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--- eeros_architecture:control_system:available_blocks:checker [2017/04/06 13:53] – created graf
+++ eeros_architecture:control_system:available_blocks:checker [2021/05/16 14:26] – ursgraf
@@ Line 1: / Line 1: @@
 ====== Signal Checker ======
-Set limit. If Matrix use ...
+A signal checker block serves to check a signal of the control system to be within a given range. As soon as this is longer the case the block will trigger a safety event which can cause the safety system to change its level and handle the situation appropriately. See [[getting_started:tutorials:system3|]] for an example. \\
+Please keep in mind that for signals which are of vector or matrix type, each element will be compared to its own upper and lower limit. \\
+When the checker has reached his limit it will fire a safety event exactly once. The safety system then will have to reset the checker by calling
 <code cpp>
-  void negateInput(uint8_t index);
+reset();
 </code>
+This will allow a new safety event to be triggered. In case of a matrix type, the checker will fire as soon as at least one of its elements has exceeded its limits. \\
+However, the checker will only fire an event if the safety system and an appropriate event have been registered beforehand by calling
+<code cpp>
+registerSafetyEvent(safetySystem, safetyEvent);
+</code>
+By calling
+<code cpp>
+setActiveLevel(safetyLevel);
+</code>
+the checker will only fire a registered safety event if the current safety level is equal or greater than the safety level set by this method.