Initial Commit

1 files changed, 1038 insertions, 0 deletions

diff --git a/ucs2-lib/src/ucs_nodedis.c b/ucs2-lib/src/ucs_nodedis.c
new file mode 100644
index 0000000..b9f2f5a
--- /dev/null
+++ b/ucs2-lib/src/ucs_nodedis.c
@@ -0,0 +1,1038 @@
+/*------------------------------------------------------------------------------------------------*/
+/* UNICENS V2.1.0-3491                                                                            */
+/* Copyright (c) 2017 Microchip Technology Germany II GmbH & Co. KG.                              */
+/*                                                                                                */
+/* This program is free software: you can redistribute it and/or modify                           */
+/* it under the terms of the GNU General Public License as published by                           */
+/* the Free Software Foundation, either version 2 of the License, or                              */
+/* (at your option) any later version.                                                            */
+/*                                                                                                */
+/* This program is distributed in the hope that it will be useful,                                */
+/* but WITHOUT ANY WARRANTY; without even the implied warranty of                                 */
+/* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the                                  */
+/* GNU General Public License for more details.                                                   */
+/*                                                                                                */
+/* You should have received a copy of the GNU General Public License                              */
+/* along with this program.  If not, see <http://www.gnu.org/licenses/>.                          */
+/*                                                                                                */
+/* You may also obtain this software under a propriety license from Microchip.                    */
+/* Please contact Microchip for further information.                                              */
+/*------------------------------------------------------------------------------------------------*/
+
+/*!
+ * \file
+ * \brief Implementation of the Node Discovery.
+ *
+ * \cond UCS_INTERNAL_DOC
+ * \addtogroup G_NODE_DIS
+ * @{
+
+ */
+
+/*------------------------------------------------------------------------------------------------*/
+/* Includes                                                                                       */
+/*------------------------------------------------------------------------------------------------*/
+#include "ucs_inic_pb.h"
+#include "ucs_nodedis.h"
+#include "ucs_misc.h"
+
+
+
+/*------------------------------------------------------------------------------------------------*/
+/* Internal constants                                                                             */
+/*------------------------------------------------------------------------------------------------*/
+#define ND_NUM_STATES             5U    /*!< \brief Number of state machine states */
+#define ND_NUM_EVENTS            14U    /*!< \brief Number of state machine events */
+
+#define ND_TIMEOUT_PERIODIC     5000U   /*!< \brief 5s timeout */
+#define ND_TIMEOUT_COMMAND       300U   /*!< \brief supervise EXC commands */
+
+#define ND_SIGNATURE_VERSION       1U   /*!< \brief signature version used for Node Discovery */
+
+/*------------------------------------------------------------------------------------------------*/
+/* Service parameters                                                                             */
+/*------------------------------------------------------------------------------------------------*/
+/*! Priority of the Node Discovery service used by scheduler */
+static const uint8_t ND_SRV_PRIO = 248U;   /* parasoft-suppress  MISRA2004-8_7 "Value shall be part of the module, not part of a function." */
+/*! Main event for the Node Discovery service */
+static const Srv_Event_t ND_EVENT_SERVICE = 1U;
+
+
+/*------------------------------------------------------------------------------------------------*/
+/* Internal enumerators                                                                           */
+/*------------------------------------------------------------------------------------------------*/
+/*! \brief Possible events of the Node Discovery state machine */
+typedef enum Nd_Events_
+{
+    ND_E_NIL                = 0U,      /*!< \brief NIL Event */
+    ND_E_START              = 1U,      /*!< \brief API start command was called. */
+    ND_E_STOP               = 2U,      /*!< \brief Stop request occurred. */
+    ND_E_CHECK              = 3U,      /*!< \brief Check conditions in CHECK_HELLO state. */ 
+    ND_E_NET_OFF            = 4U,      /*!< \brief NetOff occurred. */
+    ND_E_HELLO_STATUS       = 5U,      /*!< \brief Hello.Status message available to be processed. */
+    ND_E_RES_NODE_OK        = 6U,      /*!< \brief Evaluation result of node: ok. */
+    ND_E_RES_UNKNOWN        = 7U,      /*!< \brief Evaluation result of node: unknown node. */
+    ND_E_RES_CHECK_UNIQUE   = 8U,      /*!< \brief Evaluation result of node: check if node is unique. */
+    ND_E_WELCOME_SUCCESS    = 9U,      /*!< \brief Welcome command was successful. */
+    ND_E_WELCOME_NOSUCCESS  = 10U,     /*!< \brief Welcome command was not successful. */
+    ND_E_SIGNATURE_SUCCESS  = 11U,     /*!< \brief Signature command was successful. */
+    ND_E_TIMEOUT            = 12U,     /*!< \brief Timeout occurred. */
+    ND_E_ERROR              = 13U      /*!< \brief An unexpected error occurred. */ 
+
+} Nd_Events_t;
+
+
+/*! \brief States of the Node Discovery state machine */
+typedef enum Nd_State_
+{
+    ND_S_IDLE            =  0U,     /*!< \brief Idle state */
+    ND_S_CHECK_HELLO     =  1U,     /*!< \brief Node Discovery started */
+    ND_S_WAIT_EVAL       =  2U,     /*!< \brief Evaluate next Hello.Status message */
+    ND_S_WAIT_WELCOME    =  3U,     /*!< \brief Wait for Welcome.Status */
+    ND_S_WAIT_PING       =  4U      /*!< \brief Wait for Signature.Status */
+} Nd_State_t;
+
+
+
+
+/*------------------------------------------------------------------------------------------------*/
+/* Internal prototypes                                                                            */
+/*------------------------------------------------------------------------------------------------*/
+static void Nd_Service(void *self);
+
+static void Nd_HelloStatusCb(void *self, void *result_ptr);
+static void Nd_WelcomeResultCb(void *self, void *result_ptr);
+static void Nd_SignatureStatusCb(void *self, void *result_ptr);
+static void Nd_InitCb(void *self, void *result_ptr);
+static void Nd_TimerCb(void *self);
+static void Nd_OnTerminateEventCb(void *self, void *result_ptr);
+static void Nd_NetworkStatusCb(void *self, void *result_ptr);
+
+static void Nd_Reset_Lists(void *self);
+
+static void Nd_A_Start(void *self);
+static void Nd_A_Stop(void *self);
+static void Nd_A_CheckConditions(void *self);
+static void Nd_A_Eval_Hello(void *self);
+static void Nd_A_Welcome(void *self);
+static void Nd_A_Unknown(void *self);
+static void Nd_A_CheckUnique(void *self);
+static void Nd_A_WelcomeSuccess(void *self);
+static void Nd_A_WelcomeNoSuccess(void *self);
+static void Nd_A_WelcomeTimeout(void *self);
+static void Nd_A_Timeout_Hello(void *self);
+static void Nd_A_NetOff(void *self);
+static void Nd_A_Signature_Timeout(void *self);
+static void Nd_A_Signature_Success(void *self);
+static void Nd_A_Error(void *self);
+
+static void Nd_Send_Hello_Get(void *self);
+static void Nd_Start_Periodic_Timer(void *self);
+static void Nd_Send_Welcome_SR(void *self, Ucs_Signature_t *signature);
+static void Nd_Send_Signature_Get(void *self, uint16_t target_address);
+
+
+/*------------------------------------------------------------------------------------------------*/
+/* State transition table (used by finite state machine)                                          */
+/*------------------------------------------------------------------------------------------------*/
+/*! \brief State transition table */
+static const Fsm_StateElem_t nd_trans_tab[ND_NUM_STATES][ND_NUM_EVENTS] =    /* parasoft-suppress  MISRA2004-8_7 "Value shall be part of the module, not part of a function." */
+{
+    { /* State ND_S_IDLE */
+        /* ND_E_NIL                */ {NULL,                          ND_S_IDLE            },
+        /* ND_E_START              */ {&Nd_A_Start,                   ND_S_CHECK_HELLO     },
+        /* ND_E_STOP               */ {NULL,                          ND_S_IDLE            },
+        /* ND_E_CHECK              */ {NULL,                          ND_S_IDLE            },
+        /* ND_E_NET_OFF            */ {NULL,                          ND_S_IDLE            },
+        /* ND_E_HELLO_STATUS       */ {NULL,                          ND_S_IDLE            },
+        /* ND_E_RES_NODE_OK        */ {NULL,                          ND_S_IDLE            },
+        /* ND_E_RES_UNKNOWN        */ {NULL,                          ND_S_IDLE            },
+        /* ND_E_RES_CHECK_UNIQUE   */ {NULL,                          ND_S_IDLE            },
+        /* ND_E_WELCOME_SUCCESS    */ {NULL,                          ND_S_IDLE            },
+        /* ND_E_WELCOME_NOSUCCESS  */ {NULL,                          ND_S_IDLE            },
+        /* ND_E_SIGNATURE_SUCCESS  */ {NULL,                          ND_S_IDLE            },
+        /* ND_E_TIMEOUT            */ {NULL,                          ND_S_IDLE            },
+        /* ND_E_ERROR              */ {NULL,                          ND_S_IDLE            }
+
+    },
+    { /* State ND_S_CHECK_HELLO */
+        /* ND_E_NIL                */ {NULL,                          ND_S_CHECK_HELLO     },
+        /* ND_E_START              */ {NULL,                          ND_S_CHECK_HELLO     },
+        /* ND_E_STOP               */ {&Nd_A_Stop,                    ND_S_IDLE            },
+        /* ND_E_CHECK              */ {&Nd_A_CheckConditions,         ND_S_CHECK_HELLO     },
+        /* ND_E_NET_OFF            */ {&Nd_A_NetOff,                  ND_S_CHECK_HELLO     },
+        /* ND_E_HELLO_STATUS       */ {&Nd_A_Eval_Hello,              ND_S_WAIT_EVAL       },
+        /* ND_E_RES_NODE_OK        */ {NULL,                          ND_S_CHECK_HELLO     },
+        /* ND_E_RES_UNKNOWN        */ {NULL,                          ND_S_CHECK_HELLO     },
+        /* ND_E_RES_CHECK_UNIQUE   */ {NULL,                          ND_S_CHECK_HELLO     },
+        /* ND_E_WELCOME_SUCCESS    */ {NULL,                          ND_S_CHECK_HELLO     },
+        /* ND_E_WELCOME_NOSUCCESS  */ {NULL,                          ND_S_CHECK_HELLO     },
+        /* ND_E_SIGNATURE_SUCCESS  */ {NULL,                          ND_S_CHECK_HELLO     },
+        /* ND_E_TIMEOUT            */ {&Nd_A_Timeout_Hello,           ND_S_CHECK_HELLO     },
+        /* ND_E_ERROR              */ {&Nd_A_Error,                   ND_S_IDLE            }
+    },
+    { /* State ND_S_WAIT_EVAL */
+        /* ND_E_NIL                */ {NULL,                          ND_S_WAIT_EVAL       },
+        /* ND_E_START              */ {NULL,                          ND_S_WAIT_EVAL       },
+        /* ND_E_STOP               */ {NULL,                          ND_S_WAIT_EVAL       },
+        /* ND_E_CHECK              */ {NULL,                          ND_S_WAIT_EVAL       },
+        /* ND_E_NET_OFF            */ {&Nd_A_NetOff,                  ND_S_CHECK_HELLO     },
+        /* ND_E_HELLO_STATUS       */ {NULL,                          ND_S_WAIT_EVAL       },
+        /* ND_E_RES_NODE_OK        */ {&Nd_A_Welcome,                 ND_S_WAIT_WELCOME    },
+        /* ND_E_RES_UNKNOWN        */ {&Nd_A_Unknown,                 ND_S_CHECK_HELLO     },
+        /* ND_E_RES_CHECK_UNIQUE   */ {&Nd_A_CheckUnique,             ND_S_WAIT_PING       },
+        /* ND_E_WELCOME_SUCCESS    */ {NULL,                          ND_S_WAIT_EVAL       },
+        /* ND_E_WELCOME_NOSUCCESS  */ {NULL,                          ND_S_WAIT_EVAL       },
+        /* ND_E_SIGNATURE_SUCCESS  */ {NULL,                          ND_S_WAIT_EVAL       },
+        /* ND_E_TIMEOUT            */ {NULL,                          ND_S_WAIT_EVAL       },
+        /* ND_E_ERROR              */ {&Nd_A_Error,                   ND_S_IDLE            }
+    },                             
+
+    {/* ND_S_WAIT_WELCOME */       
+        /* ND_E_NIL                */ {NULL,                          ND_S_WAIT_WELCOME    },
+        /* ND_E_START              */ {NULL,                          ND_S_WAIT_WELCOME    },
+        /* ND_E_STOP               */ {NULL,                          ND_S_WAIT_WELCOME    },
+        /* ND_E_CHECK              */ {NULL,                          ND_S_WAIT_WELCOME    },
+        /* ND_E_NET_OFF            */ {&Nd_A_NetOff,                  ND_S_CHECK_HELLO     },
+        /* ND_E_HELLO_STATUS       */ {NULL,                          ND_S_WAIT_WELCOME    },
+        /* ND_E_RES_NODE_OK        */ {NULL,                          ND_S_WAIT_WELCOME    },
+        /* ND_E_RES_UNKNOWN        */ {NULL,                          ND_S_WAIT_WELCOME    },
+        /* ND_E_RES_CHECK_UNIQUE   */ {NULL,                          ND_S_WAIT_WELCOME    },
+        /* ND_E_WELCOME_SUCCESS    */ {&Nd_A_WelcomeSuccess,          ND_S_CHECK_HELLO     },
+        /* ND_E_WELCOME_NOSUCCESS  */ {&Nd_A_WelcomeNoSuccess,        ND_S_CHECK_HELLO     },
+        /* ND_E_SIGNATURE_SUCCESS  */ {NULL,                          ND_S_WAIT_WELCOME    },
+        /* ND_E_TIMEOUT            */ {&Nd_A_WelcomeTimeout,          ND_S_CHECK_HELLO    },
+        /* ND_E_ERROR              */ {&Nd_A_Error,                   ND_S_IDLE            }
+    },                             
+    {/* ND_S_WAIT_PING */          
+        /* ND_E_NIL                */ {NULL,                          ND_S_WAIT_PING       },
+        /* ND_E_START              */ {NULL,                          ND_S_WAIT_PING       },
+        /* ND_E_STOP               */ {NULL,                          ND_S_WAIT_PING       },
+        /* ND_E_CHECK              */ {NULL,                          ND_S_WAIT_PING       },
+        /* ND_E_NET_OFF            */ {&Nd_A_NetOff,                  ND_S_CHECK_HELLO     },
+        /* ND_E_HELLO_STATUS       */ {NULL,                          ND_S_WAIT_PING       },
+        /* ND_E_RES_NODE_OK        */ {NULL,                          ND_S_WAIT_PING       },
+        /* ND_E_RES_UNKNOWN        */ {NULL,                          ND_S_WAIT_PING       },
+        /* ND_E_RES_CHECK_UNIQUE   */ {NULL,                          ND_S_WAIT_PING       },
+        /* ND_E_WELCOME_SUCCESS    */ {NULL,                          ND_S_WAIT_PING       },
+        /* ND_E_WELCOME_NOSUCCESS  */ {NULL,                          ND_S_WAIT_PING       },
+        /* ND_E_SIGNATURE_SUCCESS  */ {&Nd_A_Signature_Success,       ND_S_CHECK_HELLO     },
+        /* ND_E_TIMEOUT            */ {&Nd_A_Signature_Timeout,       ND_S_WAIT_WELCOME    },
+        /* ND_E_ERROR              */ {&Nd_A_Error,                   ND_S_IDLE            }
+    }
+};
+
+
+
+
+/*------------------------------------------------------------------------------------------------*/
+/* Implementation                                                                                 */
+/*------------------------------------------------------------------------------------------------*/
+
+/*! \brief Constructor of class CNodeDiscovery.
+ *  \param self         Reference to CNodeDiscovery instance
+ *  \param inic         Reference to CInic instance
+ *  \param base         Reference to CBase instance
+ *  \param exc          Reference to CExc instance
+ *  \param init_ptr    Report callback function
+ */
+void Nd_Ctor(CNodeDiscovery *self, CInic *inic, CBase *base, CExc *exc, Nd_InitData_t *init_ptr)
+{
+    MISC_MEM_SET((void *)self, 0, sizeof(*self));
+
+    self->inic       = inic;
+    self->exc        = exc;
+    self->base       = base;
+    self->cb_inst_ptr = init_ptr->inst_ptr;
+    self->report_fptr = init_ptr->report_fptr;
+    self->eval_fptr   = init_ptr->eval_fptr;
+
+    Fsm_Ctor(&self->fsm, self, &(nd_trans_tab[0][0]), ND_NUM_EVENTS, ND_E_NIL);
+
+    Nd_Reset_Lists(self);
+
+    Sobs_Ctor(&self->nd_hello,          self, &Nd_HelloStatusCb);
+    Sobs_Ctor(&self->nd_welcome,        self, &Nd_WelcomeResultCb);
+    Sobs_Ctor(&self->nd_signature,      self, &Nd_SignatureStatusCb);
+    Sobs_Ctor(&self->nd_init,           self, &Nd_InitCb);
+
+    /* register termination events */
+    Mobs_Ctor(&self->nd_terminate, self, EH_M_TERMINATION_EVENTS, &Nd_OnTerminateEventCb);
+    Eh_AddObsrvInternalEvent(&self->base->eh, &self->nd_terminate);
+
+    /* Register NetOn and MPR events */
+    Obs_Ctor(&self->nd_nwstatus, self, &Nd_NetworkStatusCb);
+    Inic_AddObsrvNwStatus(self->inic,  &self->nd_nwstatus);
+    self->neton = false;
+
+    /* Initialize Node Discovery service */
+    Srv_Ctor(&self->service, ND_SRV_PRIO, self, &Nd_Service);
+    /* Add Node Discovery service to scheduler */
+    (void)Scd_AddService(&self->base->scd, &self->service);
+
+}
+
+
+/*! \brief Service function of the Node Discovery service.
+ *  \param self    Reference to Node Discovery object
+ */
+static void Nd_Service(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+    Srv_Event_t event_mask;
+    Srv_GetEvent(&self_->service, &event_mask);
+    if(ND_EVENT_SERVICE == (event_mask & ND_EVENT_SERVICE))   /* Is event pending? */
+    {
+        Fsm_State_t result;
+        Srv_ClearEvent(&self_->service, ND_EVENT_SERVICE);
+        TR_INFO((self_->base->ucs_user_ptr, "[ND]", "FSM __ %d %d", 2U, self_->fsm.current_state, self_->fsm.event_occured));
+        result = Fsm_Service(&self_->fsm);
+        TR_ASSERT(self_->base->ucs_user_ptr, "[ND]", (result != FSM_STATE_ERROR));
+        TR_INFO((self_->base->ucs_user_ptr, "[ND]", "FSM -> %d", 1U, self_->fsm.current_state));
+        MISC_UNUSED(result);
+    }
+}
+
+
+
+/**************************************************************************************************/
+/* API functions                                                                                  */
+/**************************************************************************************************/
+/*! \brief Start the Node Discovery
+ *
+ * \param  *self    Reference to Node Discovery object
+ * \return UCS_RET_SUCCESS              Operation successful
+ * \return UCS_RET_ERR_API_LOCKED       Node Discovery was already started
+ */
+Ucs_Return_t Nd_Start(CNodeDiscovery *self)
+{
+    Ucs_Return_t ret_val = UCS_RET_SUCCESS;
+
+
+    if (self->running == false)
+    {
+        Fsm_SetEvent(&self->fsm, ND_E_START);
+        Srv_SetEvent(&self->service, ND_EVENT_SERVICE);
+        self->running = true;
+        TR_INFO((self->base->ucs_user_ptr, "[ND]", "Nd_Start", 0U));
+    }
+    else
+    {
+        ret_val = UCS_RET_ERR_API_LOCKED;
+        TR_INFO((self->base->ucs_user_ptr, "[ND]", "Nd_Start failed", 0U));
+    }
+
+    return ret_val;
+
+
+
+
+}
+
+/*! \brief Stops the Node Discovery
+ *
+ * \param *self Reference to Node Discovery object
+ * \return UCS_RET_SUCCESS              Operation successful
+ * \return UCS_RET_ERR_NOT_AVAILABLE    Node Discovery not running
+ */
+Ucs_Return_t Nd_Stop(CNodeDiscovery *self)
+{
+    Ucs_Return_t ret_val = UCS_RET_SUCCESS;
+
+    if (self->running == true)       /* check if Node Discovery was started */
+    {
+        self->stop_request = true;
+        Fsm_SetEvent(&self->fsm, ND_E_CHECK);
+        Srv_SetEvent(&self->service, ND_EVENT_SERVICE);
+
+        TR_INFO((self->base->ucs_user_ptr, "[ND]", "Nd_Stop", 0U));
+    }
+    else
+    {
+        ret_val = UCS_RET_ERR_NOT_AVAILABLE;
+        TR_INFO((self->base->ucs_user_ptr, "[ND]", "Nd_Stop failed", 0U));
+    }
+
+    return ret_val;
+}
+
+
+/*! \brief Sends the Init command to all nodes 
+ *
+ * \param *self Reference to Node Discovery object
+ */
+void Nd_InitAll(CNodeDiscovery *self)
+{
+    Ucs_Return_t result;
+
+    result = Exc_DeviceInit_Start(self->exc, UCS_ADDR_BROADCAST_BLOCKING, NULL);
+    if (result == UCS_RET_SUCCESS)
+    {
+        TR_INFO((self->base->ucs_user_ptr, "[ND]", "Nd_InitAll", 0U));
+    }
+    else
+    {
+        TR_INFO((self->base->ucs_user_ptr, "[ND]", "Nd_InitAll failed", 0U));
+    }
+
+}
+
+
+
+
+/**************************************************************************************************/
+/*  FSM Actions                                                                                   */
+/**************************************************************************************************/
+/*! \brief Action on start event
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_A_Start(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+
+    /* empty new_list*/
+    Nd_Reset_Lists(self_);
+
+    Nd_Send_Hello_Get(self_);
+
+    Nd_Start_Periodic_Timer(self_);
+
+    self_->stop_request  = false;
+    self_->hello_mpr_request   = false;
+    self_->hello_neton_request = false;
+}
+
+/*! \brief Action on stop event
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_A_Stop(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+    Ucs_Signature_t *dummy = NULL;
+
+    if (self_->report_fptr != NULL)
+    {
+        self_->report_fptr(self_->cb_inst_ptr, UCS_ND_RES_STOPPED, dummy);
+    }
+    self_->running = false;
+}
+
+/*! \brief Check conditions 
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_A_CheckConditions(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+
+    if (self_->stop_request == true)
+    {
+        Fsm_SetEvent(&self_->fsm, ND_E_STOP);
+        Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
+    }
+    else if (self_->hello_mpr_request == true)
+    {
+        Nd_Reset_Lists(self_);
+        Nd_Send_Hello_Get(self_);
+        Nd_Start_Periodic_Timer(self_);
+        self_->hello_mpr_request   = false;
+        self_->hello_neton_request = false;
+    }
+    else if (self_->hello_neton_request == true)
+    {
+        Nd_Send_Hello_Get(self_);
+        Nd_Start_Periodic_Timer(self_);
+        self_->hello_neton_request = false;
+    }
+    else if (Dl_GetSize(&(self_->new_list)) > 0U)
+    {
+        Fsm_SetEvent(&self_->fsm, ND_E_HELLO_STATUS);
+        Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
+    }
+    else
+    {
+        Nd_Start_Periodic_Timer(self_);
+    }
+
+}
+
+
+/*! \brief Evaluate the signature of the next node
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_A_Eval_Hello(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+    CDlNode *node;
+    Ucs_Nd_CheckResult_t result;
+    bool service_flag = false;
+    Ucs_Signature_t temp_sig;
+
+    if (Dl_GetSize(&(self_->new_list)) > 0U)
+    {
+        node = Dl_PopHead(&(self_->new_list));
+        self_->current_sig = *((Ucs_Signature_t *)(node->data_ptr));
+
+        if (self_->eval_fptr != NULL)
+        {
+            temp_sig = self_->current_sig;             /* provide only a copy to the application */
+            result = self_->eval_fptr(self_->cb_inst_ptr, &temp_sig);
+
+            switch (result)
+            {
+            case UCS_ND_CHK_UNKNOWN:
+                Fsm_SetEvent(&self_->fsm, ND_E_RES_UNKNOWN);
+                service_flag = true;
+                break;
+
+            case UCS_ND_CHK_WELCOME:
+                Fsm_SetEvent(&self_->fsm, ND_E_RES_NODE_OK);
+                service_flag = true;
+                break;
+
+            case UCS_ND_CHK_UNIQUE:
+                Fsm_SetEvent(&self_->fsm, ND_E_RES_CHECK_UNIQUE);
+                service_flag = true;
+                break;
+
+            default: 
+                Fsm_SetEvent(&self_->fsm, ND_E_ERROR);
+                service_flag = true;
+                break;
+            }
+        }
+    }
+
+    if (service_flag == true)
+    {
+        Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
+    }
+}
+
+
+/*! \brief Sends a Welcome message to the current node
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_A_Welcome(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+
+    Nd_Send_Welcome_SR(self, &self_->current_sig);
+}
+
+
+/*! \brief Report the current node as unknown
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_A_Unknown(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+    Ucs_Signature_t temp_sig;
+
+    if (self_->report_fptr != NULL)
+    {
+        temp_sig = self_->current_sig;                 /* provide only a copy to the application */
+        self_->report_fptr(self_->cb_inst_ptr, UCS_ND_RES_UNKNOWN, &temp_sig);
+    }
+
+    Fsm_SetEvent(&self_->fsm, ND_E_CHECK);
+    Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
+}
+
+/*! \brief Check if the current node has already got a Welcome message
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_A_CheckUnique(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+
+    Nd_Send_Signature_Get(self, self_->current_sig.node_address);
+
+}
+
+
+/*! \brief Report a successful Welcome.Result
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_A_WelcomeSuccess(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+    Ucs_Signature_t temp_sig;
+
+    if (self_->report_fptr != NULL)
+    {
+        temp_sig = self_->current_sig;                 /* provide only a copy to the application */
+        self_->report_fptr(self_->cb_inst_ptr, UCS_ND_RES_WELCOME_SUCCESS, &temp_sig);
+    }
+
+    /* initiate a Hello.Get if the current node is the local INIC */
+    if (self_->current_sig.node_pos_addr == 0x0400U)
+    {
+        Nd_Send_Hello_Get(self_);
+        Nd_Start_Periodic_Timer(self_);
+    }
+
+    Fsm_SetEvent(&self_->fsm, ND_E_CHECK);
+    Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
+}
+
+
+/*! \brief Report an unsuccessful Welcome.Result
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_A_WelcomeNoSuccess(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+
+    /* same reaction as for MPR event */
+    self_->hello_mpr_request = true;
+
+    Fsm_SetEvent(&self_->fsm, ND_E_CHECK);
+    Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
+}
+
+
+/*! \brief Reaction on a timeout for the Welcome messsage
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_A_WelcomeTimeout(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+
+    /* same reaction as for MPR event */
+    self_->hello_mpr_request = true;
+
+    Fsm_SetEvent(&self_->fsm, ND_E_CHECK);
+    Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
+}
+
+
+/*! \brief The periodic timer elapsed
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_A_Timeout_Hello(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+
+    Nd_Send_Hello_Get(self_);
+    Nd_Start_Periodic_Timer(self_);
+}
+
+
+/*! \brief  Reaction on a NetOff event
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_A_NetOff(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+    Ucs_Signature_t *dummy = NULL;
+
+    if (self_->report_fptr != NULL)
+    {
+        self_->report_fptr(self_->cb_inst_ptr, UCS_ND_RES_NETOFF, dummy);
+    }
+
+    Nd_Reset_Lists(self_);
+
+}
+
+
+/*! \brief Reaction on a timeout of the Signature command
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_A_Signature_Timeout(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+
+    Nd_Send_Welcome_SR(self, &self_->current_sig);
+}
+
+
+/*! \brief Reaction on a successful Signature answer
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_A_Signature_Success(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+    Ucs_Signature_t temp_sig;
+
+    if (self_->report_fptr != NULL)
+    {
+        temp_sig = self_->current_sig;                 /* provide only a copy to the application */
+        self_->report_fptr(self_->cb_inst_ptr, UCS_ND_RES_MULTI, &temp_sig);
+    }
+}
+
+
+/*! \brief An unecpected error occurred
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_A_Error(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+    Ucs_Signature_t *dummy = NULL;
+
+    if (self_->report_fptr != NULL)
+    {
+        self_->report_fptr(self_->cb_inst_ptr, UCS_ND_RES_ERROR, dummy);
+    }
+    self_->running = false;
+}
+
+
+/**************************************************************************************************/
+/*  Callback functions                                                                            */
+/**************************************************************************************************/
+
+/*! Callback function for the Exc.Hello.Status message
+ *
+ * \param *self         Reference to Node Discovery object
+ * \param *result_ptr   Result of the Exc_Hello_Get() command
+ */
+static void Nd_HelloStatusCb(void *self, void *result_ptr)
+{
+    CNodeDiscovery *self_        = (CNodeDiscovery *)self;
+    Exc_StdResult_t *result_ptr_ = (Exc_StdResult_t *)result_ptr;
+    CDlNode *node;
+
+    if (result_ptr_->result.code == UCS_RES_SUCCESS)
+    {
+        /* read signature and store it in the new_list */
+        node = Dl_PopHead(&(self_->unused_list)); /* get an unused list element */
+        if (node != NULL)
+        {
+            ((Nd_Node *)(node->data_ptr))->signature = (*(Exc_HelloStatus_t *)(result_ptr_->data_info)).signature;
+            Dl_InsertTail(&(self_->new_list), node);
+
+            Fsm_SetEvent(&self_->fsm, ND_E_HELLO_STATUS);
+            TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_HelloStatusCb UCS_RES_SUCCESS", 0U));
+        }
+        else
+        {
+            TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_HelloStatusCb No list entry av.", 0U));
+        }
+    }
+    else
+    {
+        Fsm_SetEvent(&self_->fsm, ND_E_ERROR); 
+        TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_HelloStatusCb ND_E_ERROR", 0U));
+    }
+
+    Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
+}
+
+
+/*! \brief  Function is called on reception of the Welcome.Result messsage
+ *  \param  self        Reference to Node Discovery object
+ *  \param  result_ptr  Pointer to the result of the Welcome message
+ */
+static void Nd_WelcomeResultCb(void *self, void *result_ptr)
+{
+    CNodeDiscovery *self_        = (CNodeDiscovery *)self;
+    Exc_StdResult_t *result_ptr_ = (Exc_StdResult_t *)result_ptr;
+
+    Tm_ClearTimer(&self_->base->tm, &self_->timer);
+
+    if (result_ptr_->result.code == UCS_RES_SUCCESS)
+    {
+        /* read signature and store it */
+        self_->welcome_result = *(Exc_WelcomeResult_t *)(result_ptr_->data_info);
+        if (self_->welcome_result.res == EXC_WELCOME_SUCCESS)
+        {
+            Fsm_SetEvent(&self_->fsm, ND_E_WELCOME_SUCCESS);
+            TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_WelcomeResultCb ND_E_WELCOME_SUCCESS", 0U));
+        }
+        else
+        {
+            Fsm_SetEvent(&self_->fsm, ND_E_WELCOME_NOSUCCESS);
+            TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_WelcomeResultCb ND_E_WELCOME_NOSUCCESS", 0U));
+        }
+    }
+    else
+    {
+        uint8_t i;
+
+        if (    (result_ptr_->result.info_size   == 3U)
+             && (result_ptr_->result.info_ptr[0] == 0x20U)
+             && (result_ptr_->result.info_ptr[1] == 0x03U)
+             && (result_ptr_->result.info_ptr[2] == 0x31U))
+        {   /* Device has not yet received an ExtendedNetworkControl.Hello.Get() message. */
+            Fsm_SetEvent(&self_->fsm, ND_E_WELCOME_NOSUCCESS);
+        }
+        else
+        {
+            Fsm_SetEvent(&self_->fsm, ND_E_ERROR);
+            TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_WelcomeResultCb Error (code) 0x%x", 1U, result_ptr_->result.code));
+            for (i=0U; i< result_ptr_->result.info_size; ++i)
+            {
+                TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_WelcomeResultCb Error (info) 0x%x", 1U, result_ptr_->result.info_ptr[i]));
+            }
+        }
+    }
+
+    Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
+}
+
+
+/*! \brief Callback function for Signature status and error messages
+ *
+ * \param *self         Reference to Node Discovery object
+ * \param *result_ptr   Pointer to the result of the Signature message
+ */
+static void Nd_SignatureStatusCb(void *self, void *result_ptr)
+{
+    CNodeDiscovery *self_        = (CNodeDiscovery *)self;
+    Exc_StdResult_t *result_ptr_ = (Exc_StdResult_t *)result_ptr;
+
+    Tm_ClearTimer(&self_->base->tm, &self_->timer);
+
+    if (result_ptr_->result.code == UCS_RES_SUCCESS)
+    {
+        self_->signature_status = *(Exc_SignatureStatus_t *)(result_ptr_->data_info);
+        Fsm_SetEvent(&self_->fsm, ND_E_SIGNATURE_SUCCESS);
+        TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_SignatureStatusCb ND_E_SIGNATURE_SUCCESS", 0U));
+    }
+    else
+    {
+        Fsm_SetEvent(&self_->fsm, ND_E_ERROR);
+        TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_SignatureStatusCb Error  0x%x", 1U, result_ptr_->result.code));
+    }
+
+    Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
+}
+
+
+/*! \brief Callback function for Init error messages
+ *
+ * \param *self         Reference to Node Discovery object
+ * \param *result_ptr   Pointer to the result of the Init message
+ */
+static void Nd_InitCb(void *self, void *result_ptr)
+{
+    CNodeDiscovery *self_        = (CNodeDiscovery *)self;
+    Exc_StdResult_t *result_ptr_ = (Exc_StdResult_t *)result_ptr;
+
+    MISC_UNUSED(self_);
+    MISC_UNUSED(result_ptr_);
+
+}
+
+
+/*! \brief Timer callback used for supervising INIC command timeouts.
+ *  \param self    Reference to Node Discovery object
+ */
+static void Nd_TimerCb(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+
+    Fsm_SetEvent(&self_->fsm, ND_E_TIMEOUT);
+    TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_TimerCb ND_E_TIMEOUT", 0U));
+
+    Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
+}
+
+
+/*!  Function is called on severe internal errors
+ *
+ * \param *self         Reference to Node Discovery object
+ * \param *result_ptr   Reference to data
+ */
+static void Nd_OnTerminateEventCb(void *self, void *result_ptr)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+    Ucs_Signature_t *dummy = NULL;
+
+    MISC_UNUSED(result_ptr);
+
+    if (self_->fsm.current_state != ND_S_IDLE)
+    {
+        Tm_ClearTimer(&self_->base->tm, &self_->timer);
+        if (self_->report_fptr != NULL)
+        {
+            self_->report_fptr(self_->cb_inst_ptr, UCS_ND_RES_ERROR, dummy);
+        }
+        Nd_Reset_Lists(self_);
+    }
+}
+
+
+/*! \brief Callback function for the INIC.NetworkStatus status and error messages
+ *
+ * \param *self         Reference to Node Discovery object
+ * \param *result_ptr   Pointer to the result of the INIC.NetworkStatus message
+ */
+static void Nd_NetworkStatusCb(void *self, void *result_ptr)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+    Inic_StdResult_t *result_ptr_ = (Inic_StdResult_t *)result_ptr;
+
+    if (result_ptr_->result.code == UCS_RES_SUCCESS)
+    {
+        TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_NetworkStatusCb  0x%x", 1U, result_ptr_->result.code));
+        /* check for NetOn/NetOff events */
+        if (    (self_->neton == true)
+             && ((((Inic_NetworkStatus_t *)(result_ptr_->data_info))->availability) == UCS_NW_NOT_AVAILABLE) )
+        {
+            self_->neton = false;
+            Fsm_SetEvent(&self_->fsm, ND_E_NET_OFF);
+        }
+        /* check for NetOn/NetOff events */
+        else if (    (self_->neton == false)
+             && ((((Inic_NetworkStatus_t *)(result_ptr_->data_info))->availability) == UCS_NW_AVAILABLE) )
+        {
+            self_->neton = true;
+            self_->hello_neton_request = true;
+            Fsm_SetEvent(&self_->fsm, ND_E_CHECK);
+        }
+        /* check for MPR event */
+        else if (   (((Inic_NetworkStatus_t *)(result_ptr_->data_info))->events & UCS_NETWORK_EVENT_NCE)
+            == UCS_NETWORK_EVENT_NCE)
+        {
+            self_->hello_mpr_request = true;
+            Fsm_SetEvent(&self_->fsm, ND_E_CHECK);
+        }
+    }
+
+    Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
+}
+
+
+
+/**************************************************************************************************/
+/*  Helper functions                                                                              */
+/**************************************************************************************************/
+/*! \brief Reset the list of new detected nodes
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_Reset_Lists(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+    uint16_t i;
+
+    Dl_Ctor(&self_->new_list, self_->base->ucs_user_ptr);
+    Dl_Ctor(&self_->unused_list, self_->base->ucs_user_ptr);
+
+    for(i=0U; i < ND_NUM_NODES; ++i)
+    {
+        Dln_Ctor(&(self_->nodes[i]).node, &(self_->nodes[i]));
+        Dl_InsertTail(&(self_->unused_list), &(self_->nodes[i]).node);
+    }
+}
+
+
+/*! \brief Send the Hello.Get message
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_Send_Hello_Get(void *self)
+{
+    Ucs_Return_t ret_val;
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+
+    ret_val = Exc_Hello_Get(self_->exc, UCS_ADDR_BROADCAST_BLOCKING, 
+                            ND_SIGNATURE_VERSION, &self_->nd_hello);
+
+    TR_ASSERT(self_->base->ucs_user_ptr, "[ND]", ret_val == UCS_RET_SUCCESS);
+    MISC_UNUSED(ret_val);
+}
+
+
+/*! \brief Send the Welcome.StartResult message
+ *
+ * \param *self Reference to Node Discovery object
+ * \param *signature signature parameter
+ */
+static void Nd_Send_Welcome_SR(void *self, Ucs_Signature_t *signature)
+{
+    Ucs_Return_t    ret_val;
+    CNodeDiscovery  *self_ = (CNodeDiscovery *)self;
+    uint16_t        target_address;
+
+    if (signature->node_pos_addr == 0x0400U)
+    {
+        target_address = 0x0001U;
+    }
+    else
+    {
+        target_address = signature->node_pos_addr;
+    }
+
+    ret_val = Exc_Welcome_Sr(self_->exc,
+                             target_address,
+                             0xFFFFU,
+                             ND_SIGNATURE_VERSION,
+                             *signature,
+                             &self_->nd_welcome);
+    Tm_SetTimer(&self_->base->tm,
+                &self_->timer,
+                &Nd_TimerCb,
+                self_,
+                ND_TIMEOUT_COMMAND,
+                0U);
+    TR_ASSERT(self_->base->ucs_user_ptr, "[ND]", ret_val == UCS_RET_SUCCESS);
+    MISC_UNUSED(ret_val);
+}
+
+
+/*! \brief Send the Signature.Get message
+ *
+ * \param *self          Reference to Node Discovery object
+ * \param target_address target address for the command
+ */
+static void Nd_Send_Signature_Get(void *self, uint16_t target_address)
+{
+    Ucs_Return_t   ret_val;
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+
+    ret_val = Exc_Signature_Get(self_->exc, target_address, ND_SIGNATURE_VERSION, &self_->nd_signature);
+    Tm_SetTimer(&self_->base->tm,
+                &self_->timer,
+                &Nd_TimerCb,
+                self_,
+                ND_TIMEOUT_COMMAND,
+                0U);
+    TR_ASSERT(self_->base->ucs_user_ptr, "[ND]", ret_val == UCS_RET_SUCCESS);
+    MISC_UNUSED(ret_val);
+}
+
+/*! \brief  Starts the periodic timer
+ *
+ * \param *self Reference to Node Discovery object
+ */
+static void Nd_Start_Periodic_Timer(void *self)
+{
+    CNodeDiscovery *self_ = (CNodeDiscovery *)self;
+
+    Tm_SetTimer(&self_->base->tm,
+                &self_->timer,
+                &Nd_TimerCb,
+                self,
+                ND_TIMEOUT_PERIODIC,
+                0U);
+}
+
+/*!
+ * @}
+ * \endcond
+ */
+
+
+/*------------------------------------------------------------------------------------------------*/
+/* End of file                                                                                    */
+/*------------------------------------------------------------------------------------------------*/
+