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Auto: twincat-3.2 — cycle-time / jitter / PLC-state diagnostics

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Closes #314
This commit is contained in:
Joseph Doherty
2026-04-26 01:59:56 -04:00
parent 30e39a752a
commit 24a3cda56a
8 changed files with 642 additions and 1 deletions
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29
docs/Driver.TwinCAT.Cli.md
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@@ -58,6 +58,35 @@ otopcua-twincat-cli probe -n 127.0.0.1.1.1 -s "TwinCAT_SystemInfoVarList._AppInf
otopcua-twincat-cli probe -n 192.168.1.40.1.1 -s MAIN.bRunning --type Bool
```
#### Health probe
The OtOpcUa server's TwinCAT driver runs an internal probe loop (PR 3.2, issue #314)
that — alongside the cheap `ReadStateAsync` reachability check — samples four
well-known system symbols once per probe interval and surfaces the result through
the cross-driver `driver-diagnostics` RPC (added for Modbus, task #154). The same
symbols can be probed directly via the CLI for ad-hoc troubleshooting:
```powershell
# Cycle time (UDINT, 100 ns ticks → ÷10000 for ms)
otopcua-twincat-cli probe -n 192.168.1.40.1.1 -s "TwinCAT_SystemInfoVarList._TaskInfo[1].CycleTime" --type UDInt
# Last task execution wall-clock (UDINT, 100 ns ticks → ÷10000 for ms)
otopcua-twincat-cli probe -n 192.168.1.40.1.1 -s "TwinCAT_SystemInfoVarList._TaskInfo[1].LastExecTime" --type UDInt
# Online-change count — increments on every accepted online change
otopcua-twincat-cli probe -n 192.168.1.40.1.1 -s "TwinCAT_SystemInfoVarList._AppInfo.OnlineChangeCnt" --type UDInt
# Loaded PLC project name (STRING(80))
otopcua-twincat-cli probe -n 192.168.1.40.1.1 -s "TwinCAT_SystemInfoVarList._AppInfo.AppName" --type String
```
Within the running OtOpcUa server these four signals land on
`DeviceState.LastDiagnostics` as a `TwinCATDeviceDiagnostics` record + are folded
into `DriverHealth.Diagnostics` keyed `TwinCAT.CycleTimeMs`, `TwinCAT.LastExecTimeMs`,
`TwinCAT.JitterMs` (computed `LastExecTimeMs - CycleTimeMs`),
`TwinCAT.OnlineChangeCnt`, and `TwinCAT.OnlineChangeIncrements`. See
`docs/drivers/TwinCAT-Test-Fixture.md §Diagnostics` for the full mapping.
### `read`
```powershell