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--- eeros_architecture:safety_system:properties [2024/06/10 09:45] – [Critical Inputs and Outputs] ursgraf
+++ eeros_architecture:safety_system:properties [2026/04/12 14:47] (current) – [Entry Level] ursgraf
@@ Line 35: / Line 35: @@
 <code c>
   SafetyLevel slOff("off");
+  SafetyLevel slBoot("boot");
   SafetyLevel slIinitializing("initialize");
   SafetyLevel slRunning("running");
   addLevel(slOff);
+  addLevel(slBoot);
   addLevel(slIinitializing);
   addLevel(slRunning);
@@ Line 50: / Line 52: @@
   SafetyEvent seStartRunning("start running");
-  slOff.addEvent(seStartInitializing, slIinitializing, kPublicEvent);
+  slBoot.addEvent(seStartInitializing, slIinitializing, kPublicEvent);
   slIinitializing.addEvent(seStartRunning, slRunning, kPrivateEvent);
   slRunning.addEvent(seShutDown, slOff, kPublicEvent);
@@ Line 77: / Line 79: @@
 Define actions for the safety levels. Each level can cause no or one action.
 <code cpp>
-  slOff.setLevelAction([this](SafetyContext* privateContext) {
+  slBoot.setLevelAction([this](SafetyContext* privateContext) {
-    privateContext->triggerEvent(seDoSwInit);
+    privateContext->triggerEvent(seStartInitializing);
   });
 </code>
 The method //setLevelAction// accepts a function, which is used solely here and can be defined without giving it a name. In this example the function is a so called lambda function meaning that it can be passed as a parameter without prior declaration. It must take a parameter itself of type ''SafetyContext''. This ensures that the level function can trigger a private event.
+=== 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>
+  slIinitializing.setEntryAction([this](SafetyContext* privateContext) {
+    // do anything
+  });
+</code>
+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>
+  slIinitializing.setExitAction([this](SafetyContext* privateContext) {
+    // do anything
+  });
+</code>
 === Counter ===
@@ Line 95: / Line 112: @@
 As a last point, you have to specify with which level the system has to start.
 <code c>
-  setEntryLevel(slOff);
+  setEntryLevel(slBoot);
 </code>