ethercat

# Changelog

All notable changes to this project will be documented in this file.

The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).

## [Unreleased]

## [0.3.0] - 2026-03-12

### Changed
- Bus link monitoring now uses the internal netlink/sysfs implementation instead of an external interface-management dependency
- Master recovery now gates stopped-domain restart on live carrier state and logs explicit carrier loss/restore events
- Runtime state-machine modules (`Master`, `Slave`, `Domain`, `DC`) were further reduced to state-machine boundaries with helper facades
- `EtherCAT.Slave.Driver` now uses `signal_model/1,2`, and simulator-specific authoring moved out of the real driver behaviour into optional `MyDriver.Simulator` companions via `EtherCAT.Simulator.DriverAdapter`
- `EtherCAT.Simulator` now exposes builder-style runtime fault injection with queued, delayed, and milestone-triggered scripts plus richer signal/snapshot surfaces for tooling

### Fixed
- Public `Master` API calls now return `{:error, :timeout}` when the local master call itself times out instead of exiting the caller
- Real carrier loss now stops domains immediately on confirmed `:down`, without domain restart churn while the cable is still unplugged
- Maintained hardware examples were refreshed for the current runtime and bus/link-monitor implementation
- `await_running/1` and `await_operational/1` now tolerate a small local reply grace window so terminal startup results do not get masked by near-boundary call timeouts
- Activation now blocks immediately on PREOP configuration failures instead of starting OP activation work for unrelated slaves

### Docs
- The README driver example now matches the current `signal_model/1` callback, and the project landing page uses the Kino smart-cell setup screenshot
- Simulator docs and integration scenario notes now cover the current fault builder API, mailbox protocol fault coverage, and delayed/milestone scheduling

## [0.2.0] - 2026-03-09

### Added
- Dynamic PREOP-first startup and configuration flow for discovered slaves
- Master-owned logical window allocation for high-level domain configs
- Split `{domain, SyncManager}` attachment support, including split-SM diagnostics
- Explicit runtime fault recovery with `:recovering` state and targeted slave fault tracking
- Input freshness timestamps via `read_input/2 -> {:ok, {value, updated_at_us}}`
- Public telemetry event enumeration via `EtherCAT.Telemetry.events/0`
- Richer runtime diagnostics for slaves, domains, and DC status

### Changed
- Public lifecycle is now exposed through `EtherCAT.state/0`
- `EtherCAT.Domain.Config` no longer accepts `logical_base`; the master allocates it
- Master, Slave, Domain, and DC runtime boundaries were decomposed into smaller internal modules
- Slave internals are grouped under clearer runtime, process-data, mailbox, and ESC namespaces
- Automatic bus frame-timeout tuning now uses a safer host-jitter floor on slower cycles

### Fixed
- Reconnect and recovery paths now preserve split attachment semantics and restart stopped domains
- `examples/el3202.exs` and `examples/sdo_debug.exs` now work against the current driver/runtime contract
- Hardware fault-tolerance examples now match the current recovery model
- Polling callers regain access to cached PDO freshness metadata

### Docs
- README and moduledocs now reflect the actual runtime state machines and current API
- Completed refactor and spec-alignment plans were closed and moved out of active execution

## [0.1.0] - 2026-03-07

### Added
- Pure-Elixir EtherCAT master runtime over standard Ethernet (raw socket + UDP transport)
- Declarative bus configuration via `EtherCAT.start/1` with `Slave.Config` and `Domain.Config`
- Cyclic process data exchange — self-timed LRW domain cycling with drift-compensated scheduling
- CoE SDO transfers (expedited and segmented) for mailbox-based slave configuration
- Distributed clocks support (`EtherCAT.DC.Config`) with automatic reference clock selection
- Subscribe-on-change signal API: `subscribe/2`, `read_input/2`, `write_output/3`
- `EtherCAT.Slave.Driver` behaviour for custom PDO encode/decode per device type
- Default auto-discovery driver for unknown slaves via SII EEPROM PDO scan
- `slave_info/1`, `domain_info/1`, `slaves/0`, `domains/0` introspection API
- Telemetry events for domain cycle done/missed
- Bus redundancy link support