EC-Master startup

3.3. EC-Master startup

The EC-Master stack has to be initialized once when the application is starting. After this one-time initialization one or more clients may register with the EC-Master. Finally, after all clients are registered the MainDevice can be started. Starting the MainDevice means that all SubDevices will be set into the operational state. Every time the state of the MainDevice has changed the clients are notified about this state-change.

3.3.1. Asynchronous (deferred) startup

skinparam ParticipantBorderColor black skinparam SequenceMessageAlign direction hide footbox !define APPCOLOR FFD965 !define CORECOLOR F4A77D participant App as "Application" #APPCOLOR participant EcMaster as "EC-Master" #CORECOLOR activate App #APPCOLOR App->EcMaster : emInitMaster() activate EcMaster #CORECOLOR return App->App : Create Job Task App->EcMaster : emConfigureNetwork() activate EcMaster #CORECOLOR return autonumber "<b>(<u>##</u>)" App->EcMaster : emRegisterClient() activate EcMaster #CORECOLOR autonumber stop return autonumber resume App->EcMaster : emSetMasterStateReq(<Time-out>, eEcatState_OP) activate EcMaster #CORECOLOR EcMaster->App : return EcMaster->EcMaster : INIT EcMaster->App : emNotify() autonumber stop EcMaster->EcMaster : PREOP EcMaster->App : emNotify() EcMaster->EcMaster : SAFEOP EcMaster->App : emNotify() EcMaster->EcMaster : OP autonumber resume EcMaster->App : emNotify() deactivate EcMaster

  • Application calls emInitMaster() (…)

  • Application creates Job Task. See EC-Master lifecycle

  • Application calls emConfigureMaster() (…)

  • Application calls emConfigureNetwork() (…) (See “1” )

  • Application calls emSetMasterStateReq() (…) with an appropriate timeout value (See “2” )

  • Function emSetMasterStateReq() (…) returns immediately (See “3” )

  • emSetMasterStateReq() (…) initiated the MainDevice startup procedure (See “4” )

  • The MainDevice initializes all SubDevices until all SubDevices reach OPERATIONAL state

  • After every state change the application will be notified (See “5” )

  • After reaching the OPERATIONAL state the system is ready (See “6” )

3.3.2. Synchronous startup

skinparam ParticipantBorderColor black skinparam SequenceMessageAlign direction hide footbox !define APPCOLOR FFD965 !define CORECOLOR F4A77D participant App as "Application" #APPCOLOR participant EcMaster as "EC-Master" #CORECOLOR activate App #APPCOLOR App->EcMaster : emInitMaster() activate EcMaster #CORECOLOR return App->App : Create Job Task App->EcMaster : emConfigureNetwork() activate EcMaster #CORECOLOR return autonumber "<b>(<u>##</u>)" App->EcMaster : emRegisterClient() activate EcMaster #CORECOLOR autonumber stop return autonumber resume App->EcMaster : emSetMasterState(<Time-out>, eEcatState_OP) activate EcMaster #CORECOLOR EcMaster->EcMaster : INIT EcMaster->EcMaster : PREOP EcMaster->EcMaster : SAFEOP EcMaster->EcMaster : OP return

  • Application calls emInitMaster() (…)

  • Application creates Job Task. See EC-Master lifecycle.

  • Application calls emConfigureNetwork() (…)

  • Application calls emRegisterClient() (…) (See “1” )

  • Application calls emSetMasterState() (…) with an appropriate timeout value (See “2” )

  • Inside emSetMasterState() (…) the MainDevice startup procedure will be initiated (See “3” )

  • The application is blocked until the whole startup has finished (See “7” )

  • The MainDevice initializes all SubDevices until all SubDevices reach OPERATIONAL state (See “3-6” )

  • After reaching the OPERATIONAL state the system is ready (See “6” )

  • emSetMasterState() (…) returns (See “7” )