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FOCAS PR 3 — ITagDiscovery + ISubscribable + IHostConnectivityProbe + IPerCallHostResolver. Completes the FOCAS driver — 7-interface capability set matching AbCip/AbLegacy/TwinCAT (minus IAlarmSource — Fanuc CNC alarms live in a different API surface, tracked as a future-phase concern). ITagDiscovery emits pre-declared tags under a FOCAS root + per-device sub-folder keyed on the canonical focas://host:port string with DeviceName fallback. Writable → Operate, non-writable → ViewOnly. No native FOCAS symbol browsing — CNCs don't expose a tag catalogue the way Logix or TwinCAT do; operators declare addresses explicitly. ISubscribable consumes the shared PollGroupEngine — 5th consumer of the engine after Modbus + AbCip + AbLegacy + TwinCAT-poll-mode. 100ms interval floor inherited. FOCAS has no native notification/subscription protocol (unlike TwinCAT ADS), so polling is the only option — every subscribed tag round-trips through cnc_rdpmcrng / cnc_rdparam / cnc_rdmacro on each tick. IHostConnectivityProbe uses the existing IFocasClient.ProbeAsync which in the real FwlibFocasClient calls cnc_statinfo (cheap handshake returning ODBST with tmmode/aut/run/motion/alarm state). Probe loop runs when Enabled=true, catches OperationCanceledException during shutdown, falls through to Stopped on exceptions, emits Running/Stopped transitions via OnHostStatusChanged with the canonical focas://host:port as the host-name key. Same-state spurious-event guard under per-device lock. IPerCallHostResolver maps tag full-ref to DeviceHostAddress for Phase 6.1 bulkhead/breaker keying per plan decision #144 — unknown refs fall back to first device, no devices → DriverInstanceId. ShutdownAsync now disposes PollGroupEngine + cancels/disposes per-device probe CTS + disposes cached clients. DeviceState gains ProbeLock / HostState / HostStateChangedUtc / ProbeCts matching the shape used by AbCip/AbLegacy/TwinCAT. 9 new unit tests in FocasCapabilityTests — discovery tag emission with correct SecurityClassification, subscription initial poll raises OnDataChange, shutdown cancels subscriptions, GetHostStatuses entry-per-device, probe Running / Stopped transitions, ResolveHost for known / unknown / no-devices paths. FocasScaffoldingTests updated with Probe.Enabled=false where the default factory would otherwise try to load Fwlib32.dll during the probe-loop spinup. Total FOCAS unit tests now 115/115 passing (+9 from PR 2's 106); full solution builds 0 errors; Modbus / AbCip / AbLegacy / TwinCAT / other drivers untouched. FOCAS driver is real-wire-capable end-to-end — read / write / discover / subscribe / probe / host-resolve for Fanuc FS 0i/16i/18i/21i/30i/31i/32i/Series 35i/Power Mate i controllers once deployment drops Fwlib32.dll beside the server. Closes task #120 subtask FOCAS.

Browse Source 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Joseph Doherty
2026-04-19 19:59:37 -04:00
parent 5cfb0fc6d0
commit 1d6015bc87
3 changed files with 364 additions and 4 deletions
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128
src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FocasDriver.cs
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@@ -15,15 +15,20 @@ namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
/// + the default <see cref="UnimplementedFocasClientFactory"/> makes misconfigured servers
/// fail fast.
/// </remarks>
public sealed class FocasDriver : IDriver, IReadable, IWritable, IDisposable, IAsyncDisposable
public sealed class FocasDriver : IDriver, IReadable, IWritable, ITagDiscovery, ISubscribable,
IHostConnectivityProbe, IPerCallHostResolver, IDisposable, IAsyncDisposable
{
private readonly FocasDriverOptions _options;
private readonly string _driverInstanceId;
private readonly IFocasClientFactory _clientFactory;
private readonly PollGroupEngine _poll;
private readonly Dictionary<string, DeviceState> _devices = new(StringComparer.OrdinalIgnoreCase);
private readonly Dictionary<string, FocasTagDefinition> _tagsByName = new(StringComparer.OrdinalIgnoreCase);
private DriverHealth _health = new(DriverState.Unknown, null, null);
public event EventHandler<DataChangeEventArgs>? OnDataChange;
public event EventHandler<HostStatusChangedEventArgs>? OnHostStatusChanged;
public FocasDriver(FocasDriverOptions options, string driverInstanceId,
IFocasClientFactory? clientFactory = null)
{
@@ -31,6 +36,10 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, IDisposable, IA
_options = options;
_driverInstanceId = driverInstanceId;
_clientFactory = clientFactory ?? new FwlibFocasClientFactory();
_poll = new PollGroupEngine(
reader: ReadAsync,
onChange: (handle, tagRef, snapshot) =>
OnDataChange?.Invoke(this, new DataChangeEventArgs(handle, tagRef, snapshot)));
}
public string DriverInstanceId => _driverInstanceId;
@@ -49,6 +58,16 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, IDisposable, IA
_devices[device.HostAddress] = new DeviceState(addr, device);
}
foreach (var tag in _options.Tags) _tagsByName[tag.Name] = tag;
if (_options.Probe.Enabled)
{
foreach (var state in _devices.Values)
{
state.ProbeCts = new CancellationTokenSource();
var ct = state.ProbeCts.Token;
_ = Task.Run(() => ProbeLoopAsync(state, ct), ct);
}
}
_health = new DriverHealth(DriverState.Healthy, DateTime.UtcNow, null);
}
catch (Exception ex)
@@ -65,13 +84,19 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, IDisposable, IA
await InitializeAsync(driverConfigJson, cancellationToken).ConfigureAwait(false);
}
public Task ShutdownAsync(CancellationToken cancellationToken)
public async Task ShutdownAsync(CancellationToken cancellationToken)
{
foreach (var state in _devices.Values) state.DisposeClient();
await _poll.DisposeAsync().ConfigureAwait(false);
foreach (var state in _devices.Values)
{
try { state.ProbeCts?.Cancel(); } catch { }
state.ProbeCts?.Dispose();
state.ProbeCts = null;
state.DisposeClient();
}
_devices.Clear();
_tagsByName.Clear();
_health = new DriverHealth(DriverState.Unknown, _health.LastSuccessfulRead, null);
return Task.CompletedTask;
}
public DriverHealth GetHealth() => _health;
@@ -189,6 +214,96 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, IDisposable, IA
return results;
}
// ---- ITagDiscovery ----
public Task DiscoverAsync(IAddressSpaceBuilder builder, CancellationToken cancellationToken)
{
ArgumentNullException.ThrowIfNull(builder);
var root = builder.Folder("FOCAS", "FOCAS");
foreach (var device in _options.Devices)
{
var label = device.DeviceName ?? device.HostAddress;
var deviceFolder = root.Folder(device.HostAddress, label);
var tagsForDevice = _options.Tags.Where(t =>
string.Equals(t.DeviceHostAddress, device.HostAddress, StringComparison.OrdinalIgnoreCase));
foreach (var tag in tagsForDevice)
{
deviceFolder.Variable(tag.Name, tag.Name, new DriverAttributeInfo(
FullName: tag.Name,
DriverDataType: tag.DataType.ToDriverDataType(),
IsArray: false,
ArrayDim: null,
SecurityClass: tag.Writable
? SecurityClassification.Operate
: SecurityClassification.ViewOnly,
IsHistorized: false,
IsAlarm: false,
WriteIdempotent: tag.WriteIdempotent));
}
}
return Task.CompletedTask;
}
// ---- ISubscribable (polling overlay via shared engine) ----
public Task<ISubscriptionHandle> SubscribeAsync(
IReadOnlyList<string> fullReferences, TimeSpan publishingInterval, CancellationToken cancellationToken) =>
Task.FromResult(_poll.Subscribe(fullReferences, publishingInterval));
public Task UnsubscribeAsync(ISubscriptionHandle handle, CancellationToken cancellationToken)
{
_poll.Unsubscribe(handle);
return Task.CompletedTask;
}
// ---- IHostConnectivityProbe ----
public IReadOnlyList<HostConnectivityStatus> GetHostStatuses() =>
[.. _devices.Values.Select(s => new HostConnectivityStatus(s.Options.HostAddress, s.HostState, s.HostStateChangedUtc))];
private async Task ProbeLoopAsync(DeviceState state, CancellationToken ct)
{
while (!ct.IsCancellationRequested)
{
var success = false;
try
{
var client = await EnsureConnectedAsync(state, ct).ConfigureAwait(false);
success = await client.ProbeAsync(ct).ConfigureAwait(false);
}
catch (OperationCanceledException) when (ct.IsCancellationRequested) { break; }
catch { /* connect-failure path already disposed + cleared the client */ }
TransitionDeviceState(state, success ? HostState.Running : HostState.Stopped);
try { await Task.Delay(_options.Probe.Interval, ct).ConfigureAwait(false); }
catch (OperationCanceledException) { break; }
}
}
private void TransitionDeviceState(DeviceState state, HostState newState)
{
HostState old;
lock (state.ProbeLock)
{
old = state.HostState;
if (old == newState) return;
state.HostState = newState;
state.HostStateChangedUtc = DateTime.UtcNow;
}
OnHostStatusChanged?.Invoke(this,
new HostStatusChangedEventArgs(state.Options.HostAddress, old, newState));
}
// ---- IPerCallHostResolver ----
public string ResolveHost(string fullReference)
{
if (_tagsByName.TryGetValue(fullReference, out var def))
return def.DeviceHostAddress;
return _options.Devices.FirstOrDefault()?.HostAddress ?? DriverInstanceId;
}
private async Task<IFocasClient> EnsureConnectedAsync(DeviceState device, CancellationToken ct)
{
if (device.Client is { IsConnected: true } c) return c;
@@ -215,6 +330,11 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, IDisposable, IA
public FocasDeviceOptions Options { get; } = options;
public IFocasClient? Client { get; set; }
public object ProbeLock { get; } = new();
public HostState HostState { get; set; } = HostState.Unknown;
public DateTime HostStateChangedUtc { get; set; } = DateTime.UtcNow;
public CancellationTokenSource? ProbeCts { get; set; }
public void DisposeClient()
{
Client?.Dispose();