multicb_	bool	Whether multiple callback functions are allowed. - True: Multiple callbacks are allowed. - False: Only one callback is allowed.
name_	str	Name

Static Functions

Static function	Description
ApacheOrin	Returns a configured EStopMConfig instance (gpiochip0 + pin 2 + Active-Low), suitable for robots equipped with the ApacheOrin chip.
NvidiaOrin	Returns a configured EStopMConfig instance (gpiochip1 + pin 9 + Active-High), suitable for robots equipped with the NvidiaOrin chip.

ESState

The ESState class is an enumerator representing the state of the emergency stop button.

Note

This class is an enumeration. You should directly use the constant members defined within it and do not need to instantiate it.

Constant Member	Value	Description
Invalid	-1	Unable to get status
Pressed	1	Emergency stop button is pressed
Released	0	Emergency stop button is released