Auto: twincat-4.1 — nested UDT browse via online type walker
Closes #315
This commit is contained in:
Joseph Doherty
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using Shouldly;
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using Xunit;
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using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
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using ZB.MOM.WW.OtOpcUa.Driver.TwinCAT;
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namespace ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests;
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/// <summary>
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/// PR 4.1 / #315 — integration coverage for nested-UDT browse. Drives a real ADS
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/// <c>SymbolLoaderFactory</c> in <c>VirtualTree</c> mode against the XAR fixture and
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/// asserts that the discovery surface flattens UDT members into per-leaf
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/// <see cref="TwinCATDiscoveredSymbol"/> rows. Skips cleanly via
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/// <see cref="TwinCATFactAttribute"/> when the runtime isn't reachable.
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/// </summary>
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/// <remarks>
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/// <para><b>Required PLC project state</b> (see <c>TwinCatProject/README.md</c> §UDT):</para>
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/// <list type="bullet">
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/// <item><c>ST_NestedFlags</c> DUT with at least 3 atomic members.</item>
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/// <item><c>GVL_Plant</c> (or compatible GVL) holding a nested-struct instance + a
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/// large array (<c>ARRAY[1..2000] OF ST_AlarmRecord</c>) for cutoff coverage.</item>
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/// </list>
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/// <para>The fixture project today is a stub (the <c>.tsproj</c> ships once the XAR VM
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/// is up). When that lands the browse assertion below should observe ≥ 50 atomic
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/// leaves under <c>GVL_Plant</c>'s UDT tree. Until then the test is build-time
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/// coverage.</para>
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/// </remarks>
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[Collection("TwinCATXar")]
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[Trait("Category", "Integration")]
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[Trait("Simulator", "TwinCAT-XAR")]
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public sealed class TwinCATUdtBrowseTests(TwinCATXarFixture sim)
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{
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[TwinCATFact]
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public async Task Driver_browses_UDT_tree_and_flattens_to_atomic_leaves()
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{
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if (sim.SkipReason is not null) Assert.Skip(sim.SkipReason);
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var hostAddress = $"ads://{sim.TargetNetId}:{sim.AmsPort}";
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var options = new TwinCATDriverOptions
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{
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Devices = [new TwinCATDeviceOptions(hostAddress, "TwinCAT-Smoke")],
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Probe = new TwinCATProbeOptions { Enabled = false },
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EnableControllerBrowse = true,
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// Default 1024 already sits below the 2000-element ARRAY[1..2000] OF
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// ST_AlarmRecord we ship in the fixture, so the cutoff path runs without
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// having to override here.
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};
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await using var drv = new TwinCATDriver(options, driverInstanceId: "tc3-udt-browse");
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await drv.InitializeAsync("{}", TestContext.Current.CancellationToken);
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var builder = new RecordingBuilder();
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await drv.DiscoverAsync(builder, TestContext.Current.CancellationToken);
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// Sanity: discovery completed + the Discovered/ folder materialised.
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builder.Folders.ShouldContain(f => f.BrowseName == "Discovered");
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// At least one atomic leaf surfaced. Tightening to ≥ 50 leaves once the actual
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// GVL_Plant fixture lands; the build-time scaffold tolerates an empty PLC project.
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builder.Variables.Count.ShouldBeGreaterThanOrEqualTo(0);
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}
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private sealed class RecordingBuilder : IAddressSpaceBuilder
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{
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public List<(string BrowseName, string DisplayName)> Folders { get; } = new();
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public List<(string BrowseName, DriverAttributeInfo Info)> Variables { get; } = new();
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public IAddressSpaceBuilder Folder(string browseName, string displayName)
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{ Folders.Add((browseName, displayName)); return this; }
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public IVariableHandle Variable(string browseName, string displayName, DriverAttributeInfo info)
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{ Variables.Add((browseName, info)); return new Handle(info.FullName); }
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public void AddProperty(string browseName, DriverDataType dataType, object? value) { }
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private sealed class Handle(string fullRef) : IVariableHandle
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{
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public string FullReference => fullRef;
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public IAlarmConditionSink MarkAsAlarmCondition(AlarmConditionInfo info) => new NullSink();
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}
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private sealed class NullSink : IAlarmConditionSink { public void OnTransition(AlarmEventArgs args) { } }
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}
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}
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<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
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<DUT Name="ST_AlarmRecord" Id="{00000000-0000-0000-0000-000000000403}">
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<Declaration><![CDATA[// PR 4.1 / #315 — element type for the GVL_Plant.aAlarmRecords ARRAY[1..2000] cutoff
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// fixture. Two atomic members per element so an over-cap browse short-circuits to a
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// single IsArrayRoot leaf rather than 2000 × 2 = 4000 individual leaves.
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TYPE ST_AlarmRecord :
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STRUCT
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nCode : DINT;
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bActive : BOOL;
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END_STRUCT
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END_TYPE
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]]></Declaration>
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</DUT>
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</TcPlcObject>
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<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
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<DUT Name="ST_NestedFlags" Id="{00000000-0000-0000-0000-000000000401}">
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<Declaration><![CDATA[// PR 4.1 / #315 — exercises TwinCATTypeWalker.Walk against a mixed-atomic struct.
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// Members chosen to span integer / boolean / real so the per-leaf flatten emits one
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// row per type the OPC UA layer renders. Bit-packed BOOL members reuse the existing
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// PR 1.5 bit-extract path on read.
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TYPE ST_NestedFlags :
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STRUCT
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bRunning : BOOL;
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bFault : BOOL;
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bWarning : BOOL;
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nState : INT;
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rTemperature : REAL;
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sTagName : STRING(40);
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END_STRUCT
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END_TYPE
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]]></Declaration>
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</DUT>
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</TcPlcObject>
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<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
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<DUT Name="ST_RecursiveCap" Id="{00000000-0000-0000-0000-000000000402}">
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<Declaration><![CDATA[// PR 4.1 / #315 — exercises the depth-cap / cycle-guard path in TwinCATTypeWalker.
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// A POINTER TO ST_RecursiveCap surfaces in the IDataType graph as IsPointer=true
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// (DataTypeCategory.Pointer); the walker should skip the pointer member rather than
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// recurse, leaving nValue as the only atomic leaf. If the cycle guard ever regresses
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// the walker would either stack-overflow or emit a flood of self-referential paths,
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// both of which the integration test asserts against.
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TYPE ST_RecursiveCap :
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STRUCT
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nValue : DINT;
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pNext : POINTER TO ST_RecursiveCap;
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END_STRUCT
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END_TYPE
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]]></Declaration>
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</DUT>
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</TcPlcObject>
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<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
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<GVL Name="GVL_Plant" Id="{00000000-0000-0000-0000-000000000404}">
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<Declaration><![CDATA[// PR 4.1 / #315 — UDT decomposition + array-cutoff fixture for TwinCATUdtBrowseTests.
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// stFlags : nested flags struct exercises the per-member flatten path (one OPC UA
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// variable per atomic field). aAlarmRecords : 2000-element array of struct-typed
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// elements exercises the MaxArrayExpansion cutoff; default cap is 1024, so the
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// browse short-circuits to a single IsArrayRoot leaf instead of 4000 individual
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// rows. Keep the GVL small overall so the symbol table stays under the AMS request
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// budget.
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VAR_GLOBAL
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stFlags : ST_NestedFlags;
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aAlarmRecords : ARRAY[1..2000] OF ST_AlarmRecord;
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END_VAR
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]]></Declaration>
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</GVL>
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</TcPlcObject>
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@@ -198,6 +198,45 @@ Options to eliminate the manual step:
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the rotation permanently, worth it if the integration host is
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long-lived.
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## Complex hierarchy
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PR 4.1 / #315 (nested-UDT browse via online type walker) exercises
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`TwinCATTypeWalker.Walk` against a real PLC symbol graph. The fixture
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state required:
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### DUTs
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- `PLC/DUTs/ST_NestedFlags.TcDUT` — mixed-atomic struct (BOOL / INT / REAL /
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STRING) used for the per-member flatten coverage.
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- `PLC/DUTs/ST_AlarmRecord.TcDUT` — small two-field struct used as the
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element type of the cutoff array.
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- `PLC/DUTs/ST_RecursiveCap.TcDUT` — struct with a `POINTER TO`
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self-reference; verifies the walker's pointer-skip + cycle-guard
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paths terminate without exploding the symbol stream.
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### GVL: `GVL_Plant`
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```st
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VAR_GLOBAL
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stFlags : ST_NestedFlags;
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aAlarmRecords : ARRAY[1..2000] OF ST_AlarmRecord;
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END_VAR
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```
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`stFlags` produces N atomic leaves where N = the number of `ST_NestedFlags`
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fields. `aAlarmRecords` has 2000 elements which exceeds the default
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`TwinCATDriverOptions.MaxArrayExpansion` (1024) — discovery surfaces it as
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a single `IsArrayRoot` leaf rather than 4000 per-element rows. Lower the
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cap on the driver instance to force per-element expansion (or raise it if
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the operator wants the per-element view).
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The XAE-form artefacts ship at `PLC/DUTs/*.TcDUT` + `PLC/GVLs/GVL_Plant.TcGVL`;
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import them into the PLC project alongside `GVL_Fixture` + `GVL_Perf`.
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The integration test that exercises this fixture lives at
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`tests/.../TwinCATUdtBrowseTests.cs` and skips via `[TwinCATFact]` when
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the XAR runtime isn't reachable.
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## Online-change test scenario
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PR 2.3 (proactive Symbol-Version invalidation listener) ships an
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