FOCAS — retire Tier-C split, inline managed wire client, make read-only
Migration closes the FOCAS Tier-C architecture. OtOpcUa previously had
`Driver.FOCAS.Host` (NSSM-wrapped Windows service loading Fwlib64.dll via
P/Invoke) + `Driver.FOCAS.Shared` (MessagePack IPC contracts) + a C shim
DLL stand-in for unit tests. All of it is deleted; the driver is now a
single in-process managed assembly talking the FOCAS/2 Ethernet binary
protocol directly on TCP:8193.
Architecture
- Pure-managed `FocasWireClient` inlined at `src/.../Driver.FOCAS/Wire/`
(owner-imported — see Wire/FocasWireClient.cs for the full surface).
Opens two TCP sockets, runs the initiate handshake, serialises requests
on socket 2 through a semaphore, closes cleanly with PDU + socket
teardown. Both sync `IDisposable` and async `IAsyncDisposable`.
- `WireFocasClient` (same folder) adapts the wire client to OtOpcUa's
`IFocasClient` surface — fixed-tree reads, PARAM/MACRO/PMC addresses,
alarms. Writes return `BadNotWritable` by design — OtOpcUa is read-only
against FOCAS.
- `FocasDriverFactoryExtensions` now accepts `"Backend": "wire"` (default)
and `"Backend": "unimplemented"`. Legacy `ipc` and `fwlib` backends are
rejected at startup with a diagnostic pointing at the migration doc.
Deletions
- `src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Host/` — whole project + Ipc/,
Backend/, Stability/, Program.cs.
- `src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Shared/` — Contracts/, FrameReader,
FrameWriter, whole project.
- `tests/...Driver.FOCAS.Host.Tests/` + `.Shared.Tests/` — whole projects.
- `src/.../Driver.FOCAS/FwlibNative.cs` + `FwlibFocasClient.cs` — 21
P/Invokes + 7 `Pack=1` marshalling structs + the Fwlib-backed
`IFocasClient` implementation.
- `src/.../Driver.FOCAS/Ipc/` + `Supervisor/` — IPC client wrapper +
Host-process supervisor (backoff, circuit breaker, heartbeat, post-
mortem reader, process launcher).
- `scripts/install/Install-FocasHost.ps1` — NSSM service installer.
- `tests/.../Driver.FOCAS.Tests/{IpcFocasClientTests, IpcLoopback,
FwlibNativeHelperTests, PostMortemReaderCompatibilityTests,
SupervisorTests, FocasDriverFactoryExtensionsTests}.cs` — tests that
exercised the retired surfaces.
- `tests/.../Driver.FOCAS.IntegrationTests/Shim/` — the zig-built C shim
DLL that masqueraded as Fwlib64.dll.
Solution changes
- `ZB.MOM.WW.OtOpcUa.slnx` drops the 4 retired project refs.
- `src/.../Driver.FOCAS.csproj` drops the Shared ProjectReference, adds
`Microsoft.Extensions.Logging.Abstractions` for the optional `ILogger`
hook in `FocasWireClient`.
- `src/.../Driver.FOCAS.Cli.csproj` drops the six `<Content Include>`
entries that copied `vendor/fanuc/*.dll` into the CLI bin. CLI now uses
`WireFocasClient` directly.
- `FocasDriver` default factory flips to `Wire.WireFocasClientFactory`.
Integration tests
- New `tests/.../Driver.FOCAS.IntegrationTests/` project covering fixed-
tree reads (identity, axes, dynamic, program, operation mode, timers,
spindle load + max RPM, servo meters), user-authored PARAM / MACRO /
PMC reads, `DiscoverAsync` emission, `SubscribeAsync` + `OnDataChange`,
`IAlarmSource` raise/clear transitions, and `ProbeAsync` /
`OnHostStatusChanged`. 9 e2e tests against the focas-mock fixture
(Docker container with the vendored Python mock's native FOCAS/2
Ethernet responder).
- `scripts/integration/run-focas.ps1` orchestrates compose up → tests →
compose down. Dropped the shim-build stage + DLL-copy step + the split
testhost workaround (the latter only existed because of native-DLL
lifecycle bugs the shim tripped).
- Docker compose collapses from 11 per-series services to one `focas-sim`
service. Tests seed per-series state via `mock_load_profile` at test
start.
- Vendored focas-mock snapshot refreshed to pick up upstream's native
FOCAS/2 Ethernet responder (was 660 lines, now 1018) — the
pre-refresh snapshot only spoke the JSON admin protocol.
Tests
- 145/145 unit tests in `Driver.FOCAS.Tests` pass (was 208 pre-deletion;
63 removed tests exercised the retired IPC/shim/supervisor/Fwlib
surfaces).
- 9/9 integration tests pass against the refreshed mock.
- `FocasScaffoldingTests.Unimplemented_factory_throws_on_Create…` updated
to assert the new diagnostic message pointing at
`docs/drivers/FOCAS.md` rather than the now-gone `Fwlib64.dll`.
Docs
- `docs/drivers/FOCAS.md` rewritten for the managed wire topology —
deployment collapses to one `"Backend": "wire"` config block, no
separate service, no DLL deployment, no pipe ACL.
- `docs/drivers/FOCAS-Test-Fixture.md` updated — single TCP probe skip
gate instead of TCP + shim probe; fewer moving parts.
- `docs/drivers/README.md` row for FOCAS reflects the Tier-A managed
topology (previously listed Tier-C + `Fwlib64.dll` P/Invoke).
- `docs/Driver.FOCAS.Cli.md` drops the Tier-C architecture-note section.
- `docs/v2/implementation/focas-isolation-plan.md` marked historical —
the plan it documents was executed then superseded by the wire client.
- `docs/v2/v2-release-readiness.md` re-audited 2026-04-24. Phase 5
driver complement closed. FOCAS change-log entry added.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Joseph Doherty
87
scripts/integration/README.md
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87
scripts/integration/README.md
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# Integration runners
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Scripts that orchestrate multi-component integration-test loops —
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each one wires up docker fixtures, support binaries, and `dotnet test`
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in sequence so a developer (or a CI agent) can get from "freshly
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cloned repo" to "green integration suite" with one command.
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Unlike `scripts/e2e/test-*.ps1` (which drive the built server through
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the CLI for black-box coverage), scripts in this folder operate
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**below** the server layer — they bring up the raw fixtures the
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driver-level `IntegrationTests` projects need.
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## Scripts
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| Script | Purpose |
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|--------|---------|
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| [`run-focas.ps1`](run-focas.ps1) | FOCAS driver: builds shim DLLs + starts focas-mock docker + copies shim into test bin + runs `WireCompatGatedTests` + `FocasSimSmokeTests` + tears down docker |
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## run-focas.ps1
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### Prerequisites
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- **Windows + PowerShell 7+**
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- **.NET 10 SDK** — `dotnet --version` prints 10.x
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- **Native C compiler** — one of:
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- Visual Studio Build Tools with the C++ workload (then run from an
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"x64 Native Tools Command Prompt for VS" shell), or
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- Zig (`zig.exe` on PATH) as a drop-in alternative
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- **Docker Desktop** running, OR pass `-SkipDocker` and run the mock
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externally
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### One-shot run
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```powershell
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cd C:\Users\dohertj2\Desktop\lmxopcua
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pwsh .\scripts\integration\run-focas.ps1
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```
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That's the default invocation: thirtyone profile, debug build,
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docker cleans up on exit.
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### Development iteration
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Re-run the tests without rebuilding the shim or restarting docker:
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```powershell
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# First run bootstraps everything + keeps the mock up.
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pwsh .\scripts\integration\run-focas.ps1 -KeepDocker
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# Iterate on test bodies without re-doing the slow steps.
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pwsh .\scripts\integration\run-focas.ps1 -SkipShimBuild -SkipDocker
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```
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### Per-series runs
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```powershell
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pwsh .\scripts\integration\run-focas.ps1 -Profile thirty # 30i series
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pwsh .\scripts\integration\run-focas.ps1 -Profile zerod # 0i-D
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pwsh .\scripts\integration\run-focas.ps1 -Profile powermotion
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```
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Full profile list is in
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`tests/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.IntegrationTests/Docker/docker-compose.yml`.
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### Exit codes
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| Code | Meaning |
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|------|---------|
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| 0 | All tests passed or cleanly skipped |
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| 1 | `dotnet test` reported failures |
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| 2 | The runner itself crashed (missing file, unexpected exception) |
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| 3 | No C compiler detected for shim build |
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| 4 | Docker CLI not on PATH |
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### CI integration
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Wire this into the project's CI runner (Gitea Actions, Jenkins,
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whatever's hosting this repo) by calling:
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```yaml
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- name: FOCAS integration
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shell: pwsh
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run: ./scripts/integration/run-focas.ps1
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```
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The script is idempotent; a previous run's `docker compose down`
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failure won't block the next one.
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123
scripts/integration/run-focas.ps1
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123
scripts/integration/run-focas.ps1
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#Requires -Version 7.0
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<#
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.SYNOPSIS
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Orchestrates the FOCAS driver integration-test loop: bring up the
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focas-mock Docker container, run the managed wire-client integration
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tests, tear down Docker.
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.DESCRIPTION
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The FOCAS integration fixture now needs just two things running
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together:
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1. A single focas-mock container listening on :8193 (one service,
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no per-series compose profile ceremony — the mock's native
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FOCAS Ethernet responder handles every call the managed driver
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issues).
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2. The integration-test assembly built. The managed
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`WireFocasClient` dials the mock directly; there is no shim
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DLL, no P/Invoke, no test-bin DLL copy step.
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This script handles both and cleans up on exit.
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Designed to run unattended on a build agent or on a developer box.
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Exit code matches the test suite (0 = all pass or skip-clean,
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non-zero when any integration test failed).
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.PARAMETER Profile
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focas-mock profile name to seed at startup (e.g. `ThirtyOne_i`,
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`Sixteen_i`, `fwlib30i64`). Defaults to `ThirtyOne_i`. The fixture
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resolves aliases via `FocasCncSeries`, and tests that need per-series
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state can call `fixture.LoadProfileAsync` directly at test start to
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override the default.
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.PARAMETER SkipDocker
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Skip docker up/down. Use when the mock is already running from
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another shell.
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.PARAMETER Configuration
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Build configuration — Debug or Release. Default: Debug.
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.PARAMETER KeepDocker
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Don't tear down the docker stack on exit. Useful for iterating on
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tests.
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#>
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param(
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[string]$Profile = "ThirtyOne_i",
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[switch]$SkipDocker,
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[ValidateSet("Debug", "Release")]
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[string]$Configuration = "Debug",
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[switch]$KeepDocker
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)
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Set-StrictMode -Version 3.0
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$ErrorActionPreference = "Stop"
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$repoRoot = (Resolve-Path (Join-Path $PSScriptRoot "..\..")).Path
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$integTests = Join-Path $repoRoot "tests\ZB.MOM.WW.OtOpcUa.Driver.FOCAS.IntegrationTests"
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$dockerYml = Join-Path $integTests "Docker\docker-compose.yml"
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function Write-Step { param([string]$Msg) Write-Host ""; Write-Host "=== $Msg ===" -ForegroundColor Cyan }
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function Write-Info { param([string]$Msg) Write-Host "[INFO] $Msg" -ForegroundColor Gray }
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function Write-Fail { param([string]$Msg) Write-Host "[FAIL] $Msg" -ForegroundColor Red }
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$cleanupScripts = @()
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trap {
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Write-Host ""
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Write-Fail "run-focas.ps1 crashed: $_"
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foreach ($c in $cleanupScripts) { try { & $c } catch { Write-Host "cleanup failed: $_" -ForegroundColor DarkYellow } }
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exit 2
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}
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Write-Step "Build FOCAS IntegrationTests ($Configuration)"
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dotnet build (Join-Path $integTests "ZB.MOM.WW.OtOpcUa.Driver.FOCAS.IntegrationTests.csproj") `
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--configuration $Configuration --nologo --verbosity minimal
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if ($LASTEXITCODE -ne 0) { throw "dotnet build failed (exit $LASTEXITCODE)" }
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if (-not $SkipDocker) {
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Write-Step "docker compose up"
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if (-not (Get-Command docker -ErrorAction SilentlyContinue)) {
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Write-Fail "docker CLI not on PATH. Install Docker Desktop or pass -SkipDocker + run the mock externally."
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exit 4
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}
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docker compose -f $dockerYml up -d --build --wait 2>&1 | Write-Host
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if ($LASTEXITCODE -ne 0) { throw "docker compose up failed (exit $LASTEXITCODE)" }
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if (-not $KeepDocker) {
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$cleanupScripts += {
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Write-Step "docker compose down"
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docker compose -f $dockerYml down --remove-orphans 2>&1 | Write-Host
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}
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}
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Write-Info "probing localhost:8193..."
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$tcp = [System.Net.Sockets.TcpClient]::new()
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try {
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$ok = $tcp.ConnectAsync("127.0.0.1", 8193).Wait([TimeSpan]::FromSeconds(5))
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if (-not $ok -or -not $tcp.Connected) {
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throw "TCP probe to localhost:8193 failed after docker compose --wait succeeded"
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}
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}
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finally { $tcp.Dispose() }
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Write-Info "mock is accepting connections"
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}
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else {
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Write-Step "Docker (skipped)"
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}
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Write-Step "dotnet test (wire-backend integration)"
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$env:OTOPCUA_FOCAS_SIM_PROFILE = $Profile
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dotnet test (Join-Path $integTests "ZB.MOM.WW.OtOpcUa.Driver.FOCAS.IntegrationTests.csproj") `
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--configuration $Configuration --no-build --nologo --verbosity minimal
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$testExit = $LASTEXITCODE
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foreach ($c in $cleanupScripts) { & $c }
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if ($testExit -ne 0) {
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Write-Fail "integration tests failed with exit $testExit"
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exit $testExit
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}
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Write-Host ""
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Write-Host "run-focas.ps1 completed successfully." -ForegroundColor Green
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exit 0
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Reference in New Issue
Block a user