Function pamoja_safety_gate_new 

#[unsafe(no_mangle)]
pub unsafe extern "C" fn pamoja_safety_gate_new(
    limits: *const PamojaLimits,
    watchdog_timeout: f32,
) -> *mut PamojaSafetyGate

Creates a safety gate from limits and a watchdog timeout.

Arguments

• limits - the limits for normal motion, copied as they stand; the handle stays the caller’s.
• watchdog_timeout - the silence after which the gate stops the robot.

Returns

A cleared, freshly fed gate the caller must release with pamoja_safety_gate_free, or null if limits is null.

Safety

limits must be a live handle from pamoja_limits_new, or null. A returned handle must be freed exactly once.