# ISG Example
# Two processes: master and slave
# boot process, master and slave need to establish communication, to load data and to initialise the system


process Master has 1 instances
	with distribution all on cpu1
	defaults:
		channel bus
		consume 5 cycles
		send binary data 128 bytes
		record responsetime
	end
	states:
		in state processInit:
			on message poweron:
				send message processInit
					to Slave instance 1
						received in anystate
					expect reply RequIdent within 5secs
						received in state register
				enter state register
			end
			on exception:
				keep samestate
					calling stub function excDoInit
			end
		end
		in state register:
			on message RequIdent:
				reset timeout RequIdent
				create timer moveToInitPos
					with constant period
						100 msecs ... 2 secs
						received in state init
				enter state init
			end
			on timeout RequIdent:
				send message processInit
					to Slave instance 1
						received in anystate
					expect reply RequIdent within 5secs
						received in state register
				keep samestate
			end
			on exception:
				keep samestate
					calling stub function excRegister
			end
		end
		in state init:
			on timer moveToInitPos:
				send message SendData
					to Slave instance 1
						received in anystate
				enter state waitForExec
			end
			on exception:
				keep samestate
					calling stub function excInit
			end
		end
		in state waitForExec:
			on message execute:
				create timer startExec
					with constant period 1secs...2secs
					received in state Execution
				enter state Execution
			end
			on exception:
				keep samestate
					calling stub function excWaitForExec
			end
		end
		in state Execution:
			on timer startExec:
				send message terminate
					to process Slave instance 1
						received in anystate
				enter state waitForCleanUp
			end
			on exception:
				keep samestate
					calling stub function excExecution
			end
		end
		in state waitForCleanUp:
			on message cleanUp:
				send message SendData
					to Slave instance 1
						received in anystate
				enter state waitForExec
			end
			on exception:
				keep samestate
					calling stub function excWaitingForCleanUp
			end
		end
	end
process Slave has 1 instances
	with distribution all on cpu2
	defaults:
		channel bus
		consume 5 cycles
		send binary data 128 bytes
		record responsetime
	end
	states:
		in anystate:
			on message processInit:
				send message RequIdent
					to process Master instance 1
						received in state register
				keep samestate
			end
			on message SendData:
				send message execute
					to process Master instance 1
						received in state waitForExec
				keep samestate
			end
			on message terminate:
				send message cleanUp
					to process Master instance 1
						received in state waitForCleanUp
				keep samestate
			end
		end
		in state ctrlState:
			on exception:
				keep samestate
				calling stub function excctrlStateHandler
			end
		end
	end