FUNCTION_BLOCK EtherCAT_Checker
VAR_INPUT
END_VAR
VAR_OUTPUT
	wSlaveStateRequest: WORD;
END_VAR
VAR
	ETC_Master				: DUT_EtherCAT_Master;
	ETC_Slaves				: DUT_EtherCAT_Slaves;
	DED_Bus					: DUT_EtherCAT_Bus;
	DED_Device				: DUT_EtherCAT_Device;

	_itfNode				: DED.INode;
	_itfDevice				: DED.IDevice;
	_itfBus					: DED.IBus;

	_iStep					: INT := 0;	
	 i						: INT := 0;
	 
	 pSlave					: POINTER TO ETCSlave;
	 _SlaveState			: ARRAY [0..10] OF ETC_SLAVE_STATE;
	 Device_Info	    	: ARRAY[0..10] OF DUT_EtherCAT_Device;
	 _GetBusScan			: DED.GetBusScan;
	 _GetDeviceError		: ARRAY[0..10] OF DED.GetDeviceError;
	 _OptionalsReady		: BOOL;
	 i_optional				:INT:= 0;
	 
END_VAR





EtherCAT_Master();

EtherCAT_Master.GetBusInfo(DED_Bus.BusInfo);

EtherCAT_Master.GetStatistics( 	udiSendFrameCount => ETC_Master.SendFrameCount, 
							   	udiFramesPerSecond => ETC_Master.FramesPerSecond, 
								udiLostFrameCount => ETC_Master.LostFrameCount, 
								udiTxErrorCount => ETC_Master.TxErrorCount, 
								udiRxErrorCount => ETC_Master.RxErrorCount);

DED_Bus.BusLoad					:= EtherCAT_Master.BusLoad;
ETC_Master.MasterState			:= EtherCAT_Master.MasterState;
ETC_Master.xConfigFinished		:= EtherCAT_Master.xConfigFinished	;
ETC_Master.xError				:= EtherCAT_Master.xError ;
ETC_Master.LastError			:= EtherCAT_Master.LastError;
ETC_Master.LastMessage 			:= EtherCAT_Master.LastMessage;
ETC_Master.xSyncInWindow		:= EtherCAT_Master.xSyncInWindow ;
ETC_Master.NumberActiveSlaves 	:= EtherCAT_Master.NumberActiveSlaves;
ETC_Master.NbrSlavesFirstPort	:= EtherCAT_Master.NbrSlavesFirstPort;
ETC_Master.NbrSlavesSecondPort	:= EtherCAT_Master.NbrSlavesSecondPort;
ETC_Master.ChildNodeCount 		:= EtherCAT_Master.ChildNodeCount;

DED_Device.uiUnknown		:= 0;
DED_Device.uiStopped		:= 0;
DED_Device.uiRunning		:= 0;
DED_Device.uiError			:= 0;
DED_Device.uiNotConfigured	:= 0;
DED_Device.uiNotFound		:= 0;
DED_Device.uiDisabled		:= 0;

DED_Bus.Disabled			:= 0;
DED_Bus.Error				:= 0;
DED_Bus.Running				:= 0;
DED_Bus.Stopped				:= 0;
DED_Bus.Unknown				:= 0;

_itfNode := DED.GetRoot();
i :=0;
REPEAT
	i:= i +1;
	_itfDevice	:= DED.INode_TO_IDevice(_itfNode);
	_itfBus		:= DED.INode_TO_IBus(_itfNode);
	
	Device_Info[i].Dispositivo	:= _itfDevice;
	Device_Info[i].Estado		:=_itfDevice.GetDeviceState();
	
	_GetBusScan			(itfNode := _itfNode, eError => DED_Bus.eError, itfFirstDevice => DED_Bus.itfFirstDevice);
	_GetDeviceError[i]	(itfNode := _itfNode, xError => Device_Info[i].Error, einDeviceError => Device_Info[i].Error_Info);

	IF _itfDevice <> 0 THEN	
		CASE _itfDevice.GetDeviceState() OF
		DED.DEVICE_STATE.UNKNOWN:
			DED_Device.uiUnknown := DED_Device.uiUnknown + 1;
		DED.DEVICE_STATE.STOPPED:
			DED_Device.uiStopped := DED_Device.uiStopped + 1;
		DED.DEVICE_STATE.RUNNING:
			DED_Device.uiRunning := DED_Device.uiRunning + 1;
		DED.DEVICE_STATE.ERROR:
			DED_Device.uiError := DED_Device.uiError + 1;
		DED.DEVICE_STATE.NOT_CONFIGURED:
			DED_Device.uiNotConfigured := DED_Device.uiNotConfigured + 1;
		DED.DEVICE_STATE.NOT_FOUND:
			DED_Device.uiNotFound := DED_Device.uiNotFound + 1;
		DED.DEVICE_STATE.DISABLED:
			DED_Device.uiDisabled := DED_Device.uiDisabled + 1;
		END_CASE		
	ELSIF _itfBus <> 0 THEN	
		CASE _itfBus.GetBusState() OF
		DED.BUS_STATE.DISABLED:
			DED_Bus.Disabled := DED_Bus.Disabled + 1;
		DED.BUS_STATE.ERROR:
			DED_Bus.Error := DED_Bus.Error + 1;
		DED.BUS_STATE.RUNNING:
			DED_Bus.Running := DED_Bus.Running + 1;
		DED.BUS_STATE.STOPPED:
			DED_Bus.Stopped := DED_Bus.Stopped + 1;
		DED.BUS_STATE.UNKNOWN:
			DED_Bus.Unknown := DED_Bus.Unknown + 1;
		END_CASE
	END_IF	
	_itfNode := DED.GetNextNode(_itfNode);
UNTIL
	_itfNode = 0
END_REPEAT

IF ETC_Master.MasterState <> ETC_MASTER_STATE.ETC_MASTER_OPERATIONAL THEN
	
	CASE _iStep OF
	0: 	EtherCAT_Master.xRestart := FALSE;
		_iStep := 1;
		
	1:  EtherCAT_Master.xRestart := TRUE;
		_iStep := 2;
		
	2:  IF EtherCAT_Master.xConfigFinished THEN
			_iStep := 3;
		END_IF;

	3: 	IF 	NOT EtherCAT_Master.Start THEN 
			EtherCAT_Master.Start:= TRUE;
		END_IF;
		ETC_Master.xError:= EtherCAT_Master.xError;
		_iStep := 0;
	END_CASE
	
END_IF;

ETC_Slaves.uiBoot 			:= 0;
ETC_Slaves.uiInit 			:= 0;
ETC_Slaves.uiPreoperational := 0;
ETC_Slaves.uiSaveOperational := 0;
ETC_Slaves.uiOperational 	:= 0;

IF ETC_Master.MasterState = ETC_MASTER_STATE.ETC_MASTER_OPERATIONAL THEN
	
	pSlave := EtherCAT_Master.FirstSlave;
	i:= 0;
	
	WHILE pSlave <> 0 DO
		
		i:= i + 1;
		pSlave^();
		_SlaveState[i]:= pSlave^.wState;
		
		CASE pSlave^.wState OF
		ETC_SLAVE_STATE.ETC_SLAVE_BOOT:
			ETC_Slaves.uiBoot := ETC_Slaves.uiBoot + 1;
		ETC_SLAVE_STATE.ETC_SLAVE_INIT:
			ETC_Slaves.uiInit := ETC_Slaves.uiInit + 1;	
		ETC_SLAVE_STATE.ETC_SLAVE_PREOPERATIONAL:
			ETC_Slaves.uiPreoperational := ETC_Slaves.uiPreoperational + 1;
		ETC_SLAVE_STATE.ETC_SLAVE_SAVEOPERATIONAL:
			ETC_Slaves.uiSaveOperational := ETC_Slaves.uiSaveOperational + 1;
		ETC_SLAVE_STATE.ETC_SLAVE_OPERATIONAL:
			ETC_Slaves.uiOperational := ETC_Slaves.uiOperational + 1;			
		END_CASE

		IF pSlave^.wState = 0 THEN
			pSlave^.SlaveEnable := TRUE;
		ELSIF pSlave^.wState <> ETC_SLAVE_STATE.ETC_SLAVE_OPERATIONAL THEN
			pSlave^.xSetOperational := TRUE;
		END_IF
		
		pSlave := pSlave^.NextInstance;
	END_WHILE
	
END_IF;