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--- eeros_architecture:safety_system:start [2016/11/07 09:06] – [What it works] graf
+++ eeros_architecture:safety_system:start [2024/06/14 14:30] (current) – [Events] ursgraf
@@ Line 19: / Line 19: @@
 Events are exclusively received and handled by the safety system. An event can cause a change of the safety level. Such a change can happen only if this specific event was registered for the current level. The next figure shows a couple of safety levels together with associated events causing a level change.
-{{ .:safetysystemevents1.png?300 | //Typical safety levels and associated events//}}
+{{ .:safetysystemevents1.jpg?300 | //Typical safety levels and associated events//}}
-===== How it works =====
+  * If the safety system itself causes an event leading to a change of the safety level, this level change takes place only after the safety system completes this run.
+  * Multiple events fired during a single safety period would lead to ambiguities. The event leading to a lower prioritized safety level wins, while the other events are cancelled.
+===== What does the Safety System do ? =====
 The most important function of the safety system is its run method. This method is called periodically by the executor. Here's how it works:
 <code cpp>
@@ Line 42: / Line 45: @@
 If you want to learn more about the individual parts of the safety system, look at the links below:
-  *[[.:hal|HAL (Hardware Abstraction Layer)]]\\
-  *[[.:properties|Safety Properties]] \\
+  *[[.:properties|Safety Properties]]
-  *[[.:io_actions|Input / Output Actions]]\\
+  *[[.:io_actions|Input / Output Actions]]
   *[[.:usage|Setup a Safety System]]