SignalChecker.hpp

Go to the documentation of this file.

#ifndef ORG_EEROS_SIGNAL_CHECKER_HPP_
#define ORG_EEROS_SIGNAL_CHECKER_HPP_

#include <eeros/control/Block1i.hpp>
#include <eeros/safety/SafetyLevel.hpp>
#include <eeros/safety/SafetySystem.hpp>
#include <eeros/logger/Logger.hpp>

namespace eeros {
    namespace control {

        using namespace safety;
        
        template <typename T = double>
        class SignalChecker : public Block1i<T> {
        public:
            SignalChecker(T lowerLimit, T upperLimit) : 
                lowerLimit(lowerLimit), 
                upperLimit(upperLimit),
                fired(false),
                safetySystem(nullptr),
                safetyEvent(nullptr),
                activeLevel(nullptr)
            { }
            
            virtual void run() override {
                auto val = this->in.getSignal().getValue();
                if (!fired) {
                    if (!((val > lowerLimit) && (val < upperLimit))) {
                        if (safetySystem != nullptr && safetyEvent != nullptr) {
                            if (activeLevel == nullptr || (activeLevel != nullptr && safetySystem->getCurrentLevel() >= *activeLevel)) {
                                log.warn() << "Signal checker \'" + this->getName() + "\' fires!";
                                safetySystem->triggerEvent(*safetyEvent);
                                fired = true;
                            }
                        }
                    }
                }
            }
            
            virtual void setLimits(T lowerLimit, T upperLimit) {
                this->lowerLimit = lowerLimit;
                this->upperLimit = upperLimit;
            }
            
            virtual void reset() {
                fired = false;
            }
            
            virtual void registerSafetyEvent(SafetySystem& ss, SafetyEvent& e) {
                safetySystem = &ss;
                safetyEvent = &e;
            }

            virtual void setActiveLevel(SafetyLevel& level) {
                activeLevel = &level;
            }

        protected:
            T lowerLimit, upperLimit;
            bool fired;
            SafetySystem* safetySystem;
            SafetyEvent* safetyEvent;
            SafetyLevel* activeLevel;
            eeros::logger::Logger log;
        };
        
    };
};

#endif /* ORG_EEROS_SIGNAL_CHECKER_HPP_ */