Differences

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--- eeros_architecture:safety_system:usage [2016/11/04 09:54] – [Setup a Safety System] graf
+++ eeros_architecture:safety_system:usage [2017/01/28 17:33] (current) – external edit 127.0.0.1
@@ Line 10: / Line 10: @@
 <code cpp>
 // Create and run executor
-auto executor = eeros::Executor::instance();
+auto& executor = eeros::Executor::instance();
-executor.setPeriod(period);
 executor.setMainTask(safetySys);
 </code>
@@ Line 24: / Line 23: @@
   * the sequencer
-Sometimes you need to fire an event e.g. swInitDone:
+An event can be triggered by the control system or the sequencer by calling:
 <code cpp>
-safetySys.triggerEvent(swInitDone, privateContext);
+safetySys.triggerEvent(safetyProperties.seStartRunning);
-</code>
-The C-style definition in class //SafetySystem//:
-<code c>
-void triggerEvent(uint32_t event);
 </code>
+Please make sure to declare a safety event public if triggered by the control system or the sequencer. Private event can be triggered solely by the safety system itself.