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--- eeros_architecture:safety_system:properties [2017/02/27 15:25] – [Level Actions] graf
+++ eeros_architecture:safety_system:properties [2017/07/25 08:46] – [Safety Events] graf
@@ Line 9: / Line 9: @@
 Define critical output signals, get references to them from the HAL and assign them.
 <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();
-  watchdog = hal.getLogicSystemOutput("watchdog");
+  watchdog = hal.getLogicOutput("watchdog");
-  enable0 = hal.getLogicSystemOutput("enable0");
+  enable0 = hal.getLogicOutput("enable0");
   ...
   criticalOutputs = {watchdog, enable0, ...};
@@ Line 22: / Line 22: @@
 Define critical input signals, get references to them from the HAL and assign them.
 <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, ...};
@@ Line 62: / Line 62: @@
   addEventToLevelAndAbove(slPowerOn, slMoving, seDoEmergency, kPublicEvent);
 </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 =====