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feat(focas): scale axis positions by 10^PositionDecimalPlaces (config-supplied)

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This commit is contained in:
Joseph Doherty
2026-06-16 05:32:36 -04:00
parent fcb3801415
commit 4973075291
4 changed files with 182 additions and 9 deletions
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src/Drivers/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FocasDriver.cs
+21 -7
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@@ -819,10 +819,19 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, ITagDiscovery,
private static void PublishAxisSnapshot(DeviceState state, FocasAxisName axis, FocasDynamicSnapshot snap)
{
var host = state.Options.HostAddress;
state.LastFixedSnapshots[FixedTreeReference(host, $"Axes/{axis.Display}/AbsolutePosition")] = snap.AbsolutePosition;
state.LastFixedSnapshots[FixedTreeReference(host, $"Axes/{axis.Display}/MachinePosition")] = snap.MachinePosition;
state.LastFixedSnapshots[FixedTreeReference(host, $"Axes/{axis.Display}/RelativePosition")] = snap.RelativePosition;
state.LastFixedSnapshots[FixedTreeReference(host, $"Axes/{axis.Display}/DistanceToGo")] = snap.DistanceToGo;
// cnc_rddynamic2 returns positions as scaled integers; divide by
// 10^PositionDecimalPlaces so they surface in engineering units on the Float64
// axis nodes. PositionDecimalPlaces is clamped non-negative at config parse, and a
// value of 0 yields factor 1.0 — i.e. the integer widened to double, byte-identical
// to legacy behaviour (12345 / 1.0 == 12345.0). FeedRate / SpindleSpeed (rate
// snapshot) and ServoLoad are NOT position-scaled and are published elsewhere.
var factor = state.Options.PositionDecimalPlaces > 0
? Math.Pow(10, state.Options.PositionDecimalPlaces)
: 1.0;
state.LastFixedSnapshots[FixedTreeReference(host, $"Axes/{axis.Display}/AbsolutePosition")] = snap.AbsolutePosition / factor;
state.LastFixedSnapshots[FixedTreeReference(host, $"Axes/{axis.Display}/MachinePosition")] = snap.MachinePosition / factor;
state.LastFixedSnapshots[FixedTreeReference(host, $"Axes/{axis.Display}/RelativePosition")] = snap.RelativePosition / factor;
state.LastFixedSnapshots[FixedTreeReference(host, $"Axes/{axis.Display}/DistanceToGo")] = snap.DistanceToGo / factor;
}
private static void PublishRateSnapshot(DeviceState state, FocasDynamicSnapshot snap)
@@ -879,7 +888,7 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, ITagDiscovery,
{
if (!reference.StartsWith(state.Options.HostAddress + "/", StringComparison.OrdinalIgnoreCase)) continue;
if (state.LastFixedSnapshots.TryGetValue(reference, out var raw))
return new DataValueSnapshot((double)raw, FocasStatusMapper.Good, now, now);
return new DataValueSnapshot(raw, FocasStatusMapper.Good, now, now);
// Servo-load match: reference shape is "{host}/Axes/{name}/ServoLoad"
var suffixFull = reference[(state.Options.HostAddress.Length + 1)..];
@@ -1150,8 +1159,13 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, ITagDiscovery,
public CancellationTokenSource? FixedTreeCts { get; set; }
/// <summary>Gets or sets the fixed-tree cache for this device.</summary>
public FocasFixedTreeCache? FixedTreeCache { get; set; }
/// <summary>Gets the last fixed tree snapshots by field name.</summary>
public Dictionary<string, int> LastFixedSnapshots { get; } = new(StringComparer.OrdinalIgnoreCase);
/// <summary>
/// Gets the last fixed-tree snapshots by field name. Double-typed so axis
/// positions can carry the <c>10^PositionDecimalPlaces</c> engineering-unit
/// scale applied at <see cref="PublishAxisSnapshot"/>; integer fields
/// (feed rate, spindle speed) widen to double on store.
/// </summary>
public Dictionary<string, double> LastFixedSnapshots { get; } = new(StringComparer.OrdinalIgnoreCase);
/// <summary>Gets or sets the last program information snapshot.</summary>
public FocasProgramInfo? LastProgramInfo { get; set; }
/// <summary>Gets or sets the cached first-axis dynamic snapshot — feeds Program/Number, /MainNumber, /Sequence.</summary>