rt.h File Reference

Declares PROFINET RT_CLASS_1 cyclic frame and IOCR data structures. More...

#include <cstdint>
#include <mutex>
#include <optional>
#include <string>
#include <vector>
#include "profinet/protocol.h"
#include "profinet/util.h"

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Classes
struct	profinet::rt::IODataObject
	Single IO data object within the C_SDU: one piece of process data mapped to a slot/subslot, with its IOPS (and optional IOCS) offset. More...
struct	profinet::rt::IOCRConfig
	IOCR configuration derived from AR setup: timing parameters and IO object mappings needed for cyclic data exchange. More...
struct	profinet::rt::RTFrame
	A single PROFINET Real-Time cyclic frame: Frame ID + C_SDU payload + cycle counter/status trailer. More...
class	profinet::rt::CyclicDataBuilder
	Builds C_SDU payload from IO data objects with double-buffering. More...

Namespaces
namespace	profinet
namespace	profinet::rt

Functions
template<typename SlotT >
std::pair< IOCRConfig, IOCRConfig >	profinet::rt::BuildIocrConfigs (const std::vector< SlotT > &slots, std::uint16_t inputFrameId, std::uint16_t outputFrameId, std::uint16_t sendClockFactor=32, std::uint16_t reductionRatio=32, int watchdogFactor=3, std::uint16_t cSduLength=43)
Bytes	profinet::rt::BuildEthernetFrame (const MacAddress &dstMac, const MacAddress &srcMac, const RTFrame &rtFrame)
	Build a complete Ethernet frame carrying an RT frame.
std::optional< RTFrame >	profinet::rt::ParseEthernetFrame (const Bytes &data)
	Parse a complete Ethernet frame and extract its RT frame.

Variables
constexpr std::uint16_t	profinet::rt::ETHERTYPE_PROFINET = 0x8892
	EtherType used by PROFINET RT frames (0x8892).
constexpr std::uint16_t	profinet::rt::FRAME_ID_RT_CLASS_1_MIN = 0xC000
	Minimum frame ID in the RT_CLASS_1 range.
constexpr std::uint16_t	profinet::rt::FRAME_ID_RT_CLASS_1_MAX = 0xF7FF
	Maximum frame ID in the RT_CLASS_1 range.
constexpr std::uint16_t	profinet::rt::VLAN_TAG_RT = 0x8100C000
	802.1Q priority tag for cyclic RT frames per IEC 61158-6-10: TPID 0x8100, PCP 6, VID 0 (TCI 0xC000, matching the negotiated IOCRTagHeader). Devices validate the negotiated priority, and managed switches may drop untagged sub-64-byte RT frames as runts, so TX frames must carry the tag.
constexpr std::uint16_t	profinet::rt::FRAME_ID_ALARM_HIGH = 0xFC01
	Frame ID used for high-priority alarms.
constexpr std::uint16_t	profinet::rt::FRAME_ID_ALARM_LOW = 0xFE01
	Frame ID used for low-priority alarms.
constexpr std::uint16_t	profinet::rt::IOCR_TYPE_INPUT = 1
	IOCR direction: Device -> Controller.
constexpr std::uint16_t	profinet::rt::IOCR_TYPE_OUTPUT = 2
	IOCR direction: Controller -> Device.
constexpr std::uint8_t	profinet::rt::RT_CLASS_1 = 0x01
	Real-time class: software scheduled (250us-512ms).
constexpr std::uint8_t	profinet::rt::RT_CLASS_2 = 0x02
	Real-time class: hardware scheduled (reserved).
constexpr std::uint8_t	profinet::rt::RT_CLASS_3 = 0x03
	Real-time class: isochronous (IRT, hardware only).
constexpr std::uint8_t	profinet::rt::DATA_STATUS_STATE = 0x01
	DataStatus bit: provider state, 0=Backup, 1=Primary.
constexpr std::uint8_t	profinet::rt::DATA_STATUS_REDUNDANCY = 0x02
	DataStatus bit: redundancy state.
constexpr std::uint8_t	profinet::rt::DATA_STATUS_VALID = 0x04
	DataStatus bit: data validity, 0=Invalid, 1=Valid.
constexpr std::uint8_t	profinet::rt::DATA_STATUS_RESERVED = 0x08
	DataStatus bit: reserved.
constexpr std::uint8_t	profinet::rt::DATA_STATUS_PROVIDER_RUN = 0x10
	DataStatus bit: provider run state, 0=Stop, 1=Run.
constexpr std::uint8_t	profinet::rt::DATA_STATUS_STATION_OK = 0x20
	DataStatus bit: station health, 0=Problem, 1=OK.
constexpr std::uint8_t	profinet::rt::DATA_STATUS_IGNORE = 0x80
	DataStatus bit: 1=Ignore this frame.
constexpr std::uint8_t	profinet::rt::IOXS_GOOD = 0x80
	IOxS value: good, subslot level.
constexpr std::uint8_t	profinet::rt::IOXS_DATA_STATE_GOOD = 0x80
	IOxS value: DataState is bit 7 of an IOxS byte; the lower bits carry Instance and Extension, so a received IOxS must be masked rather than compared to IOXS_GOOD.
constexpr std::uint8_t	profinet::rt::IOXS_BAD = 0x00
	IOxS value: bad.
constexpr std::uint8_t	profinet::rt::IOXS_EXTENSION = 0x01
	IOxS value: extension bit set (another IOxS byte follows).

Detailed Description

Declares PROFINET RT_CLASS_1 cyclic frame and IOCR data structures.

Defines cyclic RT frame serialization and parsing, IOCR configuration, individual IO data objects, IO status locations, and cyclic process-data buffer construction.

Data structures for RT_CLASS_1 cyclic data exchange:

• RTFrame: cyclic frame serialization/deserialization
• IOCRConfig: IOCR configuration derived from AR setup
• IODataObject: individual IO data object within the C_SDU
• CyclicDataBuilder: double-buffered C_SDU payload builder

Per IEC 61158-6-10: RT frames use EtherType 0x8892; frame IDs 0x8000-0xFBFF for RT_CLASS_1; the C_SDU carries process data + IOxS.

Definition in file rt.h.