File name: CiA447_GW_PDOtime_V100.esat
Full name: CiA 447 GW Test TPDO event timing
  Version: V01.00 of 04-MAR-2015
  Test ID: 0x000A (10d)
DUTnodeID: 1
Functions: Smart_ID CiA_447_ID 
Resources: 2 variables, 0 buffers, 1000us timer resolution
  Timeout: 60.000s
Descript.: Testing TPDO1 and TPDO2 timing to 5 percent accuracy

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 Var2"
      VAR ACTION: ALLOC VAR[2] = 0
      GOTO State 0101h

State 0101h:
  ALWAYS
    ON  RECEIVE {0180h, 1,00h,00h,00h,00h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,00h,00h,00h,00h,00h,00h,00h,00h}
      LOG: (PASS) "Receive first PDO,  Alloc Tim1"
      VAR ACTION: ALLOC TIMER VAR[1] = 0
      GOTO State 0102h Early PDO?

State 0102h: Early PDO?
  ALWAYS
    ON  RECEIVE {0180h, 1,00h,00h,00h,00h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,00h,00h,00h,00h,00h,00h,00h,00h}
      LOG: (FAIL) "Early PDO received"
      VAR ACTION: FREE ALL
      GOTO State FFFFFFFEh (FAIL)
  IF (VAR[1] >= 95000) THEN
    LOG: (PASS) "Tim1 >= 95ms,  Clear Tim1"
    VAR ACTION: VAR[1] = 0
    GOTO State 0103h PDO expected
  IF (VAR[2] >= 101) THEN
    LOG: (PASS) "Var2 reached 100 cycles,  Free Tim1"
    VAR ACTION: FREE VAR[1]
    GOTO State 01FEh

State 0103h: PDO expected
  ALWAYS
    ON  RECEIVE {0180h, 1,00h,00h,00h,00h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,00h,00h,00h,00h,00h,00h,00h,00h}
      LOG: (PASS) "Correct PDO,  Reset Tim1"
      VAR ACTION: VAR[1] = 0
      GOTO State 0104h Start next cycle
  IF (VAR[1] >= 10000) THEN
    LOG: (FAIL) "Tim1 >= 10ms"
    VAR ACTION: FREE ALL
    GOTO State FFFFFFFEh (FAIL)

State 0104h: Start next cycle
  ALWAYS
    LOG: (PASS) "Increment Var2"
    VAR ACTION: VAR[2] = VAR[2] + 1
    GOTO State 0102h Early PDO?

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,  Clear Var2"
      VAR ACTION: ALLOC VAR[2] = 0
      GOTO State 0201h

State 0201h:
  ALWAYS
    ON  RECEIVE {0181h, 7,00h,00h,00h,00h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,00h,00h,00h,00h,00h,00h,00h,00h}
      LOG: (PASS) "Receive first PDO,  Alloc Tim1"
      VAR ACTION: ALLOC TIMER VAR[1] = 0
      GOTO State 0202h Early PDO?

State 0202h: Early PDO?
  ALWAYS
    ON  RECEIVE {0181h, 7,00h,00h,00h,00h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,00h,00h,00h,00h,00h,00h,00h,00h}
      LOG: (FAIL) "Early PDO received"
      VAR ACTION: FREE ALL
      GOTO State FFFFFFFEh (FAIL)
  IF (VAR[1] >= 95000) THEN
    LOG: (PASS) "Tim1 >= 95ms,  Clear Tim1"
    VAR ACTION: VAR[1] = 0
    GOTO State 0203h PDO expected
  IF (VAR[2] >= 101) THEN
    LOG: (PASS) "Var2 reached 100 cycles,  Free Tim1"
    VAR ACTION: FREE VAR[1]
    GOTO State 02FEh

State 0203h: PDO expected
  ALWAYS
    ON  RECEIVE {0181h, 7,00h,00h,00h,00h,00h,00h,00h,00h}
      AND MATCH {0FFFh,Fh,00h,00h,00h,00h,00h,00h,00h,00h}
      LOG: (PASS) "Correct PDO,  Clear Tim1"
      VAR ACTION: VAR[1] = 0
      GOTO State 0204h Start next cycle
  IF (VAR[1] >= 10000) THEN
    LOG: (FAIL) "Tim1 >= 10ms"
    VAR ACTION: FREE ALL
    GOTO State FFFFFFFEh (FAIL)

State 0204h: Start next cycle
  ALWAYS
    LOG: (PASS) "Increment Var2"
    VAR ACTION: VAR[2] = VAR[2] + 1
    GOTO State 0202h Early PDO?

State 02FEh:
  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,  Free all"
      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)