SafetyState¶

class pyniryo_nate.models.firmware.SafetyState(armed: bool, manual_mode: bool, movement_authorized: bool, protective_stop_active: bool, emergency_stop_active: bool, max_velocity_factor: float)[source]¶

Bases: object

State reported by the safety module. None when no safety state has been received yet, and when the firmware container is not running, since the last state received is then stale.

Parameters:

armed (bool) – The robot is ready to be commanded. This is the source of truth for the armed state, whatever the firmware status says alongside it.
manual_mode (bool) – Only manual control modes are authorized; when False, only automatic modes are.
movement_authorized (bool) – Motion is currently authorized. When False, the robot decelerates to a stop and holds position.
protective_stop_active (bool) – A recoverable stop is active. The current execution pauses and resumes once movement is authorized again.
emergency_stop_active (bool) – An emergency stop input is active.
max_velocity_factor (float) – Safety-imposed velocity ceiling.

Attributes

`armed`
`manual_mode`
`movement_authorized`
`protective_stop_active`
`emergency_stop_active`
`max_velocity_factor`

Methods

`from_dict`
`from_transport_model`

armed: bool¶

manual_mode: bool¶

movement_authorized: bool¶

protective_stop_active: bool¶

emergency_stop_active: bool¶

max_velocity_factor: float¶

classmethod from_transport_model(model: SafetyState) → SafetyState[source]¶

Parameters:: model (SafetyState)
Return type:: SafetyState

classmethod from_dict(data: dict[str, Any]) → SafetyState[source]¶

Parameters:: data (dict[str, Any])
Return type:: SafetyState