File name: CiA447_GW_HBlost_V100.esat
Full name: CiA 447 GW Test HB loss detection
  Version: V01.00 of 04-MAR-2015
  Test ID: 0x0001 (1d)
DUTnodeID: 1
Functions: Smart_ID CiA_447_ID 
Resources: 4 variables, 0 buffers, 1000us timer resolution
  Timeout: 30.000s
Descript.: Testing if heartbeat lost is reported after 750ms

State 0001h: (START) Start of test, start sequence
  ALWAYS
    ON  RECEIVE {0701h, 1,05h,00h,00h,00h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,00h,00h,00h,00h,00h,00h,00h}
      LOG: (PASS) "Gateway is operational Alloc Var1 = 0"
      VAR ACTION: ALLOC VAR[1] = 0
      GOTO State 0002h Prepare for test

State 0002h: Prepare for test
  ALWAYS
    LOG: (IDLE) "Alloc Var2 = 10"
    VAR ACTION: ALLOC VAR[2] = 10
    GOTO State 0101h

State 0101h:
  ALWAYS
    LOG: (IDLE) "Alloc Var4"
    VAR ACTION: ALLOC VAR[4] = 0
    GOTO State 0104h Init Var4

State 0104h: Init Var4
  ALWAYS
    LOG: (IDLE) "Start Tim3"
    VAR ACTION: ALLOC TIMER VAR[3] = 0
    GOTO State 0102h Init Var

State 0102h: Init Var
  ALWAYS
    ON TRANSMIT {070Eh,1,00h,00h,00h,00h,00h,00h,00h,00h}
      LOG: (IDLE) "Boot up node 14 Var1 = 0x7F"
      VAR ACTION: VAR[1] = 127
      GOTO State 0103h Node 14 HB

State 0103h: Node 14 HB
  IF (VAR[1] == 5) THEN
    ON TRANSMIT {070Eh,1,05h,00h,00h,00h,00h,00h,00h,00h} WITH REPEAT TIME_MS[200.000]
      LOG: (IDLE) "IF Var1 == 5 HB OP, Var2--"
      VAR ACTION: VAR[2] = VAR[2] - 1
  IF (VAR[1] == 127) THEN
    ON TRANSMIT {070Eh,1,7Fh,00h,00h,00h,00h,00h,00h,00h} WITH REPEAT TIME_MS[200.000]
      LOG: (IDLE) "IF Var1 == 7F HB PreOP, Var2--"
      VAR ACTION: VAR[2] = VAR[2] - 1
  ALWAYS
    ON  RECEIVE {0000h, 2,01h,0Eh,00h,00h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,FFh,00h,00h,00h,00h,00h,00h}
      LOG: (PASS) "NMT OP Var1 = 5"
      VAR ACTION: VAR[1] = 5
  ALWAYS
    ON  RECEIVE {024Dh, 8,40h,18h,10h,02h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,FFh,FFh,FFh,FFh,FFh,FFh,FFh}
      LOG: (IDLE) "SDOreq 1018,2"
      VAR ACTION: VAR[4] = 101802
      GOTO State 0109h SDOreq
  ALWAYS
    ON  RECEIVE {024Dh, 8,40h,18h,10h,04h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,FFh,FFh,FFh,FFh,FFh,FFh,FFh}
      LOG: (IDLE) "SDOreq 1018,4"
      VAR ACTION: VAR[4] = 101804
      GOTO State 0109h SDOreq
  ALWAYS
    ON  RECEIVE {024Dh, 8,40h,18h,10h,03h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,FFh,FFh,FFh,FFh,FFh,FFh,FFh}
      LOG: (IDLE) "SDOreq 1018,3"
      VAR ACTION: VAR[4] = 101803
      GOTO State 0109h SDOreq
  ALWAYS
    ON  RECEIVE {024Dh, 8,40h,00h,60h,03h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,FFh,FFh,FFh,FFh,FFh,FFh,FFh}
      LOG: (IDLE) "SDOreq 6000,3"
      VAR ACTION: VAR[4] = 600003
      GOTO State 0109h SDOreq
  ALWAYS
    ON  RECEIVE {024Dh, 8,40h,00h,60h,02h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,FFh,FFh,FFh,FFh,FFh,FFh,FFh}
      LOG: (IDLE) "SDOreq 6000,2"
      VAR ACTION: VAR[4] = 600002
      GOTO State 0109h SDOreq
  ALWAYS
    ON  RECEIVE {024Dh, 8,40h,00h,60h,01h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,FFh,FFh,FFh,FFh,FFh,FFh,FFh}
      LOG: (IDLE) "SDOreq 6000,1"
      VAR ACTION: VAR[4] = 600001
      GOTO State 0109h SDOreq
  ALWAYS
    ON  RECEIVE {024Dh, 8,40h,00h,60h,04h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,FFh,FFh,FFh,FFh,FFh,FFh,FFh}
      LOG: (IDLE) "SDOreq 6000,4"
      VAR ACTION: VAR[4] = 600004
      GOTO State 0109h SDOreq
  ALWAYS
    ON  RECEIVE {024Dh, 8,40h,00h,10h,00h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,FFh,FFh,FFh,FFh,FFh,FFh,FFh}
      LOG: (IDLE) "SDOreq 1000,0"
      VAR ACTION: VAR[4] = 100000
      GOTO State 0109h SDOreq
  ALWAYS
    ON  RECEIVE {024Dh, 8,40h,18h,10h,01h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,FFh,FFh,FFh,FFh,FFh,FFh,FFh}
      LOG: (IDLE) "SDOreq 1018,1"
      VAR ACTION: VAR[4] = 101801
      GOTO State 0109h SDOreq
  IF (VAR[3] >= 500000) THEN
    LOG: (IDLE) "IF Tim3 >= 500"
    VAR ACTION: NONE
    GOTO State 0105h OP check
  IF (VAR[2] == 0) THEN
    LOG: (PASS) "IF Var2 == 0  Stop HB Init Tim3"
    VAR ACTION: VAR[3] = 0
    GOTO State 0106h Stop HB

State 0109h: SDOreq
  IF (VAR[4] == 600002) THEN
    ON TRANSMIT {01CDh,8,43h,00h,60h,02h,00h,00h,00h,00h}
      LOG: (IDLE) "SDOresp 6000,2"
      VAR ACTION: NONE
      GOTO State 0103h Node 14 HB
  IF (VAR[4] == 600001) THEN
    ON TRANSMIT {01CDh,8,43h,00h,60h,01h,00h,00h,00h,00h}
      LOG: (IDLE) "SDOresp 6000,1"
      VAR ACTION: NONE
      GOTO State 0103h Node 14 HB
  IF (VAR[4] == 600004) THEN
    ON TRANSMIT {01CDh,8,43h,00h,60h,04h,00h,00h,00h,00h}
      LOG: (IDLE) "SDOresp 6000,4"
      VAR ACTION: NONE
      GOTO State 0103h Node 14 HB
  IF (VAR[4] == 600003) THEN
    ON TRANSMIT {01CDh,8,43h,00h,60h,03h,00h,00h,00h,00h}
      LOG: (IDLE) "SDOresp 6000,3"
      VAR ACTION: NONE
      GOTO State 0103h Node 14 HB
  IF (VAR[4] == 101804) THEN
    ON TRANSMIT {01CDh,8,43h,18h,10h,04h,78h,56h,34h,12h}
      LOG: (IDLE) "SDOresp 1018,4"
      VAR ACTION: NONE
      GOTO State 0103h Node 14 HB
  IF (VAR[4] == 101801) THEN
    ON TRANSMIT {01CDh,8,43h,18h,10h,01h,41h,53h,45h,01h}
      LOG: (IDLE) "SDOresp 1018,1"
      VAR ACTION: NONE
      GOTO State 0103h Node 14 HB
  IF (VAR[4] == 100000) THEN
    ON TRANSMIT {01CDh,8,43h,00h,10h,00h,BFh,01h,01h,00h}
      LOG: (IDLE) "SDOresp 1000,0"
      VAR ACTION: NONE
      GOTO State 0103h Node 14 HB
  IF (VAR[4] == 101803) THEN
    ON TRANSMIT {01CDh,8,43h,18h,10h,03h,01h,00h,01h,00h}
      LOG: (IDLE) "SDOresp 1018,3"
      VAR ACTION: NONE
      GOTO State 0103h Node 14 HB
  IF (VAR[4] == 101802) THEN
    ON TRANSMIT {01CDh,8,43h,18h,10h,02h,47h,04h,47h,04h}
      LOG: (IDLE) "SDOresp 1018,2"
      VAR ACTION: NONE
      GOTO State 0103h Node 14 HB

State 0105h: OP check
  IF (VAR[1] == 5) THEN
    LOG: (IDLE) "IF Var1 == 5 reset Tim3"
    VAR ACTION: VAR[3] = 0
    GOTO State 0103h Node 14 HB
  ALWAYS
    LOG: (FAIL) "IF Var1 == 7F Device not set OP"
    VAR ACTION: NONE
    GOTO State FFFFFFFEh (FAIL)

State 0106h: Stop HB
  IF (VAR[3] >= 700000) THEN
    LOG: (PASS) "IF Tim3 >= 700ms  Init Tim3"
    VAR ACTION: NONE
    GOTO State 0107h Wait EMCY/NMT

State 0107h: Wait EMCY/NMT
  ALWAYS
    ON  RECEIVE {0081h, 8,30h,81h,00h,00h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,FFh,00h,00h,00h,00h,00h,00h}
      LOG: (PASS) "Correct EMCY received"
      VAR ACTION: VAR[2] = 0
      GOTO State 0108h Wait NMT/EMCY
  ALWAYS
    ON  RECEIVE {0000h, 2,81h,0Eh,00h,00h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,FFh,00h,00h,00h,00h,00h,00h}
      LOG: (PASS) "NMT Reset received"
      VAR ACTION: VAR[2] = 1
      GOTO State 0108h Wait NMT/EMCY
  IF (VAR[3] >= 1000000) THEN
    LOG: (FAIL) "IF Tim3 >= 1s Missing GW action"
    VAR ACTION: FREE ALL
    GOTO State FFFFFFFEh (FAIL)

State 0108h: Wait NMT/EMCY
  IF (VAR[2] == 0) THEN
    ON  RECEIVE {0000h, 2,81h,0Eh,00h,00h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,FFh,00h,00h,00h,00h,00h,00h}
      LOG: (PASS) "NMT Reset received"
      VAR ACTION: NONE
      GOTO State 01FEh
  IF (VAR[2] == 1) THEN
    ON  RECEIVE {0081h, 8,30h,81h,00h,00h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,FFh,00h,00h,00h,00h,00h,00h}
      LOG: (PASS) "Correct EMCY received"
      VAR ACTION: NONE
      GOTO State 01FEh
  IF (VAR[3] >= 1000000) THEN
    LOG: (FAIL) "IF Tim3 >= 1s Missing GW action"
    VAR ACTION: NONE
    GOTO State FFFFFFFEh (FAIL)

State 01FEh:
  ALWAYS
    ON  RECEIVE {0701h, 1,05h,00h,00h,00h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,00h,00h,00h,00h,00h,00h,00h}
      LOG: (PASS) "Gateway is operational"
      VAR ACTION: FREE ALL
      GOTO State FFFFFFFDh (PASS)

State FFFFFFEFh: (ANY) Receives handled in EVERY state
  ALWAYS
    ON  RECEIVE {0701h, 1,00h,00h,00h,00h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,00h,00h,00h,00h,00h,00h,00h}
      LOG: (FAIL) "GW Bootup"
      VAR ACTION: FREE ALL
      GOTO State FFFFFFFEh (FAIL)
  ALWAYS
    ON  RECEIVE {0081h, 8,00h,00h,00h,00h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,FFh,00h,00h,00h,00h,00h,00h,00h}
      LOG: (FAIL) "GW EMCY > 100h"
      VAR ACTION: FREE ALL
      GOTO State FFFFFFFEh (FAIL)