Add Safety README #436
Add Safety README #436
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| For example: | ||
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| ```python |
| ### Safety Execption Classes | ||
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| - **`ThermalLimitException`**: Raised when software thermal limits are exceeded | ||
| - **`I2tLimitException`**: Raised when Dephy ActPack I²t (current-time) limits are exceeded |
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This I2tlimitException is not limited to Dephy Actpacks
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| ### [DephyActuator](./dephy.py) Safety Support | ||
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| #### Built-in Safety Features |
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This sub-section seems out of place and is not true
| - Thermal scaling factor calculation | ||
| - Integrated exception handling in `update()` method | ||
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| #### Known Issues |
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Same here, this does not belong in safety modules doc
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| ### Best Practices | ||
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| 1. **Always use context managers** (`with` statements) when working with actuators |
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This point outlines general safety but does not relate to our safety module implementation
| """ | ||
| return SafetyManager.SafetyDisableContext(self) | ||
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| class SafetyDisableContext: |
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Instead of a context manager to temporarily disable safety checks, I think it would be more useful to add the with context manager, where the enter(): function will call the safety manager start function and the exit(): function will execute the safety manager stop and exit conditions.
This will help us to use the safety manager with "with" similar to actuators.
Overall, the safety documentation looks good! great work!
Create a README for the safety module. Others can learn how to integrate the safety module into the actuators code.