EtherCAT.Bus.Link.RedundantMerge (ethercat v0.5.0)

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Pure helpers for redundant exchange interpretation.

Given sent datagrams and the replies from primary and secondary ports, classifies the rx pattern and merges both replies into a best-effort result with combined WKC.

All functions are deterministic and side-effect free — the hardest redundant-path logic is testable without a live bus or transports.

Summary

Types

interpretation_t()
path_shape_t()
rx_kind_t()

Functions

interpret(sent_datagrams, primary_datagrams, secondary_datagrams)
merge_bounces(sent_datagrams, primary_bounced, secondary_bounced)

Merge two bounced replies from a broken ring.

Types

interpretation_t()

@type interpretation_t() :: %{
  status: :ok | :partial | :timeout,
  redundancy: :full | :degraded | :none,
  path_shape: path_shape_t(),
  primary_rx_kind: rx_kind_t(),
  secondary_rx_kind: rx_kind_t(),
  datagrams: [EtherCAT.Bus.Datagram.t()] | nil
}

path_shape_t()

@type path_shape_t() ::
  :single
  | :full_redundancy
  | :primary_only
  | :secondary_only
  | :complementary_partials
  | :no_valid_return
  | :invalid

rx_kind_t()

@type rx_kind_t() :: :processed | :passthrough | :partial | :none | :invalid

Functions

interpret(sent_datagrams, primary_datagrams, secondary_datagrams)

@spec interpret(
  [EtherCAT.Bus.Datagram.t()],
  [EtherCAT.Bus.Datagram.t()] | nil,
  [EtherCAT.Bus.Datagram.t()] | nil
) :: interpretation_t()

merge_bounces(sent_datagrams, primary_bounced, secondary_bounced)

@spec merge_bounces([EtherCAT.Bus.Datagram.t()], [EtherCAT.Bus.Datagram.t()], [
  EtherCAT.Bus.Datagram.t()
]) :: [EtherCAT.Bus.Datagram.t()]

Merge two bounced replies from a broken ring.

When both ports receive their own frame back (bounce-back), each side only processed the slaves reachable from that port. This function merges the complementary data using byte-level logical merge for commands 10/11/12.