RT_CLASS_1 cyclic data exchange controller. More...

#include <cyclic.h>

Inheritance diagram for profinet::cyclic::CyclicController:

Collaboration diagram for profinet::cyclic::CyclicController:

Public Member Functions
	CyclicController (asio::io_context &ioContext, std::string interface, MacAddress srcMac, MacAddress dstMac, rt::IOCRConfig inputIocr, rt::IOCRConfig outputIocr, int maxConsecutiveTimeouts=DEFAULT_MAX_CONSECUTIVE_TIMEOUTS, std::uint16_t etherType=rt::ETHERTYPE_PROFINET)
	Construct a controller for the given interface and IOCR configuration.

	~CyclicController () override
	Stop (if running) and release resources.

	CyclicController (const CyclicController &)=delete
	Not copyable (owns sockets and background threads).

CyclicController &	operator= (const CyclicController &)=delete
	Not copyable (owns sockets and background threads).

void	SetOutputData (int slot, int subslot, const Bytes &data) override
	Set output data for the next cycle.

Bytes	GetOutputData (int slot, int subslot) const override
	Get the current output data for a slot/subslot.

std::optional< Bytes >	GetInputData (int slot, int subslot, bool allowBad=false) const override
	Get the latest input data received from the device, if any or IOPS is BAD.

void	OnInputStatus (std::function< void(std::uint16_t slot, std::uint16_t subslot, std::uint8_t iops)> callback)
	Register a callback for PROFINET provider status (IOPS) changes.

void	OnInput (std::function< void(int slot, int subslot, const Bytes &data)> callback)
	Register a callback invoked whenever new input data is received.

void	OnOutput (std::function< void(int cycleCounter, const Bytes &data)> callback)
	Register a callback invoked whenever new output data is send.

void	OnTimeout (std::function< void()> callback)
	Register a callback invoked on each watchdog timeout.

void	OnError (std::function< void(const std::string &)> callback)
	Register a callback invoked on TX/RX socket errors.

void	OnStateChange (std::function< void(CyclicState oldState, CyclicState newState)> callback)
	Register a callback invoked on every state transition.

void	Start (std::unique_ptr< IRawEthernetSocket > tx=nullptr, std::unique_ptr< IRawEthernetSocket > rx=nullptr) override
	Create TX/RX sockets and spawn the TX/RX threads.

void	Stop () override
	Stop gracefully.

bool	IsRunning () const override
	Whether the controller is actively exchanging cyclic data.

CyclicState	State () const override
	The controller's current lifecycle state.

const CyclicStats &	Stats () const
	Communication statistics for this controller.

CyclicStatsSnapshot	StatsSnapshot () const

std::optional< std::uint8_t >	GetInputStatus (std::uint16_t slot, std::uint16_t subslot) const
	Get the last provider status (IOPS) received for a submodule.

bool	IsInputGood (std::uint16_t slot, std::uint16_t subslot) const
	Check whether the device currently reports GOOD provider status.

Public Member Functions inherited from profinet::cyclic::ICyclicController
virtual	~ICyclicController ()=default
	Virtual destructor.

Private Member Functions
void	Transition (CyclicState newState)
	Change state and invoke the OnStateChange callback if registered.

void	CheckCycleTime ()
	Validate the configured cycle time, throwing if it's below 1ms.

void	TxCycle ()
	Swap the output buffer and transmit one cyclic output frame.

void	TxLoop ()
	TX thread body: sends output frames at the configured cycle rate.

void	SendOutputFrame (std::optional< std::uint8_t > dataStatusOverride=std::nullopt)
	Build and send one output frame.

void	SendStopFrames ()
	Send STOP_FRAME_COUNT output frames with ProviderRun cleared.

void	RxLoop ()
	RX thread body: receives and processes input frames, checking the watchdog.

void	HandleWatchdogTimeout ()
	Handle a watchdog timeout: update stats and possibly transition to Fault.

void	ProcessInputFrame (const Bytes &data)
	Parse and process one received input frame.

bool	LocalIsInputGood (std::uint16_t slot, std::uint16_t subslot) const
	Check whether a submodule has GOOD provider status without locking.

void	TrackCycleCounter (std::uint16_t rxCounter)
	Update cycle-counter tracking stats (gaps/duplicates/reordering) for a received frame.

Private Attributes
std::map< std::pair< std::uint16_t, std::uint16_t >, std::uint8_t >	inputStatus
	Last provider status (IOPS) the device sent per submodule. Payload bytes are only meaningful while the matching IOPS reports GOOD.

asio::io_context &	ioContext
	Asio execution context used by the raw Ethernet transports.

std::string	interface
	Network interface name.

MacAddress	srcMac
	This host's MAC address.

MacAddress	dstMac
	The device's MAC address.

rt::IOCRConfig	inputIocr
	Configuration for the input (device -> controller) IOCR.

rt::IOCRConfig	outputIocr
	Configuration for the output (controller -> device) IOCR.

int	maxConsecutiveTimeouts
	Consecutive watchdog timeouts before transitioning to Fault.

std::atomic< CyclicState >	state {CyclicState::Idle}
	Current lifecycle state.

std::uint16_t	etherType {rt::ETHERTYPE_PROFINET}
	Current lifecycle state.

std::atomic< bool >	running {false}
	Whether the TX/RX threads should keep running.

std::jthread	txThread
	Thread sending output frames.

std::jthread	rxThread
	Thread receiving input frames.

std::unique_ptr< IRawEthernetSocket >	txSock
	Raw socket used for sending output frames.

std::unique_ptr< IRawEthernetSocket >	rxSock
	Raw socket used for receiving input frames.

std::uint16_t	cycleCounter = 0
	Current TX cycle counter value.

rt::CyclicDataBuilder	outputBuilder
	Double-buffered builder for output cyclic data.

std::mutex	inputLock
	Guards inputData against concurrent access.

std::mutex	callbackMutex
	Guards callback setting against concurrent access.

std::map< std::pair< int, int >, Bytes >	inputData
	Latest received data per (slot, subslot).

std::optional< std::uint16_t >	lastRxCycleCounter
	Last received cycle counter, for gap/duplicate/reorder detection.

std::uint32_t	rxCounterStep
	Expected cycle-counter increment per received input frame.

std::uint32_t	txCounterStep
	Cycle-counter increment applied per sent output frame.

std::function< void(int, int, const std::uint8_t)>	onInputStatus
	Registered OnInputStatus callback, if any.

std::function< void(int, int, const Bytes &)>	onInputData
	Registered OnInput callback, if any.

std::function< void(int, const Bytes &)>	onOutputData
	Registered OnOutputData callback, if any.

std::function< void()>	onTimeout
	Registered OnTimeout callback, if any.

std::function< void(const std::string &)>	onError
	Registered OnError callback, if any.

std::function< void(CyclicState, CyclicState)>	onStateChange
	Registered OnStateChange callback, if any.

CyclicStats	stats
	Communication statistics.

bool	iocsGood
	Tracks the watchdog-driven IOCS state so the RX/timeout paths only rewrite the buffer on transitions (both run on the RX thread).

Friends
class	CyclicControllerConformanceTest

class	ReceivedIopsTest

class	CyclicControllerTestAccess

class	CyclicTest

Detailed Description

RT_CLASS_1 cyclic data exchange controller.

Example:

rt::IOCRConfig input_iocr, output_iocr; // from rt::BuildIocrConfigs
cyclic::CyclicController controller(ifname, my_mac, device_mac,
                                     input_iocr, output_iocr);
controller.OnInput([](int slot, int subslot, const Bytes& data) { ... });
controller.Start();
controller.SetOutputData(1, 1, {0x01, 0x02, 0x03, 0x04});
// ... let it run ...
controller.Stop();

C++ port has no language-level ceiling, but the constructor still throws below 1ms and still surfaces a warning below 8ms, since the underlying two-thread sleep-based scheduling here is the same design, just compiled – actual achievable jitter depends on the OS scheduler, not the language.

Definition at line 247 of file cyclic.h.

Constructor & Destructor Documentation

◆ CyclicController() [1/2]

profinet::cyclic::CyclicController::CyclicController	(	asio::io_context &	ioContext,
		std::string	interface,
		MacAddress	srcMac,
		MacAddress	dstMac,
		rt::IOCRConfig	inputIocr,
		rt::IOCRConfig	outputIocr,
		int	maxConsecutiveTimeouts = `DEFAULT_MAX_CONSECUTIVE_TIMEOUTS`,
		std::uint16_t	etherType = `rt::ETHERTYPE_PROFINET`
	)

Construct a controller for the given interface and IOCR configuration.

Parameters

ioContext	Asio execution context.
interface	Network interface name to bind to, e.g. "eth0".
srcMac	This host's MAC address.
dstMac	The device's MAC address.
inputIocr	Configuration for the input (device -> controller) IOCR.
outputIocr	Configuration for the output (controller -> device) IOCR.
maxConsecutiveTimeouts	Consecutive watchdog timeouts before transitioning to Fault.
etherType	Bind protocol. 0 binds ALL so VLAN-tagged frames are delivered too.

Definition at line 62 of file cyclic.cpp.

References CheckCycleTime(), profinet::rt::IOXS_GOOD, outputBuilder, profinet::rt::IOCRConfig::reductionRatio, rxCounterStep, profinet::rt::IOCRConfig::sendClockFactor, profinet::rt::CyclicDataBuilder::SetAllIocs(), profinet::rt::CyclicDataBuilder::SetAllIops(), and txCounterStep.

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◆ ~CyclicController()

profinet::cyclic::CyclicController::~CyclicController ( )

override

Stop (if running) and release resources.

Definition at line 95 of file cyclic.cpp.

References running, and Stop().

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◆ CyclicController() [2/2]

profinet::cyclic::CyclicController::CyclicController ( const CyclicController & )

delete

Not copyable (owns sockets and background threads).

Member Function Documentation

◆ CheckCycleTime()

void profinet::cyclic::CyclicController::CheckCycleTime ( )

private

Validate the configured cycle time, throwing if it's below 1ms.

Definition at line 103 of file cyclic.cpp.

References profinet::rt::IOCRConfig::CycleTimeMs(), and outputIocr.

Referenced by CyclicController().

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◆ GetInputData()

std::optional< Bytes > profinet::cyclic::CyclicController::GetInputData	(	int	slot,
		int	subslot,
		bool	allowBad = `false`
	)		const

overridevirtual

Get the latest input data received from the device, if any or IOPS is BAD.

Data whose IOPS is BAD must not be used by the application: the device is telling us the payload is not valid (module pulled, sensor faulted), and the bytes it keeps sending are stale. Such data is withheld unless allowBad is set. Use GetInputStatus() to inspect the raw IOPS.

Parameters

slot	Slot number of the object to read.
subslot	Subslot number of the object to read.
allowBad	Return the payload even when the device marked IOPS BAD.

Returns: The object's latest data, or std::nullopt if none received yet.

Thread-safe.

Implements profinet::cyclic::ICyclicController.

Definition at line 152 of file cyclic.cpp.

References inputData, inputLock, and LocalIsInputGood().

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◆ GetInputStatus()

std::optional< std::uint8_t > profinet::cyclic::CyclicController::GetInputStatus	(	std::uint16_t	slot,
		std::uint16_t	subslot
	)		const

Get the last provider status (IOPS) received for a submodule.

Returns the raw IOPS byte reported by the PROFINET device for the specified slot and subslot. The access is protected by the input status mutex.

A value of 0x80 indicates GOOD provider status.

Parameters

slot	Slot number.
subslot	Subslot number.

Returns: The last received raw IOPS byte, or std::nullopt if no provider status has been received yet.

Definition at line 163 of file cyclic.cpp.

References inputLock, and inputStatus.

◆ GetOutputData()

Bytes profinet::cyclic::CyclicController::GetOutputData	(	int	slot,
		int	subslot
	)		const

overridevirtual

Get the current output data for a slot/subslot.

Parameters

slot	Slot number.
subslot	Subslot number.

Returns: Current output data from the application/write buffer.

Implements profinet::cyclic::ICyclicController.

Definition at line 147 of file cyclic.cpp.

References profinet::rt::CyclicDataBuilder::GetData(), and outputBuilder.

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◆ HandleWatchdogTimeout()

void profinet::cyclic::CyclicController::HandleWatchdogTimeout ( )

private

Handle a watchdog timeout: update stats and possibly transition to Fault.

Definition at line 557 of file cyclic.cpp.

References profinet::cyclic::CyclicStats::consecutiveTimeouts, profinet::cyclic::Fault, profinet::cyclic::CyclicStats::framesMissed, iocsGood, profinet::rt::IOXS_BAD, maxConsecutiveTimeouts, onError, onTimeout, outputBuilder, profinet::cyclic::Running, profinet::rt::CyclicDataBuilder::SetAllIocs(), state, stats, and Transition().

Referenced by RxLoop().

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◆ IsInputGood()

bool profinet::cyclic::CyclicController::IsInputGood	(	std::uint16_t	slot,
		std::uint16_t	subslot
	)		const

Check whether the device currently reports GOOD provider status.

Checks the last IOPS value received for the specified submodule. The access is protected by the input status mutex.

Parameters

slot	Slot number.
subslot	Subslot number.

Returns: true if the last received IOPS contains the GOOD data-state bit, otherwise false. Returns false if no IOPS has been received yet.

Definition at line 177 of file cyclic.cpp.

References inputLock, and LocalIsInputGood().

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◆ IsRunning()

bool profinet::cyclic::CyclicController::IsRunning ( ) const

inlineoverridevirtual

Whether the controller is actively exchanging cyclic data.

Returns: True if State() == CyclicState::Running.

Implements profinet::cyclic::ICyclicController.

Definition at line 356 of file cyclic.h.

References profinet::cyclic::Running, and state.

Referenced by profinet::cyclic::TEST_F().

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◆ LocalIsInputGood()

bool profinet::cyclic::CyclicController::LocalIsInputGood	(	std::uint16_t	slot,
		std::uint16_t	subslot
	)		const

private

Check whether a submodule has GOOD provider status without locking.

This is the internal implementation of IsInputGood(). The caller must already hold m_inputStatusMutex.

Parameters

slot	Slot number.
subslot	Subslot number.

Returns: true if the last received IOPS contains the GOOD data-state bit, otherwise false.

Definition at line 184 of file cyclic.cpp.

References inputStatus, and profinet::rt::IOXS_DATA_STATE_GOOD.

Referenced by GetInputData(), IsInputGood(), and ProcessInputFrame().

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◆ OnError()

void profinet::cyclic::CyclicController::OnError ( std::function< void(const std::string &)> callback )

Register a callback invoked on TX/RX socket errors.

Parameters

callback Function called with a human-readable error message.

Definition at line 218 of file cyclic.cpp.

References callbackMutex, and onError.

◆ OnInput()

void profinet::cyclic::CyclicController::OnInput ( std::function< void(int slot, int subslot, const Bytes &data)> callback )

Register a callback invoked whenever new input data is received.

Parameters

callback Function called with (slot, subslot, data) for each updated object.

Definition at line 202 of file cyclic.cpp.

References callbackMutex, and onInputData.

◆ OnInputStatus()

void profinet::cyclic::CyclicController::OnInputStatus ( std::function< void(std::uint16_t slot, std::uint16_t subslot, std::uint8_t iops)> callback )

Register a callback for PROFINET provider status (IOPS) changes.

The callback is invoked by the RX thread whenever the provider status (IOPS) of a submodule transitions between GOOD and BAD.

A device can use an IOPS transition to indicate that its input data has become invalid, for example when a module is removed or a sensor fault occurs, without terminating the Application Relationship (AR). In this situation cyclic frames may continue to arrive with stale payload data, making the IOPS transition the relevant notification available to the application.

The callback receives the slot number, subslot number, and raw IOPS byte reported by the device.

Parameters

callback Function invoked as callback(slot, subslot, iops). Passing an empty std::function disables the callback.

Definition at line 196 of file cyclic.cpp.

References callbackMutex, and onInputStatus.

◆ OnOutput()

void profinet::cyclic::CyclicController::OnOutput ( std::function< void(int cycleCounter, const Bytes &data)> callback )

Register a callback invoked whenever new output data is send.

Parameters

callback Function called with (cycleCounter, data) for each updated object.

Definition at line 208 of file cyclic.cpp.

References callbackMutex, and onOutputData.

◆ OnStateChange()

void profinet::cyclic::CyclicController::OnStateChange ( std::function< void(CyclicState oldState, CyclicState newState)> callback )

Register a callback invoked on every state transition.

Parameters

callback Function called with (old_state, new_state).

Definition at line 223 of file cyclic.cpp.

References callbackMutex, and onStateChange.

◆ OnTimeout()

void profinet::cyclic::CyclicController::OnTimeout ( std::function< void()> callback )

Register a callback invoked on each watchdog timeout.

Parameters

callback Function called with no arguments.

Definition at line 213 of file cyclic.cpp.

References callbackMutex, and onTimeout.

◆ operator=()

CyclicController & profinet::cyclic::CyclicController::operator= ( const CyclicController & )

delete

Not copyable (owns sockets and background threads).

◆ ProcessInputFrame()

void profinet::cyclic::CyclicController::ProcessInputFrame ( const Bytes & data )

private

Parse and process one received input frame.

Parameters

data	Raw Ethernet frame bytes.

Definition at line 595 of file cyclic.cpp.

References profinet::cyclic::CyclicStats::consecutiveTimeouts, dstMac, profinet::rt::ETHERTYPE_PROFINET, profinet::cyclic::Fault, frame, profinet::rt::IOCRConfig::frameId, profinet::cyclic::CyclicStats::framesInvalid, profinet::cyclic::CyclicStats::framesReceived, profinet::rt::RTFrame::FromBytes(), profinet::Hex2(), inputData, inputIocr, inputLock, inputStatus, iocsGood, profinet::rt::IOXS_DATA_STATE_GOOD, profinet::rt::IOXS_GOOD, profinet::cyclic::CyclicStats::lastReceiveTime, LocalIsInputGood(), profinet::macAddressLength, obj, profinet::rt::IOCRConfig::objects, onError, onInputData, onInputStatus, outputBuilder, profinet::cyclic::Running, profinet::rt::CyclicDataBuilder::SetAllIocs(), profinet::wire::Reader::SkipTo(), profinet::SkipVlanTags(), state, stats, TrackCycleCounter(), Transition(), and profinet::wire::Reader::U16().

Referenced by RxLoop().

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◆ RxLoop()

void profinet::cyclic::CyclicController::RxLoop ( )

private

RX thread body: receives and processes input frames, checking the watchdog.

Definition at line 516 of file cyclic.cpp.

References HandleWatchdogTimeout(), inputIocr, profinet::cyclic::CyclicStats::lastReceiveTime, onError, ProcessInputFrame(), running, rxSock, stats, and profinet::rt::IOCRConfig::WatchdogTimeUs().

Referenced by Start().

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◆ SendOutputFrame()

void profinet::cyclic::CyclicController::SendOutputFrame ( std::optional< std::uint8_t > dataStatusOverride = std::nullopt )

private

Build and send one output frame.

Parameters

dataStatusOverride If set, overrides the computed DataStatus (used for STOP frames).

Definition at line 444 of file cyclic.cpp.

References profinet::rt::CyclicDataBuilder::Build(), profinet::rt::BuildEthernetFrame(), cycleCounter, profinet::rt::DATA_STATUS_PROVIDER_RUN, profinet::rt::DATA_STATUS_STATE, profinet::rt::DATA_STATUS_STATION_OK, profinet::rt::DATA_STATUS_VALID, dstMac, frame, profinet::rt::IOCRConfig::frameId, profinet::rt::RTFrame::frameId, onError, onOutputData, outputBuilder, outputIocr, payload, srcMac, txCounterStep, and txSock.

Referenced by SendStopFrames(), and TxCycle().

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◆ SendStopFrames()

void profinet::cyclic::CyclicController::SendStopFrames ( )

private

Send STOP_FRAME_COUNT output frames with ProviderRun cleared.

Definition at line 486 of file cyclic.cpp.

References profinet::rt::IOCRConfig::CycleTimeUs(), profinet::rt::DATA_STATUS_STATE, profinet::rt::DATA_STATUS_STATION_OK, profinet::rt::DATA_STATUS_VALID, profinet::cyclic::CyclicStats::framesSent, outputBuilder, outputIocr, SendOutputFrame(), stats, profinet::cyclic::STOP_FRAME_COUNT, profinet::rt::CyclicDataBuilder::Swap(), and txSock.

Referenced by Stop().

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◆ SetOutputData()

void profinet::cyclic::CyclicController::SetOutputData	(	int	slot,
		int	subslot,
		const Bytes &	data
	)

overridevirtual

Set output data for the next cycle.

Parameters

slot	Slot number of the object to update.
subslot	Subslot number of the object to update.
data	New data for the object.

Thread-safe. Throws std::runtime_error if in Fault or Stopped state.

Implements profinet::cyclic::ICyclicController.

Definition at line 137 of file cyclic.cpp.

References profinet::cyclic::Fault, profinet::rt::IOXS_GOOD, outputBuilder, profinet::rt::CyclicDataBuilder::SetData(), profinet::rt::CyclicDataBuilder::SetIops(), state, profinet::cyclic::Stopped, and profinet::cyclic::ToString().

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◆ Start()

void profinet::cyclic::CyclicController::Start	(	std::unique_ptr< IRawEthernetSocket >	tx = `nullptr`,
		std::unique_ptr< IRawEthernetSocket >	rx = `nullptr`
	)

overridevirtual

Create TX/RX sockets and spawn the TX/RX threads.

Throws std::runtime_error if not in Idle/Stopped/Fault state, or if CycleTimeMs() < 1ms (not achievable). Throws PermissionDeniedError if raw sockets need elevated privilege.

Implements profinet::cyclic::ICyclicController.

Definition at line 229 of file cyclic.cpp.

References etherType, profinet::cyclic::Fault, profinet::cyclic::Idle, interface, ioContext, lastRxCycleCounter, outputBuilder, profinet::cyclic::CyclicStats::Reset(), profinet::cyclic::Running, running, rx, RxLoop(), rxSock, rxThread, profinet::cyclic::Starting, state, stats, profinet::cyclic::Stopped, profinet::rt::CyclicDataBuilder::Swap(), profinet::cyclic::ToString(), Transition(), tx, TxLoop(), txSock, and txThread.

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◆ State()

CyclicState profinet::cyclic::CyclicController::State ( ) const

inlineoverridevirtual

The controller's current lifecycle state.

Returns: The current CyclicState.

Implements profinet::cyclic::ICyclicController.

Definition at line 363 of file cyclic.h.

References state.

Referenced by profinet::cyclic::TEST_F().

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◆ Stats()

const CyclicStats & profinet::cyclic::CyclicController::Stats ( ) const

inline

Communication statistics for this controller.

Returns: A const reference to the live statistics.

Definition at line 370 of file cyclic.h.

References stats.

◆ StatsSnapshot()

CyclicStatsSnapshot profinet::cyclic::CyclicController::StatsSnapshot ( ) const

Definition at line 326 of file cyclic.cpp.

◆ Stop()

void profinet::cyclic::CyclicController::Stop ( )

overridevirtual

Stop gracefully.

Signals threads to exit, joins the TX thread, sends STOP frames (ProviderRun cleared), closes the RX socket, joins the RX thread, then closes the TX socket.

Implements profinet::cyclic::ICyclicController.

Definition at line 289 of file cyclic.cpp.

References running, rxSock, rxThread, SendStopFrames(), profinet::cyclic::Stopped, profinet::cyclic::Stopping, Transition(), txSock, and txThread.

Referenced by ~CyclicController().

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◆ TrackCycleCounter()

void profinet::cyclic::CyclicController::TrackCycleCounter ( std::uint16_t rxCounter )

private

Update cycle-counter tracking stats (gaps/duplicates/reordering) for a received frame.

Parameters

rxCounter Cycle counter from the received frame.

Definition at line 796 of file cyclic.cpp.

References profinet::cyclic::CyclicStats::framesDuplicate, profinet::cyclic::CyclicStats::framesMissed, profinet::cyclic::CyclicStats::framesOutOfOrder, lastRxCycleCounter, rxCounterStep, and stats.

Referenced by ProcessInputFrame().

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◆ Transition()

void profinet::cyclic::CyclicController::Transition ( CyclicState newState )

private

Change state and invoke the OnStateChange callback if registered.

Parameters

newState State to transition to.

Definition at line 118 of file cyclic.cpp.

References onStateChange, and state.

Referenced by HandleWatchdogTimeout(), ProcessInputFrame(), Start(), and Stop().

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◆ TxCycle()

void profinet::cyclic::CyclicController::TxCycle ( )

private

Swap the output buffer and transmit one cyclic output frame.

Executes one PROFINET cyclic output transmission cycle.

The output buffer is swapped before transmission so that the frame contains the latest prepared output data. A frame must continue to be transmitted even while the controller is in FAULT state. Stopping cyclic transmission would cause the device's Data Hold Timer to expire, which would terminate the Application Relationship (AR) and prevent the input stream from resuming during FAULT recovery.

IOCS is already reported as BAD while the controller is in FAULT, so cyclic transmission can safely continue while the controller is in that state.

Definition at line 361 of file cyclic.cpp.

References profinet::cyclic::CyclicStats::framesSent, outputBuilder, SendOutputFrame(), stats, and profinet::rt::CyclicDataBuilder::Swap().

Referenced by TxLoop().

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◆ TxLoop()

void profinet::cyclic::CyclicController::TxLoop ( )

private

TX thread body: sends output frames at the configured cycle rate.

Definition at line 370 of file cyclic.cpp.

References profinet::cyclic::CyclicStats::cycleCount, profinet::cyclic::CyclicStats::cycleTimeSumUs, profinet::rt::IOCRConfig::CycleTimeUs(), profinet::cyclic::CyclicStats::lastCycleTimeUs, profinet::cyclic::CyclicStats::maxCycleTimeUs, profinet::cyclic::CyclicStats::maxJitterUs, profinet::cyclic::CyclicStats::minCycleTimeUs, outputIocr, running, stats, and TxCycle().

Referenced by Start().

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Friends And Related Symbol Documentation

◆ CyclicControllerConformanceTest

friend class CyclicControllerConformanceTest

friend

Definition at line 250 of file cyclic.h.

◆ CyclicControllerTestAccess

friend class CyclicControllerTestAccess

friend

Definition at line 252 of file cyclic.h.

◆ CyclicTest

friend class CyclicTest

friend

Definition at line 253 of file cyclic.h.

◆ ReceivedIopsTest

friend class ReceivedIopsTest

friend

Definition at line 251 of file cyclic.h.

Member Data Documentation

◆ callbackMutex

std::mutex profinet::cyclic::CyclicController::callbackMutex

mutableprivate

Guards callback setting against concurrent access.

Definition at line 518 of file cyclic.h.

Referenced by OnError(), OnInput(), OnInputStatus(), OnOutput(), OnStateChange(), and OnTimeout().

◆ cycleCounter

std::uint16_t profinet::cyclic::CyclicController::cycleCounter = 0

private

Current TX cycle counter value.

Definition at line 509 of file cyclic.h.

Referenced by SendOutputFrame().

◆ dstMac

MacAddress profinet::cyclic::CyclicController::dstMac

private

The device's MAC address.

Definition at line 476 of file cyclic.h.

Referenced by ProcessInputFrame(), and SendOutputFrame().

◆ etherType

std::uint16_t profinet::cyclic::CyclicController::etherType {rt::ETHERTYPE_PROFINET}

private

Current lifecycle state.

Definition at line 491 of file cyclic.h.

Referenced by Start().

◆ inputData

std::map<std::pair<int, int>, Bytes> profinet::cyclic::CyclicController::inputData

private

Latest received data per (slot, subslot).

Definition at line 521 of file cyclic.h.

Referenced by GetInputData(), and ProcessInputFrame().

◆ inputIocr

rt::IOCRConfig profinet::cyclic::CyclicController::inputIocr

private

Configuration for the input (device -> controller) IOCR.

Definition at line 479 of file cyclic.h.

Referenced by ProcessInputFrame(), and RxLoop().

◆ inputLock

std::mutex profinet::cyclic::CyclicController::inputLock

mutableprivate

Guards inputData against concurrent access.

Definition at line 515 of file cyclic.h.

Referenced by GetInputData(), GetInputStatus(), IsInputGood(), and ProcessInputFrame().

◆ inputStatus

std::map<std::pair<std::uint16_t, std::uint16_t>, std::uint8_t> profinet::cyclic::CyclicController::inputStatus

private

Last provider status (IOPS) the device sent per submodule. Payload bytes are only meaningful while the matching IOPS reports GOOD.

Definition at line 460 of file cyclic.h.

Referenced by GetInputStatus(), LocalIsInputGood(), and ProcessInputFrame().

◆ interface

std::string profinet::cyclic::CyclicController::interface

private

Network interface name.

Definition at line 470 of file cyclic.h.

Referenced by Start().

◆ ioContext

asio::io_context& profinet::cyclic::CyclicController::ioContext

private

Asio execution context used by the raw Ethernet transports.

Definition at line 467 of file cyclic.h.

Referenced by Start().

◆ iocsGood

bool profinet::cyclic::CyclicController::iocsGood

private

Tracks the watchdog-driven IOCS state so the RX/timeout paths only rewrite the buffer on transitions (both run on the RX thread).

Definition at line 555 of file cyclic.h.

Referenced by HandleWatchdogTimeout(), and ProcessInputFrame().

◆ lastRxCycleCounter

std::optional<std::uint16_t> profinet::cyclic::CyclicController::lastRxCycleCounter

private

Last received cycle counter, for gap/duplicate/reorder detection.

Definition at line 524 of file cyclic.h.

Referenced by Start(), and TrackCycleCounter().

◆ maxConsecutiveTimeouts

int profinet::cyclic::CyclicController::maxConsecutiveTimeouts

private

Consecutive watchdog timeouts before transitioning to Fault.

Definition at line 485 of file cyclic.h.

Referenced by HandleWatchdogTimeout().

◆ onError

std::function<void(const std::string&)> profinet::cyclic::CyclicController::onError

private

Registered OnError callback, if any.

Definition at line 545 of file cyclic.h.

Referenced by HandleWatchdogTimeout(), OnError(), ProcessInputFrame(), RxLoop(), and SendOutputFrame().

◆ onInputData

std::function<void(int, int, const Bytes&)> profinet::cyclic::CyclicController::onInputData

private

Registered OnInput callback, if any.

Definition at line 536 of file cyclic.h.

Referenced by OnInput(), and ProcessInputFrame().

◆ onInputStatus

std::function<void(int, int, const std::uint8_t)> profinet::cyclic::CyclicController::onInputStatus

private

Registered OnInputStatus callback, if any.

Definition at line 533 of file cyclic.h.

Referenced by OnInputStatus(), and ProcessInputFrame().

◆ onOutputData

std::function<void(int, const Bytes&)> profinet::cyclic::CyclicController::onOutputData

private

Registered OnOutputData callback, if any.

Definition at line 539 of file cyclic.h.

Referenced by OnOutput(), and SendOutputFrame().

◆ onStateChange

std::function<void(CyclicState, CyclicState)> profinet::cyclic::CyclicController::onStateChange

private

Registered OnStateChange callback, if any.

Definition at line 548 of file cyclic.h.

Referenced by OnStateChange(), and Transition().

◆ onTimeout

std::function<void()> profinet::cyclic::CyclicController::onTimeout

private

Registered OnTimeout callback, if any.

Definition at line 542 of file cyclic.h.

Referenced by HandleWatchdogTimeout(), and OnTimeout().

◆ outputBuilder

rt::CyclicDataBuilder profinet::cyclic::CyclicController::outputBuilder

private

Double-buffered builder for output cyclic data.

Definition at line 512 of file cyclic.h.

Referenced by CyclicController(), GetOutputData(), HandleWatchdogTimeout(), ProcessInputFrame(), SendOutputFrame(), SendStopFrames(), SetOutputData(), Start(), and TxCycle().

◆ outputIocr

rt::IOCRConfig profinet::cyclic::CyclicController::outputIocr

private

Configuration for the output (controller -> device) IOCR.

Definition at line 482 of file cyclic.h.

Referenced by CheckCycleTime(), SendOutputFrame(), SendStopFrames(), and TxLoop().

◆ running

std::atomic<bool> profinet::cyclic::CyclicController::running {false}

private

Whether the TX/RX threads should keep running.

Definition at line 494 of file cyclic.h.

Referenced by ~CyclicController(), RxLoop(), Start(), Stop(), and TxLoop().

◆ rxCounterStep

std::uint32_t profinet::cyclic::CyclicController::rxCounterStep

private

Expected cycle-counter increment per received input frame.

Definition at line 527 of file cyclic.h.

Referenced by CyclicController(), and TrackCycleCounter().

◆ rxSock

std::unique_ptr<IRawEthernetSocket> profinet::cyclic::CyclicController::rxSock

private

Raw socket used for receiving input frames.

Definition at line 506 of file cyclic.h.

Referenced by RxLoop(), Start(), and Stop().

◆ rxThread

std::jthread profinet::cyclic::CyclicController::rxThread

private

Thread receiving input frames.

Definition at line 500 of file cyclic.h.

Referenced by Start(), and Stop().

◆ srcMac

MacAddress profinet::cyclic::CyclicController::srcMac

private

This host's MAC address.

Definition at line 473 of file cyclic.h.

Referenced by SendOutputFrame().

◆ state

std::atomic<CyclicState> profinet::cyclic::CyclicController::state {CyclicState::Idle}

private

Current lifecycle state.

Definition at line 488 of file cyclic.h.

Referenced by HandleWatchdogTimeout(), IsRunning(), ProcessInputFrame(), SetOutputData(), Start(), State(), and Transition().

◆ stats

CyclicStats profinet::cyclic::CyclicController::stats

private

Communication statistics.

Definition at line 551 of file cyclic.h.

Referenced by HandleWatchdogTimeout(), ProcessInputFrame(), RxLoop(), SendStopFrames(), Start(), Stats(), StatsSnapshot(), TrackCycleCounter(), TxCycle(), and TxLoop().

◆ txCounterStep

std::uint32_t profinet::cyclic::CyclicController::txCounterStep

private

Cycle-counter increment applied per sent output frame.

Definition at line 530 of file cyclic.h.

Referenced by CyclicController(), and SendOutputFrame().

◆ txSock

std::unique_ptr<IRawEthernetSocket> profinet::cyclic::CyclicController::txSock

private

Raw socket used for sending output frames.

Definition at line 503 of file cyclic.h.

Referenced by SendOutputFrame(), SendStopFrames(), Start(), and Stop().

◆ txThread

std::jthread profinet::cyclic::CyclicController::txThread

private

Thread sending output frames.

Definition at line 497 of file cyclic.h.

Referenced by Start(), and Stop().

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

include/profinet/cyclic.h
src/cyclic.cpp

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ CyclicController() [1/2]

◆ ~CyclicController()

◆ CyclicController() [2/2]

Member Function Documentation

◆ CheckCycleTime()

◆ GetInputData()

◆ GetInputStatus()

◆ GetOutputData()

◆ HandleWatchdogTimeout()

◆ IsInputGood()

◆ IsRunning()

◆ LocalIsInputGood()

◆ OnError()

◆ OnInput()

◆ OnInputStatus()

◆ OnOutput()

◆ OnStateChange()

◆ OnTimeout()

◆ operator=()

◆ ProcessInputFrame()

◆ RxLoop()

◆ SendOutputFrame()

◆ SendStopFrames()

◆ SetOutputData()

◆ Start()

◆ State()

◆ Stats()

◆ StatsSnapshot()

◆ Stop()

◆ TrackCycleCounter()

◆ Transition()

◆ TxCycle()

◆ TxLoop()

Friends And Related Symbol Documentation

◆ CyclicControllerConformanceTest

◆ CyclicControllerTestAccess

◆ CyclicTest

◆ ReceivedIopsTest

Member Data Documentation

◆ callbackMutex

◆ cycleCounter

◆ dstMac

◆ etherType

◆ inputData

◆ inputIocr

◆ inputLock

◆ inputStatus

◆ interface

◆ ioContext

◆ iocsGood

◆ lastRxCycleCounter

◆ maxConsecutiveTimeouts

◆ onError

◆ onInputData

◆ onInputStatus

◆ onOutputData

◆ onStateChange

◆ onTimeout

◆ outputBuilder

◆ outputIocr

◆ running

◆ rxCounterStep

◆ rxSock

◆ rxThread

◆ srcMac

◆ state

◆ stats

◆ txCounterStep

◆ txSock

◆ txThread