Differences

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--- getting_started:tutorials:system3 [2020/12/03 09:13] – ursgraf
+++ getting_started:tutorials:system3 [2026/04/12 16:00] (current) – ursgraf
@@ Line 1: / Line 1: @@
 ====== Triggering Safety Event from Control 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
+In the EEROS library you will find a directory with examples. For this example see [[https://github.com/eeros-project/eeros-framework/blob/master/examples/system/SystemTest3.cpp|SystemTest3.cpp]].
+Open a shell in the build directory of your EEROS library and run
 <code>
-$ sudo ./examples/system/systemTest3
+$ ./examples/system/systemTest3
 </code>
-IMPORTANT You have to run a program using real time threads with root privileges. We do not use the simulator in this example, hence there is no need to set the library path.
 The example comprises a safety system with only two safety levels and two safety events. The system will start in the safety level ''slStart''. It will stay there for three seconds after which a safety event is triggered which causes a level change to ''slRampingUp''. The control system for this example consists of three block as shown below: [{{ .:safetysystemtest2.png?500 | //Control system of the example//}}]
@@ Line 11: / Line 12: @@
 Pay attention to the following points:
   * The time domain of the control system is run by a periodic object. A lambda function serves as monitor function of this periodic. It outputs the integrator signal once every second.
-  * The safety properties and the control system are defined in separate classes. The safety system needs a reference to the control system in order to start the integrator or to reset the signal checker. On the other side the control system uses a reference to the safety system to allow its signal checker to trigger a safety event. After creating both control and safety system, the proper safety event must be registered for the check block in the control system with <code cpp>cs.checker.registerSafetyEvent(ss, sp.seReset); \\ cs.checker.setActiveLevel(sp.slRampingUp);</code> The second line configures the signal
+  * The safety properties and the control system are defined in separate classes. The safety system needs a reference to the control system in order to start the integrator or to reset the signal checker. On the other side the control system uses a reference to the safety system to allow its signal checker to trigger a safety event. After creating both control and safety system, the proper safety event must be registered for the check block in the control system with <code cpp>cs.checker.registerSafetyEvent(ss, sp.seReset);
+cs.checker.setActiveLevel(sp.slRampingUp);</code> The second line configures the signal checker that it fires only if the active safety level is equal or greater that ''slRampingUp''.