SafetyProperties.hpp

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#ifndef ORG_EEROS_SAFETY_SAFETYPROPORTIES_HPP_
#define ORG_EEROS_SAFETY_SAFETYPROPORTIES_HPP_

#include <stdint.h>
#include <vector>
#include <eeros/safety/SafetyLevel.hpp>
#include <eeros/hal/HAL.hpp>

namespace eeros {
    namespace safety {
        
        // Forward declarations
        class SafetySystem;
        
        class SafetyProperties {
            
            friend class SafetySystem;
            
        public:
            SafetyProperties();
            virtual ~SafetyProperties();
            
            void addEventToLevel(SafetyLevel& level, SafetyEvent event, SafetyLevel& nextLevel, EventType type);
            void addEventToLevelAndAbove(SafetyLevel& level, SafetyEvent event, SafetyLevel& nextLevel, EventType type);
            void addEventToLevelAndBelow(SafetyLevel& level, SafetyEvent event, SafetyLevel& nextLevel, EventType type);
            void addEventToAllLevelsBetween(SafetyLevel& lowerLevel, SafetyLevel& upperLevel, SafetyEvent event, SafetyLevel& nextLevel, EventType type);
            SafetyLevel* getEntryLevel();
            bool verify();
            void addLevel(SafetyLevel& level);
        protected:
            void setEntryLevel(SafetyLevel& entryLevel);
            
            std::function<void (SafetyContext*)> exitFunction;          
            std::vector<SafetyLevel*> levels;
            std::vector<eeros::hal::OutputInterface*> criticalOutputs;
            std::vector<eeros::hal::InputInterface*> criticalInputs;
        private:
            SafetyLevel* entryLevel;
            uint32_t count;
        };
        
    };
};

#endif // ORG_EEROS_SAFETY_SAFETYPROPORTIES_HPP_