Struct SafetyDomain 

pub struct SafetyDomain {

    pub safety_state: Option<SafetyState>,
    pub is_safe: Option<bool>,
    pub e_stop: Option<EStopInfo>,
    pub protective_stop_active: Option<bool>,
    pub protective_stop_reason: Option<String>,
    pub zones: Option<Vec<SafetyZone>>,
    pub current_zone_ids: Option<Vec<String>>,
    pub proximity: Option<ProximityInfo>,
    pub violations: Option<Vec<SafetyViolation>>,
    pub violation_count: Option<u32>,
    pub collaborative_operation: Option<CollaborativeOperation>,
    pub speed_limit_mps: Option<f64>,
    pub speed_limit_reason: Option<String>,
    pub safety_system_ok: Option<bool>,
    pub safety_plc_status: Option<String>,
    pub last_safety_check: Option<DateTime<Utc>>,
}

Safety domain containing safety state and violation information.

Fields

safety_state: Option<SafetyState>

Current safety state

is_safe: Option<bool>

Whether robot is safe to operate

e_stop: Option<EStopInfo>

E-stop information

protective_stop_active: Option<bool>

Whether protective stop is active

protective_stop_reason: Option<String>

Protective stop reason

zones: Option<Vec<SafetyZone>>

Active safety zones

current_zone_ids: Option<Vec<String>>

Current zone IDs the robot is in

proximity: Option<ProximityInfo>

Proximity monitoring

violations: Option<Vec<SafetyViolation>>

Active safety violations

violation_count: Option<u32>

Violation count

collaborative_operation: Option<CollaborativeOperation>

Collaborative operation settings

speed_limit_mps: Option<f64>

Current speed limit (m/s)

speed_limit_reason: Option<String>

Reason for speed limit

safety_system_ok: Option<bool>

Safety system operational

safety_plc_status: Option<String>

Safety PLC status

last_safety_check: Option<DateTime<Utc>>

Time since last safety check

Implementations

impl SafetyDomain

pub fn new(state: SafetyState) -> Self

Create with safety state.

pub fn normal() -> Self

Create a normal safety state.

pub fn e_stopped(e_stop: EStopInfo) -> Self

Create an e-stopped safety state.

pub fn with_violation(self, violation: SafetyViolation) -> Self

Builder to add violation.

pub fn with_proximity(self, proximity: ProximityInfo) -> Self

Builder to add proximity info.

pub fn with_speed_limit(self, limit_mps: f64, reason: impl Into<String>) -> Self

Builder to add speed limit.

pub fn with_collaborative(self, collab: CollaborativeOperation) -> Self

Builder to add collaborative operation.

Trait Implementations

impl Clone for SafetyDomain

fn clone(&self) -> SafetyDomain

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SafetyDomain

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

Formats the value using the given formatter.

impl Default for SafetyDomain

fn default() -> SafetyDomain

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for SafetyDomain

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for SafetyDomain

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Validate for SafetyDomain

fn validate(&self) -> Result<(), ValidationErrors>

impl<'v_a> ValidateArgs<'v_a> for SafetyDomain

type Args = ()

fn validate_with_args(&self, args: Self::Args) -> Result<(), ValidationErrors>