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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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239
tests/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests/FocasCapabilityTests.cs Normal file
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using System.Collections.Concurrent;
using Shouldly;
using Xunit;
using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
using ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests;
[Trait("Category", "Unit")]
public sealed class FocasCapabilityTests
{
// ---- ITagDiscovery ----
[Fact]
public async Task DiscoverAsync_emits_pre_declared_tags()
{
var builder = new RecordingBuilder();
var drv = new FocasDriver(new FocasDriverOptions
{
Devices = [new FocasDeviceOptions("focas://10.0.0.5:8193", DeviceName: "Lathe-1")],
Tags =
[
new FocasTagDefinition("Run", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte),
new FocasTagDefinition("Alarm", "focas://10.0.0.5:8193", "R200", FocasDataType.Byte, Writable: false),
],
Probe = new FocasProbeOptions { Enabled = false },
}, "drv-1", new FakeFocasClientFactory());
await drv.InitializeAsync("{}", CancellationToken.None);
await drv.DiscoverAsync(builder, CancellationToken.None);
builder.Folders.ShouldContain(f => f.BrowseName == "FOCAS");
builder.Folders.ShouldContain(f => f.BrowseName == "focas://10.0.0.5:8193" && f.DisplayName == "Lathe-1");
builder.Variables.Single(v => v.BrowseName == "Run").Info.SecurityClass.ShouldBe(SecurityClassification.Operate);
builder.Variables.Single(v => v.BrowseName == "Alarm").Info.SecurityClass.ShouldBe(SecurityClassification.ViewOnly);
}
// ---- ISubscribable ----
[Fact]
public async Task Subscribe_initial_poll_raises_OnDataChange()
{
var factory = new FakeFocasClientFactory
{
Customise = () => new FakeFocasClient { Values = { ["R100"] = (sbyte)42 } },
};
var drv = new FocasDriver(new FocasDriverOptions
{
Devices = [new FocasDeviceOptions("focas://10.0.0.5:8193")],
Tags = [new FocasTagDefinition("X", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte)],
Probe = new FocasProbeOptions { Enabled = false },
}, "drv-1", factory);
await drv.InitializeAsync("{}", CancellationToken.None);
var events = new ConcurrentQueue<DataChangeEventArgs>();
drv.OnDataChange += (_, e) => events.Enqueue(e);
var handle = await drv.SubscribeAsync(["X"], TimeSpan.FromMilliseconds(200), CancellationToken.None);
await WaitForAsync(() => events.Count >= 1, TimeSpan.FromSeconds(2));
events.First().Snapshot.Value.ShouldBe((sbyte)42);
await drv.UnsubscribeAsync(handle, CancellationToken.None);
}
[Fact]
public async Task ShutdownAsync_cancels_active_subscriptions()
{
var factory = new FakeFocasClientFactory
{
Customise = () => new FakeFocasClient { Values = { ["R100"] = (sbyte)1 } },
};
var drv = new FocasDriver(new FocasDriverOptions
{
Devices = [new FocasDeviceOptions("focas://10.0.0.5:8193")],
Tags = [new FocasTagDefinition("X", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte)],
Probe = new FocasProbeOptions { Enabled = false },
}, "drv-1", factory);
await drv.InitializeAsync("{}", CancellationToken.None);
var events = new ConcurrentQueue<DataChangeEventArgs>();
drv.OnDataChange += (_, e) => events.Enqueue(e);
_ = await drv.SubscribeAsync(["X"], TimeSpan.FromMilliseconds(100), CancellationToken.None);
await WaitForAsync(() => events.Count >= 1, TimeSpan.FromSeconds(1));
await drv.ShutdownAsync(CancellationToken.None);
var afterShutdown = events.Count;
await Task.Delay(200);
events.Count.ShouldBe(afterShutdown);
}
// ---- IHostConnectivityProbe ----
[Fact]
public async Task GetHostStatuses_returns_entry_per_device()
{
var drv = new FocasDriver(new FocasDriverOptions
{
Devices =
[
new FocasDeviceOptions("focas://10.0.0.5:8193"),
new FocasDeviceOptions("focas://10.0.0.6:8193"),
],
Probe = new FocasProbeOptions { Enabled = false },
}, "drv-1", new FakeFocasClientFactory());
await drv.InitializeAsync("{}", CancellationToken.None);
drv.GetHostStatuses().Count.ShouldBe(2);
}
[Fact]
public async Task Probe_transitions_to_Running_on_success()
{
var factory = new FakeFocasClientFactory
{
Customise = () => new FakeFocasClient { ProbeResult = true },
};
var transitions = new ConcurrentQueue<HostStatusChangedEventArgs>();
var drv = new FocasDriver(new FocasDriverOptions
{
Devices = [new FocasDeviceOptions("focas://10.0.0.5:8193")],
Probe = new FocasProbeOptions
{
Enabled = true, Interval = TimeSpan.FromMilliseconds(100),
Timeout = TimeSpan.FromMilliseconds(50),
},
}, "drv-1", factory);
drv.OnHostStatusChanged += (_, e) => transitions.Enqueue(e);
await drv.InitializeAsync("{}", CancellationToken.None);
await WaitForAsync(() => transitions.Any(t => t.NewState == HostState.Running), TimeSpan.FromSeconds(2));
drv.GetHostStatuses().Single().State.ShouldBe(HostState.Running);
await drv.ShutdownAsync(CancellationToken.None);
}
[Fact]
public async Task Probe_transitions_to_Stopped_on_failure()
{
var factory = new FakeFocasClientFactory
{
Customise = () => new FakeFocasClient { ProbeResult = false },
};
var transitions = new ConcurrentQueue<HostStatusChangedEventArgs>();
var drv = new FocasDriver(new FocasDriverOptions
{
Devices = [new FocasDeviceOptions("focas://10.0.0.5:8193")],
Probe = new FocasProbeOptions
{
Enabled = true, Interval = TimeSpan.FromMilliseconds(100),
Timeout = TimeSpan.FromMilliseconds(50),
},
}, "drv-1", factory);
drv.OnHostStatusChanged += (_, e) => transitions.Enqueue(e);
await drv.InitializeAsync("{}", CancellationToken.None);
await WaitForAsync(() => transitions.Any(t => t.NewState == HostState.Stopped), TimeSpan.FromSeconds(2));
drv.GetHostStatuses().Single().State.ShouldBe(HostState.Stopped);
await drv.ShutdownAsync(CancellationToken.None);
}
// ---- IPerCallHostResolver ----
[Fact]
public async Task ResolveHost_returns_declared_device_for_known_tag()
{
var drv = new FocasDriver(new FocasDriverOptions
{
Devices =
[
new FocasDeviceOptions("focas://10.0.0.5:8193"),
new FocasDeviceOptions("focas://10.0.0.6:8193"),
],
Tags =
[
new FocasTagDefinition("A", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte),
new FocasTagDefinition("B", "focas://10.0.0.6:8193", "R100", FocasDataType.Byte),
],
Probe = new FocasProbeOptions { Enabled = false },
}, "drv-1", new FakeFocasClientFactory());
await drv.InitializeAsync("{}", CancellationToken.None);
drv.ResolveHost("A").ShouldBe("focas://10.0.0.5:8193");
drv.ResolveHost("B").ShouldBe("focas://10.0.0.6:8193");
}
[Fact]
public async Task ResolveHost_falls_back_to_first_device_for_unknown()
{
var drv = new FocasDriver(new FocasDriverOptions
{
Devices = [new FocasDeviceOptions("focas://10.0.0.5:8193")],
Probe = new FocasProbeOptions { Enabled = false },
}, "drv-1", new FakeFocasClientFactory());
await drv.InitializeAsync("{}", CancellationToken.None);
drv.ResolveHost("missing").ShouldBe("focas://10.0.0.5:8193");
}
[Fact]
public async Task ResolveHost_falls_back_to_DriverInstanceId_when_no_devices()
{
var drv = new FocasDriver(new FocasDriverOptions(), "drv-1", new FakeFocasClientFactory());
await drv.InitializeAsync("{}", CancellationToken.None);
drv.ResolveHost("anything").ShouldBe("drv-1");
}
// ---- helpers ----
private static async Task WaitForAsync(Func<bool> condition, TimeSpan timeout)
{
var deadline = DateTime.UtcNow + timeout;
while (!condition() && DateTime.UtcNow < deadline)
await Task.Delay(20);
}
private sealed class RecordingBuilder : IAddressSpaceBuilder
{
public List<(string BrowseName, string DisplayName)> Folders { get; } = new();
public List<(string BrowseName, DriverAttributeInfo Info)> Variables { get; } = new();
public IAddressSpaceBuilder Folder(string browseName, string displayName)
{ Folders.Add((browseName, displayName)); return this; }
public IVariableHandle Variable(string browseName, string displayName, DriverAttributeInfo info)
{ Variables.Add((browseName, info)); return new Handle(info.FullName); }
public void AddProperty(string _, DriverDataType __, object? ___) { }
private sealed class Handle(string fullRef) : IVariableHandle
{
public string FullReference => fullRef;
public IAlarmConditionSink MarkAsAlarmCondition(AlarmConditionInfo info) => new NullSink();
}
private sealed class NullSink : IAlarmConditionSink { public void OnTransition(AlarmEventArgs args) { } }
}
}

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tests/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests/FocasScaffoldingTests.cs
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@@ -207,6 +207,7 @@ public sealed class FocasScaffoldingTests
var drv = new FocasDriver(new FocasDriverOptions
{
Devices = [new FocasDeviceOptions("focas://10.0.0.5:8193")],
Probe = new FocasProbeOptions { Enabled = false },
}, "drv-1");
await drv.InitializeAsync("{}", CancellationToken.None);