SafetySystem.hpp

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#ifndef ORG_EEROS_SAFETY_SAFETYSYSTEM_HPP_
#define ORG_EEROS_SAFETY_SAFETYSYSTEM_HPP_

#include <vector>
#include <eeros/core/PeriodicThread.hpp>
#include <eeros/safety/SafetyLevel.hpp>
#include <eeros/safety/SafetyProperties.hpp>
#include <eeros/safety/SafetyContext.hpp>
#include <eeros/logger/Logger.hpp>
#include <eeros/logger/LogWriter.hpp>

namespace eeros {
    namespace safety {
        
        // Forward declarations
        class SystemInputInterface;
        class SystemOutputInterface;
        
        class SafetySystem : private PeriodicThread {
        public:
            SafetySystem(SafetyProperties properties, double period);
            virtual ~SafetySystem();
            SafetyLevel& getCurrentLevel(void);
            SafetyLevel& getLevelById(int32_t levelId);
            SafetyLevel& operator[](unsigned levelId);
            
            void triggerEvent(uint32_t event, SafetyContext* context = nullptr);
            void shutdown();
            const SafetyProperties* getProperties() const;
            
            logger::Logger<logger::LogWriter> log;
            
        protected:
            void run();
        private:
            bool setProperties(SafetyProperties safetyProperties);
            
            SafetyProperties properties;
            SafetyLevel* currentLevel;
            SafetyContext privateContext;
            static uint8_t instCount;
        };

    };
};

#endif // ORG_EEROS_SAFETY_SAFETYSYSTEM_HPP_