ecnet::NetworkConfig

User-facing configuration for an EcNetwork. More...

#include <network_config.hpp>

Public Functions

	Name
NetworkConfig	defaults() Network defaults (DC-sync PI kp_div=3, ki_div=20).

Public Attributes

	Name
int	watchdog_low_wkc_cycles Number of consecutive cycles with a low work-counter (below expected) before the cycle-health watchdog trips and raises a BusFault.
ecmaster::Timeouts	timeouts Backend protocol timeouts / retries (microseconds).
ShutdownConfig	shutdown
RtConfig	rt
int	op_entry_cooldown_cycles Number of RT cycles to hold in the Cooldown phase after the master requests OPERATIONAL, before the executor starts processing normal motion commands.
std::function< void()>	on_session_expiry Optional developer-session expiry notification.
std::function< void(const BusFault &)>	on_bus_fault Optional bus-fault notification.
constexpr std::int32_t	kDcSyncBusyWaitAuto
std::vector< std::shared_ptr< ecdev::IProfileFactory > >	extra_profile_factories App-supplied device classes, considered ahead of the self-registered built-ins when classifying each ENI slave (see ecdev::ProfileRegistry::select).
EniConfig	eni
DebugConfig	debug
DcConfig	dc
BusConfig	bus

Detailed Description

struct ecnet::NetworkConfig;

User-facing configuration for an EcNetwork.

Bus timing, DC, RT scheduling, and shutdown policy live here; drive-specific PDO/FSM options live on CiA402Config / vendor configs.

Deployment RT overrides: scripts/rt/README.md.

Public Functions Documentation

function defaults

static NetworkConfig defaults()

Network defaults (DC-sync PI kp_div=3, ki_div=20).

The cyclic period is left unset (bus.cycle_ns == 0) and the sync mode is decided by the ENI in EcNetwork::loadAndValidateEni; the PI tuning here is inert when the ENI resolves to the SM event. There is no app-layer DC-vs-SM choice.

Host-side params are read here from the per-host LXMASTER_* environment (published by /etc/profile.d/lxmaster-config.sh; see scripts/rt/README.md), so the effective precedence is built-in default < ENV. The set covers the DC-sync PI knobs (kp_div, ki_div, dc_sync_busy_wait_ns, dc_lock_warmup_cycles, ec_sync_to_dc), the OP-entry DC gate (dc_diff_op_gate_max_ns / _stable_cycles / _timeout_cycles) and op_entry_cooldown_cycles, the RT scheduling identity (rt.cpu_affinity, rt.rt_priority, rt.enable_rt_scheduling), the EtherCAT interface name (LXMASTER_RT_IFACE -> bus.ifname), and the backend protocol timeouts/retries (LXMASTER_TIMEOUT_*/LXMASTER_RETRIES->timeouts.*). Missing vars warn once and keep the built-in default (RT_ENABLE and the timeout knobs are silent opt-outs).

Public Attributes Documentation

variable watchdog_low_wkc_cycles

int watchdog_low_wkc_cycles {100};

Number of consecutive cycles with a low work-counter (below expected) before the cycle-health watchdog trips and raises a BusFault.

Increase for buses that tolerate occasional WKC drops without a real cable fault; decrease for faster fault detection.

variable timeouts

ecmaster::Timeouts timeouts;

Backend protocol timeouts / retries (microseconds).

Defaults from the backend baseline; overridable via LXMASTER_TIMEOUT_* / LXMASTER_RETRIES. Pushed to the backend before init() (honored on a best-effort basis depending on the active backend).

variable shutdown

ShutdownConfig shutdown;

variable rt

RtConfig rt;

variable op_entry_cooldown_cycles

int op_entry_cooldown_cycles {8};

Number of RT cycles to hold in the Cooldown phase after the master requests OPERATIONAL, before the executor starts processing normal motion commands.

Gives drives time to settle their internal control loops after the OP transition.

variable on_session_expiry

std::function< void()> on_session_expiry;

Optional developer-session expiry notification.

Invoked once when the 12-hour floating-seat deadline is reached (only active on floating-seat / developer session types).

Delivery: called on a dedicated, non-RT, non-CPU-affinitised watcher thread that blocks on a condition_variable::wait_until (zero CPU during the run). The handler must NOT call [EcNetwork::stop()](/lxmaster/api/classes/EcNetwork#function-stop) directly (that would deadlock on the watcher thread's own join). Instead, set a flag that the main loop polls — for example:

cfg.on_session_expiry = []{ apps_common::interruptFlag().store(true,
                                std::memory_order_release); };

The main loop while (net.isRunning() && !interrupted()) then exits and calls net.stop(). Leave empty to opt out; the session deadline is still enforced (the watcher fires but the callback is skipped — the RT thread continues until the main loop exits by another means).

variable on_bus_fault

std::function< void(const BusFault &)> on_bus_fault;

Optional bus-fault notification.

Invoked exactly once when the cycle-health watchdog trips (a slave dropped out / cable unplugged / frames corrupted), carrying a structured [BusFault](/lxmaster/api/classes/BusFault) that pinpoints the break (upstream slave + ESC port) and lists the slaves that went silent.

Delivery: called on a detached helper thread (NOT the RT cyclic thread), so the handler may do non-RT work and may safely call [EcNetwork::stop()](/lxmaster/api/classes/EcNetwork#function-stop). Because it runs detached, anything the handler captures by reference must outlive the network. Leave empty to opt out; lxmaster still renders the fault in lastError() / reportDeviceStatus().

variable kDcSyncBusyWaitAuto

static constexpr std::int32_t kDcSyncBusyWaitAuto = ecnet::kDcSyncBusyWaitAuto;

variable extra_profile_factories

std::vector< std::shared_ptr< ecdev::IProfileFactory > > extra_profile_factories;

App-supplied device classes, considered ahead of the self-registered built-ins when classifying each ENI slave (see ecdev::ProfileRegistry::select).

Use this to bind a device identity for a single run without static registration – e.g. cfg.extra_profile_factories.push_back(ecdev::makeIdentityProfileFactory({vendor, product}, makeMyProfile, "my-device"));. shared_ptr keeps [NetworkConfig](/lxmaster/api/classes/NetworkConfig) copyable. The durable path for a new device is still a self-registering file (LXMASTER_REGISTER_DEVICE).

variable eni

EniConfig eni;

variable debug

DebugConfig debug;

variable dc

DcConfig dc;

variable bus

BusConfig bus;

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Updated on 2026-07-13 at 20:44:41 +0000