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fix(driver-twincat): resolve Low code-review findings (Driver.TwinCAT-004,006,014,015,016)

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- Driver.TwinCAT-004: corrected the IEC time-type inline comments;
  documented that the driver currently surfaces them as raw UInt32
  counters.
- Driver.TwinCAT-006: ResolveHost returns a documented UnresolvedHost
  sentinel when no devices are configured instead of returning the
  logical DriverInstanceId (which never matches GetHostStatuses).
- Driver.TwinCAT-014: wired Probe.Timeout into the probe-loop call and
  added a NotificationMaxDelayMs config knob threaded through
  AddNotificationAsync.
- Driver.TwinCAT-015: Dispose() runs a genuinely synchronous teardown
  with bounded waits (no sync-over-async deadlock pattern).
- Driver.TwinCAT-016: pinned the Structure-tag rejection and the
  probe-loop vs read disposal race with regression tests.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Joseph Doherty
2026-05-23 08:17:42 -04:00
parent bccff1339d
commit 3c75db7eb6
11 changed files with 389 additions and 27 deletions
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src/Drivers/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATDriver.cs
+64 -5
View File
@@ -377,6 +377,7 @@ public sealed class TwinCATDriver : IDriver, IReadable, IWritable, ITagDiscovery
var reg = await client.AddNotificationAsync(
symbolName, def.DataType, bitIndex, publishingInterval,
_options.NotificationMaxDelayMs,
(_, value) => OnDataChange?.Invoke(this,
new DataChangeEventArgs(handle, reference, new DataValueSnapshot(
value, TwinCATStatusMapper.Good, DateTime.UtcNow, DateTime.UtcNow))),
@@ -433,7 +434,10 @@ public sealed class TwinCATDriver : IDriver, IReadable, IWritable, ITagDiscovery
var success = false;
try
{
var client = await EnsureConnectedAsync(state, ct).ConfigureAwait(false);
// Probe-initiated connects honor TwinCATProbeOptions.Timeout — distinct from
// the driver-wide _options.Timeout used by reads/writes (Driver.TwinCAT-014).
var client = await EnsureConnectedAsync(state, ct, _options.Probe.Timeout)
.ConfigureAwait(false);
success = await client.ProbeAsync(ct).ConfigureAwait(false);
}
catch (OperationCanceledException) when (ct.IsCancellationRequested) { break; }
@@ -469,11 +473,25 @@ public sealed class TwinCATDriver : IDriver, IReadable, IWritable, ITagDiscovery
// ---- IPerCallHostResolver ----
/// <summary>
/// Documented sentinel returned by <see cref="ResolveHost"/> when neither the tag nor a
/// fallback device is configured. Empty-string never matches an
/// <see cref="HostConnectivityStatus.HostName"/> emitted by this driver (every real
/// host is an <c>ads://…</c> URI), so it cleanly signals "unresolved" without colliding
/// with a real host key. Used to be <see cref="DriverInstanceId"/>, which is a logical
/// config-DB identifier — that collided with consumers who expected the resolver and the
/// connectivity-status table to share keys (Driver.TwinCAT-006).
/// </summary>
public const string UnresolvedHostSentinel = "";
public string ResolveHost(string fullReference)
{
if (_tagsByName.TryGetValue(fullReference, out var def))
return def.DeviceHostAddress;
return _options.Devices.FirstOrDefault()?.HostAddress ?? DriverInstanceId;
// First device's HostAddress when one exists; otherwise the unresolved sentinel —
// intentionally NOT DriverInstanceId, which is a config-DB key, not a host address
// (Driver.TwinCAT-006).
return _options.Devices.FirstOrDefault()?.HostAddress ?? UnresolvedHostSentinel;
}
/// <summary>
@@ -484,7 +502,8 @@ public sealed class TwinCATDriver : IDriver, IReadable, IWritable, ITagDiscovery
/// AB-CIP drivers serialize device access the same way; single-connection-per-PLC is
/// also what docs/v2/driver-specs.md recommends.
/// </summary>
private async Task<ITwinCATClient> EnsureConnectedAsync(DeviceState device, CancellationToken ct)
private async Task<ITwinCATClient> EnsureConnectedAsync(
DeviceState device, CancellationToken ct, TimeSpan? timeoutOverride = null)
{
// Fast path — already connected, no gate needed.
if (device.Client is { IsConnected: true } fast) return fast;
@@ -504,9 +523,13 @@ public sealed class TwinCATDriver : IDriver, IReadable, IWritable, ITagDiscovery
var client = _clientFactory.Create();
client.OnSymbolVersionChanged += HandleSymbolVersionChanged;
// timeoutOverride lets the probe loop use TwinCATProbeOptions.Timeout for probe-
// initiated connects rather than the driver-level _options.Timeout
// (Driver.TwinCAT-014). Reads / writes pass null and get the driver default.
var effectiveTimeout = timeoutOverride ?? _options.Timeout;
try
{
await client.ConnectAsync(device.ParsedAddress, _options.Timeout, ct)
await client.ConnectAsync(device.ParsedAddress, effectiveTimeout, ct)
.ConfigureAwait(false);
_logger.LogInformation(
"TwinCAT driver '{DriverInstanceId}' connected to {HostAddress}",
@@ -542,7 +565,43 @@ public sealed class TwinCATDriver : IDriver, IReadable, IWritable, ITagDiscovery
"TwinCAT symbol-version-changed (DeviceSymbolVersionInvalid 0x0711) — PLC program re-downloaded",
ScopeHint: "TwinCAT"));
public void Dispose() => DisposeAsync().AsTask().GetAwaiter().GetResult();
/// <summary>
/// Synchronous teardown — no <c>await</c>, no captured sync context. The OPC UA stack
/// thread can call <see cref="Dispose"/>; routing through <c>DisposeAsync().GetResult()</c>
/// can deadlock on a single-threaded sync context (Driver.TwinCAT-015,
/// docs/v2/driver-stability.md). The operations here are all genuinely synchronous —
/// cancel tokens, wait on task handles with a hard timeout, dispose clients — so a
/// synchronous path does the right thing without re-entering the scheduler.
/// </summary>
public void Dispose()
{
// Dispose native subscriptions first — handle disposal is sync.
foreach (var sub in _nativeSubs.Values)
foreach (var r in sub.Registrations) { try { r.Dispose(); } catch { } }
_nativeSubs.Clear();
// PollGroupEngine.DisposeAsync awaits loop tasks; we drive that synchronously here
// (bounded wait — same 5s ceiling DisposeAsync uses internally) using Wait() on the
// returned ValueTask so no sync-context capture happens.
try { _poll.DisposeAsync().AsTask().Wait(TimeSpan.FromSeconds(5)); } catch { }
foreach (var state in _devices.Values)
{
try { state.ProbeCts?.Cancel(); } catch { }
if (state.ProbeTask is Task pt)
{
try { pt.Wait(TimeSpan.FromSeconds(2)); } catch { /* probe-cancel races are expected */ }
}
state.ProbeCts?.Dispose();
state.ProbeCts = null;
state.DisposeClient();
state.DisposeGate();
}
_devices.Clear();
_tagsByName.Clear();
_health = new DriverHealth(DriverState.Unknown, _health.LastSuccessfulRead, null);
}
public async ValueTask DisposeAsync() => await ShutdownAsync(CancellationToken.None).ConfigureAwait(false);
internal sealed class DeviceState(TwinCATAmsAddress parsedAddress, TwinCATDeviceOptions options)