feat(heidenhain): R_RI runtime-info parity with pyLSV2 — state names, refusal codes, timer/unit docs
Compared every R_RI decoder we use (22-28, 30-34, 51) byte-for-byte with pyLSV2 (MIT, 97a3d691) and ran the captured iTNC 530 replies through pyLSV2 itself: no decode disagreement, so no published value changes. - Additive read-only String leaves Status/ExecutionStateName, Status/ProgramStateName and Tool/AxisName (pyLSV2 ExecState / PgmState / decode_tool_info names; out-of-table code = "Unknown"). They ride the raw leaf's feature, so no extra wire read; raw Int32 leaves unchanged. - Refusals: 52/72 -> BadOutOfRange, 58 -> BadTimeout, 56 -> BadInvalidState, 57 (outside the alarm walk) -> BadNoData. IsStable and the 57-only alarm-walk end are unchanged. Lsv2RefusalCodes names every code (pyLSV2 LSV2StatusCode) in exception/log/probe text. - Timers 30-34 documented as uint32be seconds (lifetime counters) per pyLSV2, hardware-unproven; TimersEnabled stays false. Axis/tool units: none on the wire, none assumed. - Lsv2ReadOnlyPolicy untouched (pinned by a test); R_RI 20/21 left out. Claude-Session: https://claude.ai/code/session_01GT67AD99zQQqpLCVm3p7xk
This commit is contained in:
Joseph Doherty
@@ -59,7 +59,12 @@ public static class HeidenhainCatalog
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/// <summary>Feature id reported for the opt-in DATA login.</summary>
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public const string DataLoginFeature = "DataLogin";
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/// <summary>Experimental timer leaf names, in selector order (30..34).</summary>
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/// <summary>
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/// Experimental timer leaf names, in selector order (30..34). Per pyLSV2 (MIT) <c>const.py:ParRRI</c> and
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/// <c>docs/protocol.rst</c> each is a uint32be lifetime counter in SECONDS (NC uptime +1 s while the NC runs,
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/// machine uptime, machine runtime that grows only while a program runs, spindle 0 / spindle 1 runtime — 0 when
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/// a second spindle is unused); not the runtime of the current program. Hardware-unproven here.
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/// </summary>
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public static readonly IReadOnlyList<string> TimerNames =
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["NcUptime", "MachineUptime", "MachineRuntime", "Spindle0Runtime", "Spindle1Runtime"];
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@@ -104,6 +109,9 @@ public static class HeidenhainCatalog
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Add("Controller", DriverDataType.String, false, HeidenhainPollGroup.Slow, IdentityFeature, "Model", "NcVersion", "PlcVersion", "Options");
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Add("Status", DriverDataType.Int32, false, HeidenhainPollGroup.Status, "Execution", "ExecutionState");
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Add("Status", DriverDataType.Int32, false, HeidenhainPollGroup.Status, "ProgramState", "ProgramState");
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// Additive names for the raw enums above (per pyLSV2; HeidenhainStateNames). Same feature = same wire read.
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Add("Status", DriverDataType.String, false, HeidenhainPollGroup.Status, "Execution", "ExecutionStateName");
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Add("Status", DriverDataType.String, false, HeidenhainPollGroup.Status, "ProgramState", "ProgramStateName");
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Add("Program", DriverDataType.String, false, HeidenhainPollGroup.Status, "Program", "Main", "Current");
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Add("Program", DriverDataType.Int64, false, HeidenhainPollGroup.Status, "Program", "Line");
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Add("Overrides", DriverDataType.Float64, false, HeidenhainPollGroup.Status, "Overrides", "Feed", "Spindle", "Rapid");
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@@ -112,6 +120,7 @@ public static class HeidenhainCatalog
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Add("Tool", DriverDataType.Int64, false, HeidenhainPollGroup.Slow, "Tool", "Number");
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Add("Tool", DriverDataType.Int32, false, HeidenhainPollGroup.Slow, "Tool", "Index", "AxisCode");
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Add("Tool", DriverDataType.Float64, false, HeidenhainPollGroup.Slow, "Tool", "Length", "Radius");
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Add("Tool", DriverDataType.String, false, HeidenhainPollGroup.Slow, "Tool", "AxisName");
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Add("Alarms", DriverDataType.Int32, true, HeidenhainPollGroup.Slow, "Alarms", "Classes", "Groups", "Numbers");
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Add("Alarms", DriverDataType.String, true, HeidenhainPollGroup.Slow, "Alarms", "Messages");
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Add("Alarms", DriverDataType.Int32, false, HeidenhainPollGroup.Slow, "Alarms", "Count");
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@@ -0,0 +1,53 @@
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namespace ZB.MOM.WW.OtOpcUa.Driver.Heidenhain;
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/// <summary>
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/// Names for the raw native enums the control reports through <c>R_RI 23</c> (execution mode), <c>R_RI 26</c>
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/// (program state) and the spindle-axis code of <c>R_RI 51</c>. They back the additive <c>…Name</c> String leaves
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/// only — the raw Int32 leaves (<c>Status/ExecutionState</c>, <c>Status/ProgramState</c>, <c>Tool/AxisCode</c>) are
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/// unchanged and stay the value OEE consumers key on.
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/// </summary>
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/// <remarks>
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/// <para><b>Provenance.</b> The tables are the enums the open-source pyLSV2 library defines — per pyLSV2 (MIT)
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/// <c>const.py:ExecState</c>, <c>const.py:PgmState</c> and <c>misc.py:decode_tool_info</c> (commit
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/// <c>97a3d691</c>), spelled in this catalog's PascalCase. pyLSV2's own <c>PgmState</c> table comes from a public
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/// forum thread, not a HEIDENHAIN document. The four iTNC 530 controls of the 2026-11-11 commissioning run
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/// reported values consistent with it (a running program read execution 4 = Automatic with program state
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/// 0 = Started and an advancing line; an idle control read 1 = Mdi / 4 = Automatic with 7 = Idle), which
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/// corroborates — but does not prove — the tables.</para>
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/// <para>A code outside a table publishes <see cref="Unknown"/>, never an invented name (pyLSV2 itself raises on an
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/// out-of-table value). The raw leaf still carries the code.</para>
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/// </remarks>
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public static class HeidenhainStateNames
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{
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/// <summary>The name published for a code no table defines.</summary>
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public const string Unknown = "Unknown";
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/// <summary><c>R_RI 23</c> execution mode (per pyLSV2 <c>ExecState</c>).</summary>
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public static IReadOnlyList<string> ExecutionStates { get; } =
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["Manual", "Mdi", "PassReferences", "SingleStep", "Automatic", "Undefined"];
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/// <summary><c>R_RI 26</c> state of the selected program (per pyLSV2 <c>PgmState</c>).</summary>
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public static IReadOnlyList<string> ProgramStates { get; } =
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["Started", "Stopped", "Finished", "Cancelled", "Interrupted", "Error", "ErrorCleared", "Idle", "Undefined"];
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/// <summary><c>R_RI 51</c> tool / spindle axis code (per pyLSV2 <c>decode_tool_info</c>: 0 X, 1 Y, 2 Z).</summary>
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public static IReadOnlyList<string> ToolAxes { get; } = ["X", "Y", "Z"];
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/// <summary>The name of an execution-mode code.</summary>
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/// <param name="code">The raw <c>R_RI 23</c> value.</param>
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/// <returns>The name, or <see cref="Unknown"/>.</returns>
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public static string ExecutionState(int code) => Lookup(ExecutionStates, code);
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/// <summary>The name of a program-state code.</summary>
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/// <param name="code">The raw <c>R_RI 26</c> value.</param>
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/// <returns>The name, or <see cref="Unknown"/>.</returns>
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public static string ProgramState(int code) => Lookup(ProgramStates, code);
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/// <summary>The name of a tool-axis code.</summary>
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/// <param name="code">The raw axis code of <c>R_RI 51</c>.</param>
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/// <returns>The axis letter, or <see cref="Unknown"/>.</returns>
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public static string ToolAxis(int code) => Lookup(ToolAxes, code);
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private static string Lookup(IReadOnlyList<string> table, int code) =>
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code >= 0 && code < table.Count ? table[code] : Unknown;
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}
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@@ -256,7 +256,7 @@ internal sealed class HeidenhainDeviceRuntime : IAsyncDisposable
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// Connect / INSPECT / identity failure. Never log payloads or credentials: type + refusal code only.
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var reason = ex switch
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{
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Lsv2RefusalException r => $"INSPECT/identity refused (code {r.Code})",
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Lsv2RefusalException r => $"INSPECT/identity refused (code {r.Code} {Lsv2RefusalCodes.Name(r.Code)})",
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Lsv2DecodeException => "Malformed identity record",
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_ => ex.Message,
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};
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@@ -81,7 +81,7 @@ public sealed class HeidenhainDriverProbe : IDriverProbe
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}
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catch (Lsv2RefusalException ex)
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{
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return new(false, $"Reachable at {target} but the control refused INSPECT/version (code {ex.Code}).", null);
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return new(false, $"Reachable at {target} but the control refused INSPECT/version (code {ex.Code} {Lsv2RefusalCodes.Name(ex.Code)}).", null);
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}
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catch (Lsv2DecodeException)
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{
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@@ -455,6 +455,7 @@ internal sealed class HeidenhainSession : IAsyncDisposable
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"Number" => (object)t.Number,
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"Index" => (object)t.Index,
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"AxisCode" => (object)t.Axis,
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"AxisName" => HeidenhainStateNames.ToolAxis(t.Axis),
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"Length" => (object?)t.Length,
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_ => (object?)t.Radius,
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};
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@@ -468,7 +469,13 @@ internal sealed class HeidenhainSession : IAsyncDisposable
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_ => (object)list.Select(x => x.Number).ToArray(),
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};
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case int i:
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return i;
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// The …Name leaves share the raw leaf's one wire read; the raw Int32 leaf is published unchanged.
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return name switch
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{
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"ExecutionStateName" => HeidenhainStateNames.ExecutionState(i),
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"ProgramStateName" => HeidenhainStateNames.ProgramState(i),
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_ => (object)i,
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};
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case long l:
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return l;
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default:
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@@ -41,13 +41,33 @@ public static class HeidenhainStatus
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/// <summary>Authored but not yet acquired.</summary>
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public const uint BadWaitingForInitialData = 0x80320000u;
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/// <summary>Maps a controller refusal code to a value status (22/24 unsupported, 23/49 denied, else unexpected).</summary>
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/// <summary>Refusal 58 (<c>T_ER_ACCESS_TIMEOUT</c>): the control timed out reaching the data (retried).</summary>
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public const uint BadTimeout = 0x800A0000u;
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/// <summary>Refusal 56 (<c>T_ER_OPERATING_MODE</c>): not allowed in the control's current mode (retried).</summary>
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public const uint BadInvalidState = 0x80AF0000u;
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/// <summary>Refusal 57 (<c>T_ER_NO_NEXT_ERROR</c>) outside the alarm walk, which consumes it as "end of list".</summary>
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public const uint BadNoData = 0x809B0000u;
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/// <summary>
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/// Maps a controller refusal code to a value status. Code names per pyLSV2 (MIT)
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/// <c>const.py:LSV2StatusCode</c> (<see cref="Lsv2.Lsv2RefusalCodes"/>): 22 UNKNOWN_TELE / 24 WRONG_PARA ⇒
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/// unsupported; 23 NO_PRIV / 49 NO_LOGIN ⇒ access denied; 52 BAD_MEMADR / 72 OUT_OF_RANGE ⇒ out of range;
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/// 58 ACCESS_TIMEOUT ⇒ timeout; 56 OPERATING_MODE ⇒ invalid state; 57 NO_NEXT_ERROR ⇒ no data; anything else
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/// unexpected. Only the first two are <see cref="IsStable"/> (suppressed for the session) — every other code is
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/// retried on the next poll, exactly as before the specific mapping.
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/// </summary>
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/// <param name="code">The refusal code.</param>
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/// <returns>The status.</returns>
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public static uint FromRefusal(int code) => code switch
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{
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22 or 24 => BadNotSupported,
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23 or 49 => BadUserAccessDenied,
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Lsv2.Lsv2RefusalCodes.UnknownTelegram or Lsv2.Lsv2RefusalCodes.WrongParameter => BadNotSupported,
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Lsv2.Lsv2RefusalCodes.NoPrivilege or Lsv2.Lsv2RefusalCodes.NoLogin => BadUserAccessDenied,
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Lsv2.Lsv2RefusalCodes.BadMemoryAddress or Lsv2.Lsv2RefusalCodes.OutOfRange => BadOutOfRange,
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Lsv2.Lsv2RefusalCodes.AccessTimeout => BadTimeout,
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Lsv2.Lsv2RefusalCodes.OperatingMode => BadInvalidState,
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Lsv2.Lsv2RefusalCodes.NoNextError => BadNoData,
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_ => BadUnexpectedError,
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};
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@@ -11,7 +11,7 @@ public sealed class Lsv2DecodeException(string message) : Exception(message);
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/// framing synchronised, so the session stays usable.
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/// </summary>
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public sealed class Lsv2RefusalException(int type, int code)
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: Exception($"LSV2 controller refusal type={type} code={code}")
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: Exception($"LSV2 controller refusal type={type} code={code} ({Lsv2RefusalCodes.Name(code)})")
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{
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/// <summary>The refusal type byte.</summary>
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public int Type { get; } = type;
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@@ -46,21 +46,30 @@ public static class Lsv2Data
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return new Lsv2Versions(parts[0], parts[1], parts[2], parts[^1]);
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}
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/// <summary>Exactly two bytes, uint16be.</summary>
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/// <summary>
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/// Exactly two bytes, uint16be — <c>R_RI 23</c> execution mode / <c>R_RI 26</c> program state, per pyLSV2 (MIT)
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/// <c>client.py:execution_state</c> / <c>program_status</c> (<c>struct "!H"</c>).
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/// </summary>
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public static int U16(ReadOnlySpan<byte> bytes)
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{
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Lsv2Codec.Length(bytes, 2);
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return BinaryPrimitives.ReadUInt16BigEndian(bytes);
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}
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/// <summary>Exactly four bytes, uint32be.</summary>
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/// <summary>
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/// Exactly four bytes, uint32be — the <c>R_RI 30–34</c> lifetime timers, in SECONDS per pyLSV2 (MIT)
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/// <c>const.py:ParRRI</c> + <c>docs/protocol.rst</c> (hardware-unproven here). Published raw, never rescaled.
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/// </summary>
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public static long U32(ReadOnlySpan<byte> bytes)
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{
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Lsv2Codec.Length(bytes, 4);
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return BinaryPrimitives.ReadUInt32BigEndian(bytes);
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}
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/// <summary>uint32be line, main NUL, current NUL, optional NUL padding only.</summary>
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/// <summary>
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/// uint32be line, main NUL, current NUL, optional NUL padding only — per pyLSV2 (MIT)
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/// <c>misc.py:decode_stack_info</c>, but strict (pyLSV2 ignores what follows the second string).
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/// </summary>
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public static Lsv2Program Program(ReadOnlySpan<byte> bytes)
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{
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if (bytes.Length < 6) throw Bad();
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@@ -69,7 +78,10 @@ public static class Lsv2Data
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return new Lsv2Program(BinaryPrimitives.ReadUInt32BigEndian(bytes), parts[0], parts[1]);
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}
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/// <summary>Three uint32be hundredths of percent: feed, spindle, rapid.</summary>
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/// <summary>
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/// Three uint32be hundredths of percent, in the order feed, spindle, rapid — per pyLSV2 (MIT)
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/// <c>misc.py:decode_override_state</c> (<c>/ 100</c>).
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/// </summary>
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public static double[] Overrides(ReadOnlySpan<byte> bytes)
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{
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Lsv2Codec.Length(bytes, 12);
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@@ -81,7 +93,12 @@ public static class Lsv2Data
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];
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}
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/// <summary>8-byte identity-only or 24-byte reply with two float64le geometry values.</summary>
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/// <summary>
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/// 8-byte identity-only or 24-byte reply: uint32be number, uint16be index, uint16be axis code (0 X, 1 Y, 2 Z),
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/// then float64 LITTLE-endian length and radius — per pyLSV2 (MIT) <c>misc.py:decode_tool_info</c> (<c>"<d"</c>;
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/// the mixed endianness is real: a live iTNC 530 read L 138.1506 / R −0.0101 through this decoder, 2026-11-11).
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/// No unit is on the wire and pyLSV2 assumes none either; none is inferred here.
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/// </summary>
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public static Lsv2Tool Tool(ReadOnlySpan<byte> bytes)
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{
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if (bytes.Length != 8 && bytes.Length != 24) throw Bad();
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@@ -98,7 +115,11 @@ public static class Lsv2Data
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return new Lsv2Tool(number, index, axis, length, radius);
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}
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/// <summary>uint16be class, uint16be group, int32be number, terminated text.</summary>
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/// <summary>
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/// uint16be class, uint16be group, int32be (signed) number, terminated text — per pyLSV2 (MIT)
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/// <c>misc.py:decode_error_message</c>. Stricter on the text: it must be NUL-terminated with NUL padding only,
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/// and trailing blanks are kept (pyLSV2 <c>ba_to_ustr</c> strips them; the text is part of a condition's identity).
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/// </summary>
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public static Lsv2Alarm Alarm(ReadOnlySpan<byte> bytes)
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{
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if (bytes.Length < 9) throw Bad();
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@@ -109,7 +130,12 @@ public static class Lsv2Data
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Lsv2Codec.Text(bytes[8..]));
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}
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/// <summary>Opaque byte, uint8 count, count numeric strings, count unique non-blank names.</summary>
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/// <summary>
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/// Opaque byte, uint8 count, count numeric strings, count unique non-blank names — per pyLSV2 (MIT)
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/// <c>misc.py:decode_axis_location</c> (values first, then names; byte 0 undocumented there too). Positions are
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/// the control's display strings parsed as-is: no unit is on the wire and pyLSV2 assumes none (linear vs rotary
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/// axes and mm vs inch are neither reported nor inferred here).
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/// </summary>
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public static Lsv2Axes Axes(ReadOnlySpan<byte> bytes)
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{
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if (bytes.Length < 2) throw Bad();
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@@ -0,0 +1,123 @@
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namespace ZB.MOM.WW.OtOpcUa.Driver.Heidenhain.Lsv2;
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/// <summary>
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/// The controller refusal codes carried by a <c>T_ER</c>/<c>T_BD</c> frame, with their protocol names — for logs
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/// and diagnostics only (behaviour is <see cref="HeidenhainStatus.FromRefusal"/>). Per pyLSV2 (MIT)
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/// <c>const.py:LSV2StatusCode</c> (telegram errors 20–99, block-transfer errors 100–200, 255); the numbers are the
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/// protocol's, the names are that table's.
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/// </summary>
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public static class Lsv2RefusalCodes
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{
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/// <summary>Unknown telegram — the control does not implement the request / selector.</summary>
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public const int UnknownTelegram = 22;
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/// <summary>No privilege for the request under the current logins.</summary>
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public const int NoPrivilege = 23;
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/// <summary>Wrong parameter — e.g. an <c>R_RI</c> selector this control does not serve.</summary>
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public const int WrongParameter = 24;
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/// <summary>The required login has not been made.</summary>
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public const int NoLogin = 49;
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/// <summary>Bad PLC memory address.</summary>
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public const int BadMemoryAddress = 52;
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/// <summary>The control is in an operating mode that does not allow the request.</summary>
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public const int OperatingMode = 56;
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/// <summary>No (next) error — the only proof that the <c>R_RI 27/28</c> alarm walk reached its end.</summary>
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public const int NoNextError = 57;
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/// <summary>The control timed out accessing the requested data.</summary>
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public const int AccessTimeout = 58;
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/// <summary>A value out of range.</summary>
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public const int OutOfRange = 72;
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private static readonly IReadOnlyDictionary<int, string> Names = new Dictionary<int, string>
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{
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[20] = "T_ER_BAD_FORMAT",
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[21] = "T_ER_UNEXPECTED_TELE",
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[22] = "T_ER_UNKNOWN_TELE",
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[23] = "T_ER_NO_PRIV",
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[24] = "T_ER_WRONG_PARA",
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[25] = "T_ER_BREAK",
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[30] = "T_ER_BAD_KEY",
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[31] = "T_ER_BAD_FNAME",
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[32] = "T_ER_NO_FILE",
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[33] = "T_ER_OPEN_FILE",
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[34] = "T_ER_FILE_EXISTS",
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[35] = "T_ER_BAD_FILE",
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[36] = "T_ER_NO_DELETE",
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[37] = "T_ER_NO_NEW_FILE",
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[38] = "T_ER_NO_CHANGE_ATT",
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[39] = "T_ER_BAD_EMULATEKEY",
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[40] = "T_ER_NO_MP",
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[41] = "T_ER_NO_WIN",
|
||||
[42] = "T_ER_WIN_NOT_AKTIV",
|
||||
[43] = "T_ER_ANZ",
|
||||
[44] = "T_ER_FONT_NOT_DEFINED",
|
||||
[45] = "T_ER_FILE_ACCESS",
|
||||
[46] = "T_ER_WRONG_DNC_STATUS",
|
||||
[47] = "T_ER_CHANGE_PATH",
|
||||
[48] = "T_ER_NO_RENAME",
|
||||
[49] = "T_ER_NO_LOGIN",
|
||||
[50] = "T_ER_BAD_PARAMETER",
|
||||
[51] = "T_ER_BAD_NUMBER_FORMAT",
|
||||
[52] = "T_ER_BAD_MEMADR",
|
||||
[53] = "T_ER_NO_FREE_SPACE",
|
||||
[54] = "T_ER_DEL_DIR",
|
||||
[55] = "T_ER_NO_DIR",
|
||||
[56] = "T_ER_OPERATING_MODE",
|
||||
[57] = "T_ER_NO_NEXT_ERROR",
|
||||
[58] = "T_ER_ACCESS_TIMEOUT",
|
||||
[59] = "T_ER_NO_WRITE_ACCESS",
|
||||
[60] = "T_ER_STIB",
|
||||
[61] = "T_ER_REF_NECESSARY",
|
||||
[62] = "T_ER_PLC_BUF_FULL",
|
||||
[63] = "T_ER_NOT_FOUND",
|
||||
[64] = "T_ER_WRONG_FILE",
|
||||
[65] = "T_ER_NO_MATCH",
|
||||
[66] = "T_ER_TOO_MANY_TPTS",
|
||||
[67] = "T_ER_NOT_ACTIVATED",
|
||||
[70] = "T_ER_DSP_CHANNEL",
|
||||
[71] = "T_ER_DSP_PARA",
|
||||
[72] = "T_ER_OUT_OF_RANGE",
|
||||
[73] = "T_ER_INVALID_AXIS",
|
||||
[74] = "T_ER_STREAMING_ACTIVE",
|
||||
[75] = "T_ER_NO_STREAMING_ACTIVE",
|
||||
[80] = "T_ER_TO_MANY_OPEN_TCP",
|
||||
[81] = "T_ER_NO_FREE_HANDLE",
|
||||
[82] = "T_ER_PLCMEMREMA_CLEAR",
|
||||
[83] = "T_ER_OSZI_CHSEL",
|
||||
[90] = "LSV2_BUSY",
|
||||
[91] = "LSV2_X_BUSY",
|
||||
[92] = "LSV2_NOCONNECT",
|
||||
[93] = "LSV2_BAD_BACKUP_FILE",
|
||||
[94] = "LSV2_RESTORE_NOT_FOUND",
|
||||
[95] = "LSV2_DLL_NOT_INSTALLED",
|
||||
[96] = "LSV2_BAD_CONVERT_DLL",
|
||||
[97] = "LSV2_BAD_BACKUP_LIST",
|
||||
[99] = "LSV2_UNKNOWN_ERROR",
|
||||
[100] = "T_BD_NO_NEW_FILE",
|
||||
[101] = "T_BD_NO_FREE_SPACE",
|
||||
[102] = "T_BD_FILE_NOT_ALLOWED",
|
||||
[103] = "T_BD_BAD_FORMAT",
|
||||
[104] = "T_BD_BAD_BLOCK",
|
||||
[105] = "T_BD_END_PGM",
|
||||
[106] = "T_BD_ANZ",
|
||||
[107] = "T_BD_WIN_NOT_DEFINED",
|
||||
[108] = "T_BD_WIN_CHANGED",
|
||||
[110] = "T_BD_DNC_WAIT",
|
||||
[111] = "T_BD_CANCELLED",
|
||||
[112] = "T_BD_OSZI_OVERRUN",
|
||||
[200] = "T_BD_FD",
|
||||
[255] = "T_USER_ERROR",
|
||||
};
|
||||
|
||||
/// <summary>The protocol name of a refusal code, or <c>UNKNOWN_<code></c>.</summary>
|
||||
/// <param name="code">The refusal code byte.</param>
|
||||
/// <returns>The name.</returns>
|
||||
public static string Name(int code) => Names.TryGetValue(code, out var n) ? n : "UNKNOWN_" + code;
|
||||
}
|
||||
Reference in New Issue
Block a user