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--- getting_started:tutorials:safetysystem [2016/11/05 12:00] – [Create a Safety System] graf
+++ getting_started:tutorials:safetysystem [2020/12/03 08:51] (current) – removed ursgraf
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-====== Create a Safety System ======
-In the EEROS library you will find a directory with examples. Open a shell in the build directory of your EEROS library and run ''examples/safety/SafetySystemTest1''. \\
-The example comprises a safety system with five different safety levels and six safety events.
-{{ :getting_started:tutorials:safetysystemtest1.png?400 |}}
-The levels and events are defined in the safety properties. The properties further include one critical input and one critical output.
-The following events are defined and used in the example:
-^name^description^registered for safety level^type^when triggered^
-|e1|start initializing|slOff|public event|triggered by the main program immediately after initialization of the safety system|
-|e2|initialization done|slIinitializing|private event|triggered by a periodic 5 seconds after the executor started|
-|e3|start running|slInitialized|private event|triggered by checking the critical input, this could be an enable button|
-|e4|start shutting down|slRunning, slInitialized, slIinitializing|public event|triggered by pressing Ctrl-C|
-|e5|stop running|slRunning|private event|triggered by checking the critical input, this could be an enable button|
-|e6|switching off|slShuttingDown|public event|triggered by a level action|
-The central attribute of the safety system is its //currentLevel//. Of course, this level can be queried by anything but is controlled exclusively by the safety system itself.
-===== How to shut down =====
-The example demonstrates how the system should be stopped in a well controlled manner, see [[getting_started:tutorials:stoppingsystem|]].