From 4f02323091e6ea1004276926191a1e37be800c13 Mon Sep 17 00:00:00 2001
From: NuoDaJia <NuoDaJia@qq.com>
Date: Tue, 3 Mar 2026 17:03:37 +0800
Subject: [PATCH] add estop function

---
 src/CMakeLists.txt         |  2 ++
 src/msg/EStopState.msg     | 12 ++++++++++++
 src/msg/RobotArmStatus.msg |  2 ++
 src/srv/ResetEStop.srv     | 11 +++++++++++
 4 files changed, 27 insertions(+)
 create mode 100644 src/msg/EStopState.msg
 create mode 100644 src/srv/ResetEStop.srv

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index ffdd168..4866d80 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -32,6 +32,7 @@ set(msg_files
   msg/ArmMotionParams.msg
   msg/ArmError.msg
   msg/GripperStatus.msg
+  msg/EStopState.msg
 )
 set(action_files
   action/MoveToPosition.action
@@ -61,6 +62,7 @@ set(srv_files
   srv/ClearArmError.srv
   srv/InverseKinematics.srv
   srv/SetArmEnable.srv
+  srv/ResetEStop.srv
 )
 
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/include")
diff --git a/src/msg/EStopState.msg b/src/msg/EStopState.msg
new file mode 100644
index 0000000..6d9d372
--- /dev/null
+++ b/src/msg/EStopState.msg
@@ -0,0 +1,12 @@
+# EStopState.msg
+# 急停状态广播消息（由HAL/驱动层向上游发布）
+#
+# 语义：
+# - latched=true 表示急停已触发并处于锁存态
+# - generation 每次“新触发事件”递增，便于上层检测边沿
+
+builtin_interfaces/Time stamp  # 状态时间戳
+bool latched                         # 急停锁存状态
+uint8 source                         # 触发源（0=unknown,1=io,2=plc,3=driver_fault,4=software）
+string reason                        # 触发原因文本
+uint32 generation                    # 触发代次（单调递增）
diff --git a/src/msg/RobotArmStatus.msg b/src/msg/RobotArmStatus.msg
index ae821fc..0c1ca36 100644
--- a/src/msg/RobotArmStatus.msg
+++ b/src/msg/RobotArmStatus.msg
@@ -3,5 +3,7 @@ string[] joint_names
 float64[] joint_positions
 bool[] joint_enabled
 int32[] joint_error_codes
+bool estop_latched
+uint32 estop_generation
 geometry_msgs/Pose left_arm_pose
 geometry_msgs/Pose right_arm_pose
diff --git a/src/srv/ResetEStop.srv b/src/srv/ResetEStop.srv
new file mode 100644
index 0000000..2bd938c
--- /dev/null
+++ b/src/srv/ResetEStop.srv
@@ -0,0 +1,11 @@
+# ResetEStop.srv
+# 急停复位服务（用于清除上层软件锁存态）
+#
+# 注意：
+# - 该服务仅表达“复位请求”，是否允许复位由安全链路策略决定
+# - 硬件安全回路未恢复时，应返回 success=false
+
+bool reset        # true=请求复位，false=无效请求
+---
+bool success      # true=复位成功，false=复位失败
+string message    # 结果描述（失败原因/诊断信息）