eeros_architecture:safety_system:properties
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eeros_architecture:safety_system:properties [2023/02/25 07:30] – [Safety Events] ursgraf | eeros_architecture:safety_system:properties [2025/01/31 11:53] (current) – [Level Actions] ursgraf | ||
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criticalInputs = {q0, runButton, ...}; | criticalInputs = {q0, runButton, ...}; | ||
</ | </ | ||
+ | See [[eeros_architecture: | ||
===== Safety Levels ===== | ===== Safety Levels ===== | ||
Define safety levels. Each level has a unique number and a description. After this the levels have to be added. The order of adding the levels is highly important and determines their logical ordering. Add the lowest safety level first. If you forget to add some levels the safety system will not check its critical inputs and will therefore not run correctly! | Define safety levels. Each level has a unique number and a description. After this the levels have to be added. The order of adding the levels is highly important and determines their logical ordering. Add the lowest safety level first. If you forget to add some levels the safety system will not check its critical inputs and will therefore not run correctly! | ||
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</ | </ | ||
The method // | The method // | ||
+ | |||
+ | === Entry and Exit Actions === | ||
+ | You also have the possibility to define an action which is executed when a safety level is entered. That means when the safety system switches to this level. | ||
+ | <code cpp> | ||
+ | slOff.setEntryAction([this](SafetyContext* privateContext) { | ||
+ | // do anything | ||
+ | }); | ||
+ | </ | ||
+ | |||
+ | Further, you can define an action which is executed when a safety level is left. That means when the safety system switches from this level to another level. | ||
+ | <code cpp> | ||
+ | slOff.setExitAction([this](SafetyContext* privateContext) { | ||
+ | // do anything | ||
+ | }); | ||
+ | </ | ||
=== Counter === | === Counter === |
eeros_architecture/safety_system/properties.1677306648.txt.gz · Last modified: 2023/02/25 07:30 by ursgraf