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eeros_architecture:safety_system:properties

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eeros_architecture:safety_system:properties [2017/02/27 15:19] – [Level Actions] grafeeros_architecture:safety_system:properties [2017/07/25 08:46] – [Safety Events] graf
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 Define critical output signals, get references to them from the HAL and assign them.  Define critical output signals, get references to them from the HAL and assign them. 
 <code c> <code c>
-  eeros::hal::SystemOutput<bool>* watchdog; +  eeros::hal::Output<bool>* watchdog; 
-  eeros::hal::SystemOutput<bool>* enable0;+  eeros::hal::Output<bool>* enable0;
  
   HAL& hal = HAL::instance();   HAL& hal = HAL::instance();
  
-  watchdog = hal.getLogicSystemOutput("watchdog"); +  watchdog = hal.getLogicOutput("watchdog"); 
-  enable0 = hal.getLogicSystemOutput("enable0");+  enable0 = hal.getLogicOutput("enable0");
   ...   ...
   criticalOutputs = {watchdog, enable0, ...};   criticalOutputs = {watchdog, enable0, ...};
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 Define critical input signals, get references to them from the HAL and assign them. Define critical input signals, get references to them from the HAL and assign them.
 <code c> <code c>
-  eeros::hal::SystemInput<double>* q0; +  eeros::hal::Input<double>* q0; 
-  eeros::hal::SystemInput<bool>* runButton;+  eeros::hal::Input<bool>* runButton;
      
-  q0 = hal.getRealSystemInput("q0"); +  q0 = hal.getScalableInput("q0"); 
-  limitSwitchQ0p = hal.getLogicSystemInput("runButton");+  limitSwitchQ0p = hal.getLogicInput("runButton");
   ...   ...
   criticalInputs = {q0, runButton, ...};   criticalInputs = {q0, runButton, ...};
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   addEventToLevelAndAbove(slPowerOn, slMoving, seDoEmergency, kPublicEvent);   addEventToLevelAndAbove(slPowerOn, slMoving, seDoEmergency, kPublicEvent);
 </code> </code>
 +Two more functions serve a similar purpose.
 +<code c>
 +  // Add events to all levels equal or smaller than srcLevel
 +  addEventToLevelAndBelow(srcLevel, destLevel, event, kPublicEvent);
 +</code>
 +
  
 ===== Input and Output Actions ===== ===== Input and Output Actions =====
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 === Counter === === Counter ===
-Each time that the safety system runs in a certain level a counter named ''nofActivations'' is incremented. Whenever the safety level due to an event this counter will be reset to 0. This allows for measuring the time the system will run in a given safety level. The following example  +Each time that the safety system runs in a certain level a counter named ''nofActivations'' is incremented. Whenever the safety level due to an event this counter will be reset to 0. This allows for measuring the time the system will run in a given safety level. The following example demonstrates this.  
 +<code cpp> 
 +  slRunning.setLevelAction([&](SafetyContext* privateContext) { 
 +    if (slRunning.getNofActivations() * period >= 60.0) 
 +      privateContext->triggerEvent(seStop); 
 +  }); 
 +</code> 
 +The system will stay for 60 seconds in safety level ''slRunning''. After this time has elapsed it will trigger a ''seStop'' event.
 ===== Entry Level ===== ===== Entry Level =====
 As a last point, you have to specify with which level the system has to start. As a last point, you have to specify with which level the system has to start.
eeros_architecture/safety_system/properties.txt · Last modified: 2024/06/10 09:45 by ursgraf