eeros_architecture:safety_system:usage
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| Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
| eeros_architecture:safety_system:usage [2016/11/04 09:57] – [Changing the Safety Level] graf | eeros_architecture:safety_system:usage [2017/01/28 17:33] (current) – external edit 127.0.0.1 | ||
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| Line 10: | Line 10: | ||
| <code cpp> | <code cpp> | ||
| // Create and run executor | // Create and run executor | ||
| - | auto executor = eeros:: | + | auto& executor = eeros:: |
| - | executor.setPeriod(period); | + | |
| executor.setMainTask(safetySys); | executor.setMainTask(safetySys); | ||
| </ | </ | ||
| Line 24: | Line 23: | ||
| * the sequencer | * the sequencer | ||
| - | Sometimes you need to fire an event e.g. seStartRunning: | + | An event can be triggered by the control system or the sequencer by calling: |
| <code cpp> | <code cpp> | ||
| safetySys.triggerEvent(safetyProperties.seStartRunning); | safetySys.triggerEvent(safetyProperties.seStartRunning); | ||
| </ | </ | ||
| + | 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. | ||
| - | Info über private context | ||
eeros_architecture/safety_system/usage.1478249848.txt.gz · Last modified: 2016/11/04 09:57 by graf