Recover stashed driver-gaps work from pre-v2-mxgw-merge working tree

Captures uncommitted work that lived in the working tree on v2-mxgw-integration but was orthogonal to the migration. Stashed during the v2-mxgw merge to master (2026-04-30) and replanted here on a feature branch off master so it's git-visible rather than living in the stash list. Two distinct buckets: 1. Tracked fixture/config refinements (10 files, ~36 lines): - scripts/e2e/test-opcuaclient.ps1 - src/ZB.MOM.WW.OtOpcUa.Admin/appsettings.json - 5 docker-compose.yml under tests/.../IntegrationTests/Docker/ (AbCip, Modbus, OpcUaClient, S7) - 4 fixture .cs files (AbServerFixture, ModbusSimulatorFixture, OpcPlcFixture, Snap7ServerFixture) 2. Untracked driver-gaps queue artifacts (~8000 lines): - docs/plans/{abcip,ablegacy,focas,opcuaclient,s7,twincat}-plan.md — per-driver gap plans - docs/featuregaps.md — cross-cutting analysis - docs/v2/focas-deployment.md, docs/v2/implementation/focas-simulator-plan.md - followup.md — auto/driver-gaps queue follow-ups - scripts/queue/ — PR-queue automation tooling (12 files including pr-manifest.yaml at 1473 lines) This commit is a snapshot for recoverability — review and split into focused PRs (or discard) before merging anywhere downstream. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
2026-04-30 08:28:01 -04:00
parent ae7106dfce
commit 2d07d716dc
33 changed files with 8074 additions and 14 deletions
--- a/scripts/queue/.label-ids.json
+++ b/scripts/queue/.label-ids.json
@@ -0,0 +1,21 @@
+{
+  "auto-managed": 10,
+  "cross-driver": 14,
+  "driver/abcip": 13,
+  "driver/ablegacy": 16,
+  "driver/focas": 11,
+  "driver/opcuaclient": 12,
+  "driver/s7": 19,
+  "driver/twincat": 17,
+  "phase/1": 8,
+  "phase/2": 7,
+  "phase/3": 6,
+  "phase/4": 5,
+  "phase/5": 4,
+  "phase/6": 3,
+  "queue/blocked": 2,
+  "queue/done": 15,
+  "queue/failed": 9,
+  "queue/in-progress": 1,
+  "queue/queued": 18
+}
--- a/scripts/queue/.partial-twincat.yaml
+++ b/scripts/queue/.partial-twincat.yaml
@@ -0,0 +1,320 @@
+- id: twincat-1.1
+  driver: twincat
+  phase: 1
+  plan_pr_id: "1.1"
+  title: "TwinCAT — Int64 fidelity for LINT/ULINT"
+  plan_anchor: "docs/plans/twincat-plan.md"
+  summary: |
+    Map LInt/ULInt to DriverDataType.Int64 instead of silently truncating to Int32.
+    The TwinCATDataType.cs:40 truncation comment "matches Int64 gap" is removed and
+    MapToClrType already returns long/ulong, so the wire-level read returns the
+    correct boxed types. May add Int64 to Core.Abstractions DriverDataType enum if
+    missing. Closes a long-standing fixture caveat noted in the test suite.
+  files:
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATDataType.cs"
+    - "src/ZB.MOM.WW.OtOpcUa.Core.Abstractions/DriverDataType.cs"
+  docs:
+    - "docs/Driver.TwinCAT.Cli.md"
+    - "docs/drivers/TwinCAT-Test-Fixture.md"
+  fixture:
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/GVLs/GVL_Primitives.TcGVL"
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/README.md"
+  e2e: []
+  effort: S
+  deps: []
+  cross_driver: false
+  notes: "Hardware-gated via TWINCAT_TARGET_NETID; no e2e change to test-twincat.ps1."
+
+- id: twincat-1.2
+  driver: twincat
+  phase: 1
+  plan_pr_id: "1.2"
+  title: "TwinCAT — TIME/DATE/DT/TOD as native UA types"
+  plan_anchor: "docs/plans/twincat-plan.md"
+  summary: |
+    Stop marshalling IEC TIME/DATE/DT/TOD as raw UDINT and convert to native UA
+    Duration/DateTime types via post-processing in ReadValueAsync, ConvertForWrite,
+    and OnAdsNotificationEx. May expose missing Duration in DriverDataType. CLI
+    syntax updates so users write ISO-8601 / IEC literals instead of numeric raw
+    values.
+  files:
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATDataType.cs"
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/AdsTwinCATClient.cs"
+  docs:
+    - "docs/Driver.TwinCAT.Cli.md"
+  fixture:
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/GVLs/GVL_Primitives.TcGVL"
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/README.md"
+  e2e: []
+  effort: M
+  deps: []
+  cross_driver: false
+  notes: "Hardware-gated via TWINCAT_TARGET_NETID. May add Duration to DriverDataType enum."
+
+- id: twincat-1.3
+  driver: twincat
+  phase: 1
+  plan_pr_id: "1.3"
+  title: "TwinCAT — Bit-indexed BOOL writes (read-modify-write)"
+  plan_anchor: "docs/plans/twincat-plan.md"
+  summary: |
+    Replace the NotSupportedException at AdsTwinCATClient.cs:99 with read-modify-write
+    on the parent word, serializing concurrent bit writes to the same parent via a
+    keyed SemaphoreSlim. Closes referenced task #181. CLI gains an example and the
+    fixture caveat in the bugs-caught list updates to note writes now work.
+  files:
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/AdsTwinCATClient.cs"
+  docs:
+    - "docs/Driver.TwinCAT.Cli.md"
+    - "docs/drivers/TwinCAT-Test-Fixture.md"
+  fixture: []
+  e2e: []
+  effort: S
+  deps: []
+  cross_driver: false
+  notes: "Reuses GVL_Primitives.vWord (0xBEEF) — no fixture schema change."
+
+- id: twincat-1.4
+  driver: twincat
+  phase: 1
+  plan_pr_id: "1.4"
+  title: "TwinCAT — Multi-dim and whole-array reads"
+  plan_anchor: "docs/plans/twincat-plan.md"
+  summary: |
+    Expand ReadValueAsync/WriteValueAsync to handle whole-array reads in a single
+    AdsClient call rather than element-by-element. Surface IsArray + ArrayDimensions
+    on TwinCATTagDefinition and through DriverAttributeInfo from DiscoverAsync. Sets
+    up the array-shape plumbing the rest of the driver needs.
+  files:
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/AdsTwinCATClient.cs"
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATDriver.cs"
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATDriverOptions.cs"
+  docs:
+    - "docs/Driver.TwinCAT.Cli.md"
+    - "docs/drivers/TwinCAT-Test-Fixture.md"
+  fixture:
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/GVLs/GVL_Arrays.TcGVL"
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/README.md"
+  e2e: []
+  effort: M
+  deps: []
+  cross_driver: false
+  notes: "Hardware-gated via TWINCAT_TARGET_NETID. New 5x5 aReal2D seed with deterministic pattern."
+
+- id: twincat-1.5
+  driver: twincat
+  phase: 1
+  plan_pr_id: "1.5"
+  title: "TwinCAT — ENUM and ALIAS at discovery"
+  plan_anchor: "docs/plans/twincat-plan.md"
+  summary: |
+    MapSymbolTypeName currently returns null for non-atomic types, dropping ENUM and
+    ALIAS symbols silently. Switch to inspecting symbol.DataType + Category from
+    TwinCAT.TypeSystem so DataTypeCategory.Enum walks EnumValues and Alias resolves
+    to base atomic recursively. Surface enum members for later EnumStrings rendering.
+    POINTER/REFERENCE/INTERFACE/UNION explicitly out of scope.
+  files:
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/AdsTwinCATClient.cs"
+  docs:
+    - "docs/Driver.TwinCAT.Cli.md"
+    - "docs/drivers/TwinCAT-Test-Fixture.md"
+  fixture:
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/README.md"
+  e2e: []
+  effort: M
+  deps: []
+  cross_driver: false
+  notes: "Reuses existing GVL_Enums + DUTs; only README integration-test contract entry added."
+
+- id: twincat-2.1
+  driver: twincat
+  phase: 2
+  plan_pr_id: "2.1"
+  title: "TwinCAT — ADS Sum-read / Sum-write"
+  plan_anchor: "docs/plans/twincat-plan.md"
+  summary: |
+    Replace per-tag ReadValueAsync loops with Beckhoff's ADS Sum commands
+    (IndexGroup 0xF080-0xF084) via SumSymbolRead/SumSymbolWrite to batch N
+    reads/writes per AMS request. Bucket fullReferences by DeviceHostAddress and
+    expose a new ReadValuesAsync surface on ITwinCATClient. Targets ~10x throughput
+    on multi-thousand-tag scans; perf-tier test gated behind TWINCAT_PERF=1.
+  files:
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/AdsTwinCATClient.cs"
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATDriver.cs"
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/ITwinCATClient.cs"
+  docs:
+    - "docs/v3/twincat-backlog.md"
+    - "docs/drivers/TwinCAT-Test-Fixture.md"
+  fixture:
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/GVLs/GVL_Perf.TcGVL"
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/README.md"
+  e2e: []
+  effort: L
+  deps: []
+  cross_driver: false
+  notes: "Perf test gated behind TWINCAT_PERF=1 plus TWINCAT_TARGET_NETID; new FB_PerfChurn POU."
+
+- id: twincat-2.2
+  driver: twincat
+  phase: 2
+  plan_pr_id: "2.2"
+  title: "TwinCAT — Handle-based access with caching"
+  plan_anchor: "docs/plans/twincat-plan.md"
+  summary: |
+    Cache CreateVariableHandleAsync results so per-read overhead drops to
+    read-by-handle (4-byte index vs N-byte symbol path). On
+    DeviceSymbolVersionInvalid (0x710) evict and retry once. Clear cache on
+    AdsClient reconnect until the symbol-version listener (PR 2.3) ships. Dispose
+    path calls DeleteVariableHandleAsync for cached handles.
+  files:
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/AdsTwinCATClient.cs"
+  docs:
+    - "docs/Driver.TwinCAT.Cli.md"
+    - "docs/drivers/TwinCAT-Test-Fixture.md"
+  fixture: []
+  e2e: []
+  effort: M
+  deps: []
+  cross_driver: false
+  notes: "Combines with PR 2.1 for sum-read-by-handle. Reuses GVL_Perf.aTags."
+
+- id: twincat-2.3
+  driver: twincat
+  phase: 2
+  plan_pr_id: "2.3"
+  title: "TwinCAT — Symbol-version invalidation listener"
+  plan_anchor: "docs/plans/twincat-plan.md"
+  summary: |
+    Register an AddDeviceNotificationAsync on the symbol-version index group
+    (AdsReservedIndexGroup.SymbolVersion 0xF008) so the handle cache from PR 2.2
+    is wiped on online-change bumps. Initial integration test gated as
+    requires-manual-online-change until automation lands. Resolves open question
+    (c) confirming the v6 enum constant.
+  files:
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/AdsTwinCATClient.cs"
+  docs:
+    - "docs/drivers/TwinCAT-Test-Fixture.md"
+  fixture:
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/README.md"
+  e2e: []
+  effort: M
+  deps: ["twincat-2.2"]
+  cross_driver: false
+  notes: "Hardware-gated via TWINCAT_TARGET_NETID; manual online-change drill documented in README."
+
+- id: twincat-3.1
+  driver: twincat
+  phase: 3
+  plan_pr_id: "3.1"
+  title: "TwinCAT — Per-tag MaxDelay tuning"
+  plan_anchor: "docs/plans/twincat-plan.md"
+  summary: |
+    Surface NotificationSettings MaxDelay as a per-tag option (default 0 to
+    preserve current behavior). Plumb int? MaxDelayMs through TwinCATTagDefinition,
+    SubscribeAsync, and AddNotificationAsync. Coalesces high-frequency PLC signals
+    so the OPC UA subscription queue stops flooding under bursty change rates.
+  files:
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATDriverOptions.cs"
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATDriver.cs"
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/AdsTwinCATClient.cs"
+  docs:
+    - "docs/Driver.TwinCAT.Cli.md"
+    - "docs/drivers/TwinCAT-Test-Fixture.md"
+  fixture:
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/README.md"
+  e2e: []
+  effort: S
+  deps: []
+  cross_driver: false
+  notes: "Reuses GVL_Fixture.nCounter as 100 Hz driver. Hardware-gated via TWINCAT_TARGET_NETID."
+
+- id: twincat-3.2
+  driver: twincat
+  phase: 3
+  plan_pr_id: "3.2"
+  title: "TwinCAT — Cycle-time / jitter / PLC-state diagnostics"
+  plan_anchor: "docs/plans/twincat-plan.md"
+  summary: |
+    Augment the probe loop to read _AppInfo.OnlineChangeCnt/AppName and
+    _TaskInfo[1].CycleTime/LastExecTime, surface as TwinCATDeviceDiagnostics on
+    DeviceState, and emit through IDriverDiagnostics (cross-driver surface from
+    Modbus task #154). Read system symbols directly without going through the user
+    browse filter.
+  files:
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATDriver.cs"
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATSystemSymbolFilter.cs"
+  docs:
+    - "docs/drivers/TwinCAT-Test-Fixture.md"
+    - "docs/Driver.TwinCAT.Cli.md"
+    - "docs/v3/twincat-backlog.md"
+  fixture:
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/README.md"
+  e2e: []
+  effort: M
+  deps: []
+  cross_driver: true
+  notes: "Reuses IDriverDiagnostics from Modbus task #154. Hardware-gated via TWINCAT_TARGET_NETID."
+
+- id: twincat-4.1
+  driver: twincat
+  phase: 4
+  plan_pr_id: "4.1"
+  title: "TwinCAT — Nested UDT browse via online type walker"
+  plan_anchor: "docs/plans/twincat-plan.md"
+  summary: |
+    Largest single piece of work. Recurse BrowseSymbolsAsync into IStructType.SubItems
+    yielding one TwinCATDiscoveredSymbol per leaf with dotted instance paths. Expand
+    arrays-of-structs up to a configurable bound (default 1024). Add a pure
+    TwinCATTypeWalker helper. Folds recursed structure into Discovered/ folder tree.
+    Online runtime path only — TMC offline parsing deferred per open question (a).
+  files:
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/AdsTwinCATClient.cs"
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATDriver.cs"
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATTypeWalker.cs"
+  docs:
+    - "docs/Driver.TwinCAT.Cli.md"
+    - "docs/drivers/TwinCAT-Test-Fixture.md"
+    - "docs/v3/twincat-backlog.md"
+  fixture:
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/ST_NestedFlags.TcDUT"
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/ST_RecursiveCap.TcDUT"
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/ST_AlarmRecord.TcDUT"
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/README.md"
+  e2e: []
+  effort: L
+  deps: ["twincat-1.5"]
+  cross_driver: false
+  notes: "Hardware-gated via TWINCAT_TARGET_NETID. PR 1.4 helpful but not blocking."
+
+- id: twincat-5.1
+  driver: twincat
+  phase: 5
+  plan_pr_id: "5.1"
+  title: "TwinCAT — IAlarmSource via TC3 EventLogger"
+  plan_anchor: "docs/plans/twincat-plan.md"
+  summary: |
+    Implement IAlarmSource over TcEventLogger on AMS port 110 so PLC alarms
+    surface as OPC UA AC events. Begins with a one-day spike (open question (b))
+    documented in docs/v3/twincat-eventlogger-spike.md to determine if a managed
+    wrapper exists or if we hit AMS port 110 directly via a secondary AdsClient
+    + AddDeviceNotificationAsync on the alarm-list index group. Gated by new
+    EnableAlarms option (default false).
+  files:
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATAlarmSource.cs"
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATDriver.cs"
+    - "src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATDriverOptions.cs"
+  docs:
+    - "docs/drivers/TwinCAT.md"
+    - "docs/v3/twincat-eventlogger-spike.md"
+    - "docs/Driver.TwinCAT.Cli.md"
+    - "docs/drivers/TwinCAT-Test-Fixture.md"
+  fixture:
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/POUs/FB_AlarmHarness.TcPOU"
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/GVLs/GVL_Alarms.TcGVL"
+    - "tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/README.md"
+  e2e:
+    - "scripts/e2e/test-twincat.ps1"
+  effort: L
+  deps: []
+  cross_driver: false
+  notes: "Hardware-gated via TWINCAT_TARGET_NETID. Spike-first; e2e Test-AlarmRoundTrip likely deferred to follow-up."
--- a/scripts/queue/README.md
+++ b/scripts/queue/README.md
@@ -0,0 +1,36 @@
+# Plan-execution queue
+
+Gitea-backed work queue that drives the per-driver implementation plans (`docs/plans/*-plan.md`) to completion in **Mode B** (autonomous: auto-merges into the `auto/driver-gaps` integration branch when build+tests pass).
+
+## Pieces
+
+- `pr-manifest.yaml` — canonical list of every PR across all six plans.
+- `setup-labels.sh` — idempotently creates the queue labels in Gitea.
+- `file-issues.sh` — files one Gitea issue per manifest entry (idempotent — skips ids that already exist).
+- `next-pr.sh` — picks the next eligible queue issue (queued, blockers all done) as JSON.
+- `start-pr.sh ISSUE BRANCH` — flips queued → in-progress and creates the branch off `auto/driver-gaps`.
+- `open-pr.sh ISSUE BRANCH TITLE BODY_FILE` — opens a PR from BRANCH into `auto/driver-gaps`.
+- `merge-pr.sh PR` — merges a PR with branch-delete (Mode B).
+- `finish-pr.sh ISSUE success PR` / `finish-pr.sh ISSUE failed REASON_FILE` — closes / marks failed.
+
+## Flow per loop iteration
+
+1. `next-pr.sh` → issue#, branch, canonical id.
+2. `start-pr.sh` → mark in-progress, create branch.
+3. Loop driver dispatches a Claude Agent to implement the PR on the branch.
+4. Loop runs `dotnet build` + `dotnet test`.
+5. On green: `open-pr.sh`, `merge-pr.sh`, `finish-pr.sh success`.
+6. On red: capture log → `finish-pr.sh failed log.txt`. Issue stays open with `queue/failed` label for retry.
+
+## Environment
+
+- Gitea repo: `dohertj2/lmxopcua` on `gitea.dohertylan.com`.
+- Token: read from `%LOCALAPPDATA%\tea\config.yml` (or `$GITEA_TOKEN` override).
+- Integration branch: `auto/driver-gaps` (created off master).
+- Per-PR branches: `auto/<driver>/<plan-pr-id>`.
+
+## Reset / debug
+
+- Re-list eligible issues: `bash scripts/queue/next-pr.sh`.
+- Manually unblock: remove `queue/blocked` label and add `queue/queued`.
+- Drop a failed PR back into queue: remove `queue/failed`, add `queue/queued`.
--- a/scripts/queue/file-issues.sh
+++ b/scripts/queue/file-issues.sh
@@ -0,0 +1,122 @@
+#!/usr/bin/env bash
+# Reads scripts/queue/pr-manifest.yaml and creates one Gitea issue per PR.
+# Idempotent: skips PRs whose canonical id already exists as an open issue.
+set -euo pipefail
+HERE="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+. "$HERE/lib.sh"
+
+if [ ! -f "$MANIFEST" ]; then
+  echo "manifest not found: $MANIFEST" >&2
+  exit 1
+fi
+
+# Collect existing canonical-id → issue# mapping (from queue-meta blocks)
+EXISTING_JSON=$(api_repo GET "issues?state=all&type=issues&limit=200&page=1")
+# multiple pages — keep paging until empty
+PAGE=2
+while :; do
+  PG=$(api_repo GET "issues?state=all&type=issues&limit=200&page=$PAGE")
+  COUNT=$(echo "$PG" | python -c "import sys,json; print(len(json.load(sys.stdin)))")
+  if [ "$COUNT" = "0" ]; then break; fi
+  EXISTING_JSON=$(python -c "import sys,json; a=json.loads(sys.argv[1]); b=json.loads(sys.argv[2]); print(json.dumps(a+b))" "$EXISTING_JSON" "$PG")
+  PAGE=$((PAGE+1))
+done
+
+python - "$MANIFEST" "$LABEL_MAP" <<'PY'
+import json, sys, re, yaml, urllib.request, os
+
+manifest_path, label_map_path = sys.argv[1], sys.argv[2]
+gitea_token = os.environ["GITEA_TOKEN"]
+api_base = "https://gitea.dohertylan.com/api/v1/repos/dohertj2/lmxopcua"
+
+with open(manifest_path) as f: manifest = yaml.safe_load(f)
+with open(label_map_path) as f: lmap = json.load(f)
+
+def api(method, path, data=None):
+    req = urllib.request.Request(
+        f"{api_base}/{path}",
+        method=method,
+        headers={
+            "Authorization": f"token {gitea_token}",
+            "Content-Type": "application/json",
+            "Accept": "application/json",
+        },
+        data=json.dumps(data).encode() if data else None,
+    )
+    with urllib.request.urlopen(req) as r:
+        return json.loads(r.read().decode())
+
+# Collect existing issues' canonical ids → issue#
+existing = {}
+page = 1
+while True:
+    items = api("GET", f"issues?state=all&type=issues&limit=50&page={page}")
+    if not items: break
+    for it in items:
+        m = re.search(r'<!-- queue-meta\s*(\{.*?\})\s*-->', it.get("body","") or "", re.S)
+        if m:
+            try:
+                meta = json.loads(m.group(1))
+                if "id" in meta:
+                    existing[meta["id"]] = it["number"]
+            except: pass
+    page += 1
+
+print(f"existing queue issues: {len(existing)}")
+
+filed = 0
+skipped = 0
+for pr in manifest["prs"]:
+    if pr["id"] in existing:
+        skipped += 1
+        continue
+    title = f"[{pr['driver']}] {pr['title']}"
+    meta = {
+        "id": pr["id"],
+        "driver": pr["driver"],
+        "phase": pr["phase"],
+        "plan_pr_id": pr.get("plan_pr_id",""),
+        "deps": pr.get("deps", []),
+        "cross_driver": pr.get("cross_driver", False),
+    }
+    body_parts = [
+        f"<!-- queue-meta\n{json.dumps(meta)}\n-->",
+        "## Auto-managed PR — Mode B (autonomous)",
+        f"**Driver**: `{pr['driver']}`  **Phase**: `{pr['phase']}`  **Plan PR**: `{pr.get('plan_pr_id','')}`",
+        f"**Plan**: [`{pr.get('plan_anchor','docs/plans/' + pr['driver'] + '-plan.md')}`]({pr.get('plan_anchor','../docs/plans/' + pr['driver'] + '-plan.md')})",
+        f"**Effort**: `{pr.get('effort','M')}`  **Cross-driver**: `{pr.get('cross_driver', False)}`",
+        "",
+        "## Summary",
+        pr.get("summary","_(see plan)_"),
+    ]
+    if pr.get("files"):
+        body_parts += ["", "## Source files", *[f"- `{f}`" for f in pr["files"]]]
+    if pr.get("docs"):
+        body_parts += ["", "## Docs", *[f"- `{d}`" for d in pr["docs"]]]
+    if pr.get("fixture"):
+        body_parts += ["", "## Fixture", *[f"- `{x}`" for x in pr["fixture"]]]
+    if pr.get("e2e"):
+        body_parts += ["", "## E2E", *[f"- `{x}`" for x in pr["e2e"]]]
+    if pr.get("deps"):
+        body_parts += ["", "## Depends on", *[f"- canonical: `{d}`" for d in pr["deps"]]]
+    if pr.get("notes"):
+        body_parts += ["", "## Notes", pr["notes"]]
+    body_parts += ["",
+                   "---",
+                   f"_Branch: `auto/{pr['driver']}/{pr.get('plan_pr_id','').replace('/','-')}`. Target: `auto/driver-gaps`._"]
+    body = "\n".join(body_parts)
+
+    label_names = [
+        f"driver/{pr['driver']}",
+        f"phase/{pr['phase']}",
+        "queue/queued",
+        "auto-managed",
+    ]
+    if pr.get("cross_driver"): label_names.append("cross-driver")
+    label_ids = [lmap[n] for n in label_names if n in lmap]
+    issue = api("POST", "issues", {"title": title, "body": body, "labels": label_ids})
+    print(f"  filed #{issue['number']}: {pr['id']}")
+    filed += 1
+
+print(f"\nfiled {filed}, skipped (existing) {skipped}")
+PY
--- a/scripts/queue/finish-pr.sh
+++ b/scripts/queue/finish-pr.sh
@@ -0,0 +1,39 @@
+#!/usr/bin/env bash
+# Closes the issue (success) or marks failed and reopens for retry.
+# Usage:
+#   finish-pr.sh ISSUE_NUM success PR_NUM
+#   finish-pr.sh ISSUE_NUM failed  REASON_FILE
+set -euo pipefail
+HERE="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+. "$HERE/lib.sh"
+
+ISSUE="${1:?ISSUE_NUM required}"
+RESULT="${2:?success|failed required}"
+ARG3="${3:?PR_NUM or REASON_FILE required}"
+
+INPROG=$(python -c "import json; print(json.load(open('$LABEL_MAP'))['queue/in-progress'])")
+DONE=$(python  -c "import json; print(json.load(open('$LABEL_MAP'))['queue/done'])")
+FAILED=$(python -c "import json; print(json.load(open('$LABEL_MAP'))['queue/failed'])")
+
+api_repo DELETE "issues/$ISSUE/labels/$INPROG" >/dev/null || true
+
+case "$RESULT" in
+  success)
+    PR_NUM="$ARG3"
+    api_repo POST "issues/$ISSUE/labels" "{\"labels\":[$DONE]}" >/dev/null
+    BODY=$(python -c "import json; print(json.dumps({'body':'✅ Auto-loop completed. Merged via PR #$PR_NUM.'}))")
+    api_repo POST "issues/$ISSUE/comments" "$BODY" >/dev/null
+    api_repo PATCH "issues/$ISSUE" '{"state":"closed"}' >/dev/null
+    echo "  issue #$ISSUE closed (PR #$PR_NUM merged)"
+    ;;
+  failed)
+    REASON_FILE="$ARG3"
+    REASON=$(cat "$REASON_FILE" 2>/dev/null | head -c 4000 || echo "(no reason file)")
+    api_repo POST "issues/$ISSUE/labels" "{\"labels\":[$FAILED]}" >/dev/null
+    BODY=$(python -c "import json,sys; r=open('$REASON_FILE').read()[:4000] if __import__('os').path.exists('$REASON_FILE') else '(no log)'; print(json.dumps({'body':'❌ Auto-loop failed.\n\n\`\`\`\n'+r+'\n\`\`\`'}))")
+    api_repo POST "issues/$ISSUE/comments" "$BODY" >/dev/null
+    echo "  issue #$ISSUE marked failed (still open for retry)"
+    ;;
+  *)
+    echo "unknown result: $RESULT" >&2; exit 1 ;;
+esac
--- a/scripts/queue/lib.sh
+++ b/scripts/queue/lib.sh
@@ -0,0 +1,57 @@
+#!/usr/bin/env bash
+# Shared helpers for the Gitea-backed plan-execution queue.
+set -euo pipefail
+
+GITEA_URL="https://gitea.dohertylan.com"
+GITEA_REPO="dohertj2/lmxopcua"
+GITEA_API="$GITEA_URL/api/v1"
+
+if [ -z "${GITEA_TOKEN:-}" ]; then
+  TEA_CONFIG="${LOCALAPPDATA:-$HOME/AppData/Local}/tea/config.yml"
+  if [ ! -f "$TEA_CONFIG" ]; then
+    TEA_CONFIG="$HOME/.config/tea/config.yml"
+  fi
+  GITEA_TOKEN="$(awk '/token:/{gsub(/[ \t]/,"",$2); print $2; exit}' "$TEA_CONFIG" 2>/dev/null || true)"
+fi
+if [ -z "${GITEA_TOKEN:-}" ]; then
+  echo "lib.sh: GITEA_TOKEN not set and tea config not readable" >&2
+  exit 1
+fi
+export GITEA_TOKEN
+
+INTEGRATION_BRANCH="auto/driver-gaps"
+QUEUE_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && { pwd -W 2>/dev/null || pwd; })"
+REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && { pwd -W 2>/dev/null || pwd; })"
+MANIFEST="$QUEUE_ROOT/pr-manifest.yaml"
+LABEL_MAP="$QUEUE_ROOT/.label-ids.json"
+
+LABEL_QUEUED="queue/queued"
+LABEL_IN_PROGRESS="queue/in-progress"
+LABEL_BLOCKED="queue/blocked"
+LABEL_FAILED="queue/failed"
+LABEL_DONE="queue/done"
+LABEL_AUTO="auto-managed"
+LABEL_CROSS="cross-driver"
+
+api() {
+  local method="$1" path="$2" data="${3:-}"
+  if [ -n "$data" ]; then
+    curl -sf -X "$method" \
+      -H "Authorization: token $GITEA_TOKEN" \
+      -H "Content-Type: application/json" \
+      -d "$data" \
+      "$GITEA_API/$path"
+  else
+    curl -sf -X "$method" \
+      -H "Authorization: token $GITEA_TOKEN" \
+      "$GITEA_API/$path"
+  fi
+}
+
+api_repo() {
+  api "$1" "repos/$GITEA_REPO/$2" "${3:-}"
+}
+
+label_id() {
+  python -c "import json,sys; m=json.load(open('$LABEL_MAP')); print(m['$1'])"
+}
--- a/scripts/queue/loop-iteration.md
+++ b/scripts/queue/loop-iteration.md
@@ -0,0 +1,57 @@
+# Loop iteration prompt (Mode B autonomous)
+
+This is the single self-contained prompt that `/loop` re-fires until the queue empties. Each iteration handles exactly one PR end-to-end.
+
+---
+
+You are running one iteration of the autonomous plan-execution loop. The queue lives in Gitea at `dohertj2/lmxopcua`. Helpers: `scripts/queue/*.sh`.
+
+## Step 1 — pick the next PR
+Run `bash scripts/queue/next-pr.sh`. It returns JSON.
+- If `{"empty": true}` → the queue is drained. **Do not call ScheduleWakeup.** Report "queue empty — loop terminating" and exit. The /loop will end.
+- Otherwise parse: `issue_num`, `canonical_id`, `driver`, `phase`, `plan_pr_id`, `branch`, `title`, `url`.
+
+## Step 2 — claim it
+Run `bash scripts/queue/start-pr.sh "$ISSUE_NUM" "$BRANCH"`. This swaps `queue/queued` → `queue/in-progress` and creates the branch off `auto/driver-gaps`.
+
+## Step 3 — pull the issue body
+Run `curl -sf -H "Authorization: token $(awk '/token:/{print $2}' "$LOCALAPPDATA/tea/config.yml")" "https://gitea.dohertylan.com/api/v1/repos/dohertj2/lmxopcua/issues/$ISSUE_NUM"` and extract the `body` field. The body contains the Plan link, summary, source files, docs/fixture/e2e files.
+
+## Step 4 — implement on a worktree
+Dispatch a general-purpose Agent with `isolation: "worktree"`. Brief it with:
+- the issue body verbatim
+- the linked plan section (read `docs/plans/<driver>-plan.md` and quote the relevant per-PR detail)
+- explicit instructions: implement the source-file changes, the doc updates, the fixture extensions, and the e2e test additions named in the issue
+- run `dotnet build c:/Users/dohertj2/Desktop/lmxopcua/ZB.MOM.WW.OtOpcUa.slnx` until green
+- run `dotnet test` for the relevant test project until green
+- commit on `$BRANCH` with message `Auto: <canonical_id> — <short summary>` followed by `Closes #$ISSUE_NUM`
+- return a brief summary of what changed
+
+## Step 5 — verify and push
+Verify the agent did commit + push. If branch isn't pushed, push it: `git push origin "$BRANCH"`.
+
+## Step 6 — open PR
+Build a body file: include the issue summary + the agent's summary. Then:
+```
+PR_NUM=$(bash scripts/queue/open-pr.sh "$ISSUE_NUM" "$BRANCH" "$TITLE" /tmp/pr-body.md)
+```
+
+## Step 7 — auto-merge (Mode B)
+Run `bash scripts/queue/merge-pr.sh "$PR_NUM"`.
+
+## Step 8 — close issue
+Run `bash scripts/queue/finish-pr.sh "$ISSUE_NUM" success "$PR_NUM"`.
+
+## On failure
+If anywhere from Step 4 onward fails (build red, tests red, agent gives up, push fails, merge conflict):
+- write the failure log to `/tmp/loop-fail-$ISSUE_NUM.log`
+- run `bash scripts/queue/finish-pr.sh "$ISSUE_NUM" failed /tmp/loop-fail-$ISSUE_NUM.log`
+- the issue keeps `queue/failed` and stays open for retry
+- **do not** retry the same issue this iteration; let the loop pick a different one next fire
+
+## Re-arm
+At the very end of the iteration (success OR failure), call `ScheduleWakeup` with the same `/loop` prompt and `delaySeconds: 60` to fire the next iteration.
+
+If the queue was empty in Step 1, do NOT call ScheduleWakeup.
+
+Report a one-line summary to the user before re-arming.
--- a/scripts/queue/merge-pr.sh
+++ b/scripts/queue/merge-pr.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+# Merges a PR (Mode B autonomous merge into auto/driver-gaps).
+# Usage: merge-pr.sh PR_NUM
+set -euo pipefail
+HERE="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+. "$HERE/lib.sh"
+
+PR="${1:?PR_NUM required}"
+PAYLOAD='{"Do":"merge","delete_branch_after_merge":true}'
+api_repo POST "pulls/$PR/merge" "$PAYLOAD" >/dev/null
+echo "  PR #$PR merged into $INTEGRATION_BRANCH (branch deleted)"
--- a/scripts/queue/next-pr.sh
+++ b/scripts/queue/next-pr.sh
@@ -0,0 +1,77 @@
+#!/usr/bin/env bash
+# Prints the next eligible queue issue as JSON: {issue_num, canonical_id, driver, plan_pr_id, branch, ...}
+# Eligible = open + label queue/queued + all canonical deps closed.
+# Picks lowest phase first, then lowest issue number within phase.
+set -euo pipefail
+HERE="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+. "$HERE/lib.sh"
+
+python - <<PY
+import json, urllib.request, re, os, sys
+
+token = os.environ["GITEA_TOKEN"]
+api_base = "https://gitea.dohertylan.com/api/v1/repos/dohertj2/lmxopcua"
+
+def api(path):
+    req = urllib.request.Request(f"{api_base}/{path}",
+        headers={"Authorization": f"token {token}"})
+    with urllib.request.urlopen(req) as r:
+        return json.loads(r.read().decode())
+
+# Gather all queue issues
+issues = []
+page = 1
+while True:
+    items = api(f"issues?state=all&type=issues&limit=50&page={page}&labels=auto-managed")
+    if not items: break
+    issues.extend(items)
+    page += 1
+
+by_id = {}
+for it in issues:
+    m = re.search(r'<!-- queue-meta\s*(\{.*?\})\s*-->', it.get("body","") or "", re.S)
+    if not m: continue
+    try: meta = json.loads(m.group(1))
+    except: continue
+    by_id[meta["id"]] = (it, meta)
+
+def is_done(issue):
+    if issue["state"] == "closed": return True
+    labels = {l["name"] for l in issue["labels"]}
+    return "queue/done" in labels
+
+eligible = []
+for cid, (it, meta) in by_id.items():
+    labels = {l["name"] for l in it["labels"]}
+    if it["state"] != "open": continue
+    if "queue/queued" not in labels: continue
+    deps = meta.get("deps", [])
+    blocked = False
+    for d in deps:
+        if d not in by_id:
+            blocked = True; break
+        if not is_done(by_id[d][0]):
+            blocked = True; break
+    if blocked: continue
+    eligible.append((meta.get("phase",99), it["number"], cid, it, meta))
+
+if not eligible:
+    print(json.dumps({"empty": True}))
+    sys.exit(0)
+
+eligible.sort(key=lambda x: (x[0], x[1]))
+phase, num, cid, it, meta = eligible[0]
+plan_pr = meta.get("plan_pr_id","").replace("/","-")
+result = {
+    "empty": False,
+    "issue_num": num,
+    "canonical_id": cid,
+    "driver": meta["driver"],
+    "phase": meta["phase"],
+    "plan_pr_id": meta.get("plan_pr_id",""),
+    "title": it["title"],
+    "branch": f"auto/{meta['driver']}/{plan_pr}",
+    "url": it["html_url"],
+}
+print(json.dumps(result, indent=2))
+PY
--- a/scripts/queue/open-pr.sh
+++ b/scripts/queue/open-pr.sh
@@ -0,0 +1,24 @@
+#!/usr/bin/env bash
+# Opens a PR from BRANCH into auto/driver-gaps, references the issue, sets ready/draft.
+# Usage: open-pr.sh ISSUE_NUM BRANCH_NAME TITLE BODY_FILE
+# Echoes the PR number on stdout.
+set -euo pipefail
+HERE="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+. "$HERE/lib.sh"
+
+ISSUE="${1:?}"; BRANCH="${2:?}"; TITLE="${3:?}"; BODY_FILE="${4:?}"
+
+BODY=$(cat "$BODY_FILE")
+PAYLOAD=$(python -c "
+import json, sys
+print(json.dumps({
+    'title': sys.argv[1],
+    'body':  sys.argv[2] + '\n\nCloses #' + sys.argv[3],
+    'head':  sys.argv[4],
+    'base':  sys.argv[5],
+}))
+" "$TITLE" "$BODY" "$ISSUE" "$BRANCH" "$INTEGRATION_BRANCH")
+
+PR=$(api_repo POST pulls "$PAYLOAD")
+PR_NUM=$(echo "$PR" | python -c "import sys,json; print(json.load(sys.stdin)['number'])")
+echo "$PR_NUM"
--- a/scripts/queue/pr-manifest.yaml
+++ b/scripts/queue/pr-manifest.yaml
--- a/scripts/queue/setup-labels.sh
+++ b/scripts/queue/setup-labels.sh
@@ -0,0 +1,58 @@
+#!/usr/bin/env bash
+# Idempotent: creates queue labels in Gitea and stores name→id map at .label-ids.json
+set -euo pipefail
+HERE="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+. "$HERE/lib.sh"
+
+declare -A LABELS=(
+  ["driver/abcip"]="0e8a16"
+  ["driver/ablegacy"]="0e8a16"
+  ["driver/focas"]="0e8a16"
+  ["driver/opcuaclient"]="0e8a16"
+  ["driver/s7"]="0e8a16"
+  ["driver/twincat"]="0e8a16"
+  ["phase/1"]="bfd4f2"
+  ["phase/2"]="bfd4f2"
+  ["phase/3"]="bfd4f2"
+  ["phase/4"]="bfd4f2"
+  ["phase/5"]="bfd4f2"
+  ["phase/6"]="bfd4f2"
+  ["queue/queued"]="d4c5f9"
+  ["queue/in-progress"]="fbca04"
+  ["queue/blocked"]="b60205"
+  ["queue/failed"]="b60205"
+  ["queue/done"]="2ea44f"
+  ["auto-managed"]="cccccc"
+  ["cross-driver"]="d93f0b"
+)
+
+# Pull existing labels
+EXISTING=$(api_repo GET "labels?limit=200")
+
+emit_map() {
+  python - <<PY
+import json, sys
+existing = json.loads('''$EXISTING''')
+print(json.dumps({l['name']: l['id'] for l in existing}, indent=2))
+PY
+}
+
+# Create any missing
+for name in "${!LABELS[@]}"; do
+  color="${LABELS[$name]}"
+  exists=$(echo "$EXISTING" | python -c "import json,sys; ls=json.load(sys.stdin); print('yes' if any(l['name']=='$name' for l in ls) else 'no')")
+  if [ "$exists" = "no" ]; then
+    payload=$(python -c "import json; print(json.dumps({'name':'$name','color':'#$color','description':'queue management'}))")
+    api_repo POST labels "$payload" >/dev/null
+    echo "created label: $name"
+  fi
+done
+
+# Refresh and write the map file
+api_repo GET "labels?limit=200" | python -c "
+import json, sys
+ls = json.load(sys.stdin)
+m = {l['name']: l['id'] for l in ls}
+open('$LABEL_MAP','w').write(json.dumps(m, indent=2))
+print(f'wrote {len(m)} labels to $LABEL_MAP')
+"
--- a/scripts/queue/start-pr.sh
+++ b/scripts/queue/start-pr.sh
@@ -0,0 +1,31 @@
+#!/usr/bin/env bash
+# Marks an issue in-progress and creates its branch off the integration branch.
+# Usage: start-pr.sh ISSUE_NUM BRANCH_NAME
+set -euo pipefail
+HERE="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+. "$HERE/lib.sh"
+
+ISSUE="${1:?ISSUE_NUM required}"
+BRANCH="${2:?BRANCH_NAME required}"
+
+# Swap labels: queued -> in-progress
+QUEUED=$(python -c "import json; print(json.load(open('$LABEL_MAP'))['queue/queued'])")
+INPROG=$(python -c "import json; print(json.load(open('$LABEL_MAP'))['queue/in-progress'])")
+
+api_repo DELETE "issues/$ISSUE/labels/$QUEUED" >/dev/null || true
+api_repo POST   "issues/$ISSUE/labels"          "{\"labels\":[$INPROG]}" >/dev/null
+
+# Create branch off integration
+EXISTS=$(api_repo GET "branches/$BRANCH" 2>/dev/null || echo "")
+if [ -z "$EXISTS" ]; then
+  PAYLOAD=$(python -c "import json; print(json.dumps({'new_branch_name':'$BRANCH','old_branch_name':'$INTEGRATION_BRANCH'}))")
+  api_repo POST branches "$PAYLOAD" >/dev/null
+  echo "  branch created: $BRANCH"
+else
+  echo "  branch exists: $BRANCH"
+fi
+
+# Comment
+COMMENT=$(python -c "import json; print(json.dumps({'body':'🤖 Auto-loop picked this up. Branch: \`$BRANCH\`. Status: in-progress.'}))")
+api_repo POST "issues/$ISSUE/comments" "$COMMENT" >/dev/null
+echo "  issue #$ISSUE marked in-progress"