Arm, heartbeat, disarm, or emergency-stop a trigger

Every trigger opens disarmed. Dead-man expiry disarms locally and requires a new explicit arm with a different session ID within the open lifecycle. Emergency stop latches locally even if the transport stop attempt fails. These software gates do not replace device hardware limits or an independent emergency stop.

Usage

armTrigger(trigger, session_id, now_ns = NULL)

triggerHeartbeat(trigger, now_ns = NULL)

disarmTrigger(trigger, reason = "caller", now_ns = NULL)

emergencyStop(trigger, reason = "caller", now_ns = NULL)

Arguments

trigger: A TriggerBackend.
session_id: Unique non-empty session identifier.
now_ns: Optional exact process-local monotonic nanosecond value.
reason: Bounded non-sensitive reason code.

Value

The trigger, invisibly.

Examples

trigger <- loopbackTrigger(allowed_channels = "left", max_intensity = 20,
                           intensity_unit = "mA", max_duration_ms = 500,
                           refractory_ms = 0, deadman_ms = 1000)
triggerOpen(trigger)
armTrigger(trigger, "session-1", now_ns = 0)
triggerState(trigger)$arm$status
#> [1] "armed"