eeros::safety::SafetySystem Class Reference

Safety system. More...

#include <SafetySystem.hpp>

Inheritance diagram for eeros::safety::SafetySystem:

Collaboration diagram for eeros::safety::SafetySystem:

Public Member Functions
	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 ()
Public Member Functions inherited from eeros::Runnable
virtual	~Runnable ()

Static Public Member Functions
static void	exitHandler ()

Public Attributes
logger::Logger	log

Detailed Description

Safety system.

Every robot control system needs exactly one safety system. The safety system comprises several safety levels and safety events to switch between these levels

Constructor & Destructor Documentation

eeros::safety::SafetySystem::SafetySystem	(	SafetyProperties &	properties,
		double	period
	)

Creates a safety system

Parameters

properties	Safety properties belonging to this safety system.
period	The period determines the speed, which the executor will run the safety system.

eeros::safety::SafetySystem::~SafetySystem ( )

virtual

Destructor, do not call manually.

Member Function Documentation

void eeros::safety::SafetySystem::exitHandler ( )

static

This method can be used to shut the system down gracefully when stopping a program with signals, e.g. SIGINT. Register a signal handler and call this function from there.

SafetyLevel & eeros::safety::SafetySystem::getCurrentLevel

(

void

)

Getter function for the current safety level.

Returns

The current safety level.

double eeros::safety::SafetySystem::getPeriod

(

)

const

Getter function for the period value.

Returns

The period of the safety system.

const SafetyProperties * eeros::safety::SafetySystem::getProperties

(

)

const

Getter function for the current safety properties.

Returns

The current safety properties.

void eeros::safety::SafetySystem::run ( )

virtual

The executor will call this method when the safety system has to run. Do not call manually.

Implements eeros::Runnable.

void eeros::safety::SafetySystem::triggerEvent	(	SafetyEvent	event,
		SafetyContext *	context = nullptr
	)

Causes a fire a safety event. Make sure that this event is registered for the actual safety level and that it is a public event in case of being fired from outside of the safety system.

Parameters

event	The safety event to be fired.
context	The context, in which the event is fired, this could be public or private.

Member Data Documentation

logger::Logger eeros::safety::SafetySystem::log

This logger is used to put out information about the safety system

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The documentation for this class was generated from the following files:

• /home/markus/github/eeros-project/eeros-framework/includes/eeros/safety/SafetySystem.hpp
• /home/markus/github/eeros-project/eeros-framework/src/safety/SafetySystem.cpp