ExampleSafetyProperties.hpp

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#ifndef EXAMPLESAFETYPROPERTIES_HPP
#define EXAMPLESAFETYPROPERTIES_HPP

#include <eeros/safety/SafetyProperties.hpp>
#include <eeros/hal/PeripheralOutput.hpp>
#include <eeros/hal/PeripheralInput.hpp>

class ExampleSafetyProperties : public eeros::safety::SafetyProperties {

    // Define all possible events
    enum {
        doSwInit,
        swShutDownDone,
        swInitDone,
        doOff,
        doControlStart,
        controlStoppingDone,
        controlStartingDone,
        doEmergencyReset,
        emergencyResetDone,
        doStopControl,
        doPoweringUp,
        poweringDownDone,
        poweringUpDone,
        doPoweringDown,
        doStartingMotion,
        motionStoppingDone,
        motionStartingDone,
        doMotionStopping,
        doEmergency
    };
    
    // Name all levels
    enum {
        off = 10,
        swShutingDown = 11,
        swInitializing = 12,
        swInitialized = 20,
        controlStopping = 21,
        controlStarting = 22,
        emergency = 28,
        resetingEmergency = 29,
        systemOn = 30,
        poweringDown = 31,
        poweringUp = 32,
        powerOn = 40,
        motionStopping = 41,
        motionStarting = 42,
        moving = 50
    };
    
public:
    ExampleSafetyProperties();
    virtual ~ExampleSafetyProperties();
    
    // criticcal outputs
    eeros::hal::PeripheralOutput<bool>* power;
    eeros::hal::PeripheralOutput<bool>* wd;
    eeros::hal::PeripheralOutput<bool>* enable0;
    eeros::hal::PeripheralOutput<bool>* enable1;
    eeros::hal::PeripheralOutput<bool>* brake0;
    eeros::hal::PeripheralOutput<bool>* brake1;
    
    // criticcal inputs
    eeros::hal::PeripheralInput<bool>* emergencyStop;
    eeros::hal::PeripheralInput<double>* q0;
    eeros::hal::PeripheralInput<double>* q1;
};

#endif // EXAMPLESAFETYPROPERTIES_HPP