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Auto: focas-f2b — multi-path/multi-channel CNC

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Adds optional `@N` path suffix to FocasAddress (PARAM:1815@2, R100@3.0,
MACRO:500@2, DIAG:280@2/1) with PathId defaulting to 1 for back-compat.
Per-device PathCount is discovered via cnc_rdpathnum at first connect and
cached on DeviceState; reads with PathId>PathCount return BadOutOfRange.
The driver issues cnc_setpath before each non-default-path read and
tracks LastSetPath so repeat reads on the same path skip the wire call.

Closes #264
This commit is contained in:
Joseph Doherty
2026-04-25 19:42:58 -04:00
parent 3b82f4f5fb
commit 2f3eeecd17
7 changed files with 478 additions and 17 deletions
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78
src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FocasAddress.cs
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@@ -16,27 +16,42 @@ namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
/// bit index when present is 0–7 and uses <c>.N</c> for PMC or <c>/N</c> for parameters.
/// Diagnostic addresses reuse the <c>/N</c> form to encode an axis index — <c>BitIndex</c>
/// carries the 1-based axis number (0 = whole-CNC diagnostic).
/// <para>
/// Multi-path / multi-channel CNCs (e.g. lathe + sub-spindle, dual-turret) expose multiple
/// "paths"; <see cref="PathId"/> selects which one a given address is read from. Encoded
/// as a trailing <c>@N</c> after the address body but before any bit / axis suffix —
/// <c>R100@2</c>, <c>PARAM:1815@2</c>, <c>PARAM:1815@2/0</c>, <c>MACRO:500@3</c>,
/// <c>DIAG:280@2/1</c>. Defaults to <c>1</c> for back-compat (single-path CNCs).
/// </para>
/// </remarks>
public sealed record FocasAddress(
FocasAreaKind Kind,
string? PmcLetter,
int Number,
int? BitIndex)
int? BitIndex,
int PathId = 1)
{
public string Canonical => Kind switch
public string Canonical
{
FocasAreaKind.Pmc => BitIndex is null
? $"{PmcLetter}{Number}"
: $"{PmcLetter}{Number}.{BitIndex}",
FocasAreaKind.Parameter => BitIndex is null
? $"PARAM:{Number}"
: $"PARAM:{Number}/{BitIndex}",
FocasAreaKind.Macro => $"MACRO:{Number}",
FocasAreaKind.Diagnostic => BitIndex is null or 0
? $"DIAG:{Number}"
: $"DIAG:{Number}/{BitIndex}",
_ => $"?{Number}",
};
get
{
var pathSuffix = PathId == 1 ? string.Empty : $"@{PathId}";
return Kind switch
{
FocasAreaKind.Pmc => BitIndex is null
? $"{PmcLetter}{Number}{pathSuffix}"
: $"{PmcLetter}{Number}{pathSuffix}.{BitIndex}",
FocasAreaKind.Parameter => BitIndex is null
? $"PARAM:{Number}{pathSuffix}"
: $"PARAM:{Number}{pathSuffix}/{BitIndex}",
FocasAreaKind.Macro => $"MACRO:{Number}{pathSuffix}",
FocasAreaKind.Diagnostic => BitIndex is null or 0
? $"DIAG:{Number}{pathSuffix}"
: $"DIAG:{Number}{pathSuffix}/{BitIndex}",
_ => $"?{Number}",
};
}
}
public static FocasAddress? TryParse(string? value)
{
@@ -52,7 +67,7 @@ public sealed record FocasAddress(
if (src.StartsWith("DIAG:", StringComparison.OrdinalIgnoreCase))
return ParseScoped(src["DIAG:".Length..], FocasAreaKind.Diagnostic, bitSeparator: '/');
// PMC path: letter + digits + optional .bit
// PMC path: letter + digits + optional @path + optional .bit
if (src.Length < 2 || !char.IsLetter(src[0])) return null;
var letter = src[0..1].ToUpperInvariant();
if (!IsValidPmcLetter(letter)) return null;
@@ -67,8 +82,15 @@ public sealed record FocasAddress(
bit = bitValue;
remainder = remainder[..dotIdx];
}
var pmcPath = 1;
var atIdx = remainder.IndexOf('@');
if (atIdx >= 0)
{
if (!TryParsePathId(remainder[(atIdx + 1)..], out pmcPath)) return null;
remainder = remainder[..atIdx];
}
if (!int.TryParse(remainder, out var number) || number < 0) return null;
return new FocasAddress(FocasAreaKind.Pmc, letter, number, bit);
return new FocasAddress(FocasAreaKind.Pmc, letter, number, bit, pmcPath);
}
private static FocasAddress? ParseScoped(string body, FocasAreaKind kind, char? bitSeparator)
@@ -85,8 +107,30 @@ public sealed record FocasAddress(
body = body[..slashIdx];
}
}
// Path suffix (@N) sits between the body number and any bit/axis (which has already
// been peeled off above): PARAM:1815@2/0 → body="1815@2", bit=0.
var path = 1;
var atIdx = body.IndexOf('@');
if (atIdx >= 0)
{
if (!TryParsePathId(body[(atIdx + 1)..], out path)) return null;
body = body[..atIdx];
}
if (!int.TryParse(body, out var number) || number < 0) return null;
return new FocasAddress(kind, PmcLetter: null, number, bit);
return new FocasAddress(kind, PmcLetter: null, number, bit, path);
}
private static bool TryParsePathId(string text, out int pathId)
{
// Path 0 is reserved (FOCAS path numbering is 1-based); upper-bound is the FWLIB
// ceiling — Fanuc spec lists 10 paths max even on the largest 30i-B configurations.
if (int.TryParse(text, out var v) && v is >= 1 and <= 10)
{
pathId = v;
return true;
}
pathId = 0;
return false;
}
private static bool IsValidPmcLetter(string letter) => letter switch