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--- eeros_architecture:safety_system:properties [2024/06/10 09:45] – [Critical Inputs and Outputs] ursgraf
+++ eeros_architecture:safety_system:properties [2025/01/31 11:53] (current) – [Level Actions] ursgraf
@@ Line 82: / Line 82: @@
 </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>
+  slOff.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>
+  slOff.setExitAction([this](SafetyContext* privateContext) {
+    // do anything
+  });
+</code>
 === Counter ===