MySafetyProperties.hpp

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#ifndef MYSAFETYPROPERTIES_HPP_
#define MYSAFETYPROPERTIES_HPP_

#include <eeros/safety/SafetyProperties.hpp>
#include <eeros/hal/HAL.hpp>
#include "MyControlSystem.hpp"

    // Name all levels
    enum {
        off = 0,
        emergencyState = 1,
        systemOn = 10,
        startingControl = 11,
        stoppingControl = 12,
        powerOn = 20,
        moving = 30
    };
    
    // Define all possible events
    enum {
        doSystemOn = 100,
        doSystemOff = 101,
        startControl = 102,
        stopControl = 103,
        startControlDone = 104,
        stopControlDone = 105,
        startMoving = 106,
        stopMoving = 107,
        doEmergency = 108,
        resetEmergency = 109
    };

class MySafetyProperties : public eeros::safety::SafetyProperties {
    
public:
    MySafetyProperties(MyControlSystem& controlSys);
    virtual ~MySafetyProperties();
    
protected:
    // critical outputs
    eeros::hal::PeripheralOutput<bool>* enable;
    
    // critical inputs
    eeros::hal::PeripheralInput<bool>* emergency;
    eeros::hal::PeripheralInput<double>* q;
    
    MyControlSystem& controlSys;
};

#endif // MYSAFETYPROPERTIES_HPP_