SafetySystem.hpp

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#ifndef ORG_EEROS_SAFETY_SAFETYSYSTEM_HPP_
#define ORG_EEROS_SAFETY_SAFETYSYSTEM_HPP_

#include <vector>
#include <mutex>
#include <eeros/core/Runnable.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 {
        class SafetySystem : public Runnable {
        public:
            SafetySystem(SafetyProperties& properties, double period);
            virtual ~SafetySystem();
            SafetyLevel& getCurrentLevel(void);
            void triggerEvent(SafetyEvent event, SafetyContext* context = nullptr);
            const SafetyProperties* getProperties() const;
            double getPeriod() const;
            void run();
            static void exitHandler();
            logger::Logger log; 
        private:
            bool setProperties(SafetyProperties& safetyProperties);
            std::mutex mtx;
            SafetyProperties properties;
            SafetyLevel* currentLevel;
            SafetyLevel* nextLevel;
            SafetyContext privateContext;
            static uint8_t instCount;
            static SafetySystem* instance;
            double period;
        };

    };
};

#endif // ORG_EEROS_SAFETY_SAFETYSYSTEM_HPP_