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--- eeros_architecture:safety_system:start [2020/02/09 21:17] – [How 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//}}
   * 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.
-===== How it works =====
+===== 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>