Differences

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--- eeros_architecture:safety_system:usage [2016/11/04 09:52] – [Watchdog Output] graf
+++ eeros_architecture:safety_system:usage [2017/01/28 17:33] (current) – external edit 127.0.0.1
@@ Line 2: / Line 2: @@
 Every EEROS system can have exactly one safety system. As a first step you have to define your safety properties as described in [[eeros_architecture:safety_system:properties|]]. After this you create an instance of these properties and assign it to your safety system as follows
 <code cpp>
-  MySafetyProperties safetyProperties;
+MySafetyProperties safetyProperties;
-  SafetySystem safetySys(safetyProperties, period);
+SafetySystem safetySys(safetyProperties, period);
 </code>
@@ Line 9: / Line 9: @@
 <code cpp>
-  // Create and run executor
+// Create and run executor
-  auto executor = eeros::Executor::instance();
+auto& executor = eeros::Executor::instance();
-  executor.setPeriod(period);
+executor.setMainTask(safetySys);
-  executor.setMainTask(safetySys);
 </code>
@@ Line 24: / Line 23: @@
   * the sequencer
+An event can be triggered by the control system or the sequencer by calling:
+<code cpp>
+safetySys.triggerEvent(safetyProperties.seStartRunning);
+</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.
-====== Safety System Usage ======
-Since the safety system and the HAL (hardware abstraction layer or hardware access layer) are strongly coupled it makes sense to show the usage of both systems on this page.
-Sometimes you need to fire an event e.g. swInitDone:
-<code c>
-safetySys.triggerEvent(swInitDone, privateContext);
-</code>
-The C-style definition in class //SafetySystem//:
-<code c>
-void triggerEvent(uint32_t event);
-</code>
-===== Setting Up The System =====
-Before the safety system can be started, you have to define the entry level:
-<code c>
-safetySys.setEntryLevel(off);
-</code>
-Finally assign the safety system as the main task of the executor, so that the //run()// method will be called periodically (every millisecond, for example).
-<code c>
-executor.setMainTask(safetySys);
-</code>