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feat(focas): real FANUC 30i/31i-B PDU-v3 support (live-validated on a 31i-B)

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First real FOCAS hardware contact (Makino Pro 5 / 31i-B @ 10.201.31.5). A full
v3 data-PDU capture corrected the initial diagnosis: the v3 block envelope is
identical to v1, so only specific payload structs / request math / one client
robustness gap were wrong — not "framing rewrites".

Fixes (all re-validated live through the fixed driver):
- version gate: accept inbound PDU {1,3}, keep emitting v1 (FocasWireProtocol).
- cnc_rdtimer: 8-byte {minute,msec} payload is little-endian (ParseTimer) — the
  only decode with an in-range msec field.
- pmc_rdpmcrng: request range widened to the data-type byte width
  (end = start + width - 1) so a Word/Long isn't truncated to 0 values
  (was spurious BadOutOfRange); decode extracted to ParsePmcRange.
- cnc_rdsvmeter: per-axis LOADELM is 8 bytes (not 12) and names come from the
  0x0089 block — ParseServoMeters fixes the misaligned 655360 garbage. Also the
  "hang" was NetworkStream.ReadAsync not aborting a stalled socket: ReadExactlyAsync
  now disposes the stream on cancellation so a stalled peer can't wedge a poll loop.
- cnc_rddynamic2: contract guard rejecting axis < 1 (driver poll already 1-based).
- FocasDriverProbe: run a real wire session (initiate + cnc_statinfo) instead of
  degrading to Ok=true "TCP reachability only" when FWLIB is absent — a bare TCP
  listener no longer reports HEALTHY.

cnc_rdparam (0x000e) is unsupported on this control — EW_FUNC across 14
request-framing variants x 4 known-present params; needs a reference FWLIB trace
or is restricted. Deferred (deployed config uses macros, not parameters).

Tests: FOCAS suite 234 green (+16), full solution builds 0 errors. Raw v3
captures checked in under tests/.../Fixtures/v3/. Capture tools under scripts/focas/.

Docs: docs/plans/2026-06-25-focas-pdu-v3-{30i-b-support,implementation-plan}.md,
docs/drivers/FOCAS.md, docs/v2/focas-version-matrix.md,
docs/deployments/wonder-app-vd03-makino-z-34184.md.
This commit is contained in:
Joseph Doherty
2026-06-25 16:41:42 -04:00
parent fd01448ac4
commit 5f0a52864c
36 changed files with 1567 additions and 177 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/Drivers/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/Wire/FocasWireClient.cs
+85 -39
View File
@@ -369,19 +369,7 @@ public sealed class FocasWireClient : IAsyncDisposable, IDisposable
var rc = AggregateRc(blocks);
if (rc != 0) return new FocasResult<IReadOnlyList<WireServoMeter>>(rc, null);
var payload = FindPayload(blocks, 0x0056);
var result = new List<WireServoMeter>();
for (var offset = 0; offset + 12 <= payload.Length && result.Count < maxCount; offset += 12)
{
var name = FocasWireProtocol.ReadNameRecord(payload.AsSpan(offset + 8, 4));
result.Add(new WireServoMeter(
(short)(result.Count + 1),
name,
ReadInt32(payload, offset),
ReadInt16(payload, offset + 4),
ReadInt16(payload, offset + 6)));
}
var result = ParseServoMeters(FindPayload(blocks, 0x0056), FindPayload(blocks, 0x0089), maxCount);
return new FocasResult<IReadOnlyList<WireServoMeter>>(rc, result);
}
@@ -602,31 +590,7 @@ public sealed class FocasWireClient : IAsyncDisposable, IDisposable
callTimeout.Token,
new RequestBlock(0x8001, start, end, area, dataType, RequestClass: 2, PathId: EffectivePathId(pathId))).ConfigureAwait(false);
return ToResult(block, payload =>
{
var width = dataType switch
{
1 => 2,
2 or 4 => 4,
5 => 8,
_ => 1,
};
var values = new List<long>();
for (var offset = 0; offset + width <= payload.Length; offset += width)
{
values.Add(width switch
{
1 => payload[offset],
2 => ReadInt16(payload, offset),
4 => ReadInt32(payload, offset),
8 => BinaryPrimitives.ReadInt64BigEndian(payload.AsSpan(offset, 8)),
_ => 0,
});
}
return new WirePmcRange(area, dataType, start, end, values);
});
return ToResult(block, payload => ParsePmcRange(area, dataType, start, end, payload));
}
/// <summary>Typed overload for <see cref="ReadPmcRangeAsync(short, short, ushort, ushort, CancellationToken, TimeSpan?, ushort?)"/>.</summary>
@@ -740,7 +704,7 @@ public sealed class FocasWireClient : IAsyncDisposable, IDisposable
ushort? pathId = null)
=> ReadSingleWithTimeoutAsync(
0x0120,
payload => new WireTimer(type, payload.Length >= 4 ? ReadInt32(payload, 0) : 0, payload.Length >= 8 ? ReadInt32(payload, 4) : 0),
payload => ParseTimer(type, payload),
cancellationToken, timeout, EffectivePathId(pathId), type);
// ---- internal plumbing ------------------------------------------------------------
@@ -922,6 +886,88 @@ public sealed class FocasWireClient : IAsyncDisposable, IDisposable
private static short AggregateRc(IReadOnlyList<ResponseBlock> blocks)
=> blocks.FirstOrDefault(block => block.Rc != 0)?.Rc ?? 0;
/// <summary>
/// Decode a <c>cnc_rdtimer</c> (0x0120) payload into <see cref="WireTimer"/>. The 8-byte
/// data block is two 32-bit fields {minute, msec}, and they are <b>little-endian</b> on the
/// wire — unlike the big-endian block envelope and every other payload (sysinfo / dynamic /
/// macro). Validated against a live FANUC 31i-B (2026-06-25): the msec field only falls in
/// valid range (0..59999) under little-endian; big-endian decoded it as ~2.4e9. Captured
/// cutting-time payload <c>ac f2 10 00 90 a3 00 00</c> → minute=1110188, msec=41872. See
/// <c>docs/plans/2026-06-25-focas-pdu-v3-30i-b-support.md</c>.
/// </summary>
internal static WireTimer ParseTimer(short type, byte[] payload) => new(
type,
payload.Length >= 4 ? BinaryPrimitives.ReadInt32LittleEndian(payload.AsSpan(0, 4)) : 0,
payload.Length >= 8 ? BinaryPrimitives.ReadInt32LittleEndian(payload.AsSpan(4, 4)) : 0);
/// <summary>
/// Decode a <c>cnc_rdsvmeter</c> response into <see cref="WireServoMeter"/> records. On the
/// 31i-B (v3) each per-axis LOADELM is <b>8 bytes</b> — {int32 data; int16 dec; int16 unit}
/// — NOT the 12-byte shape the original parser assumed. The 12-byte stride misaligned after
/// the first record (it read the dec/unit shorts of the prior record as the next record's
/// data → wild values like 655360). Axis NAMES are not in the svmeter payload; they come
/// from the <c>cnc_rdaxisname</c> (0x0089) block requested alongside it and are correlated
/// by index. Validated against a live 31i-B 2026-06-25.
/// <para><b>Scaling caveat:</b> downstream applies LoadPercent = data / 10^dec; on the 31i-B
/// <c>dec</c> read as 10, which makes idle loads vanishingly small. The data/dec/unit field
/// semantics for servo load are inferred from the wire and not yet confirmed against the
/// machine's servo-meter screen — confirm magnitude at commissioning. The alignment + name
/// fix here is what removes the gross misaligned garbage.</para>
/// </summary>
internal static IReadOnlyList<WireServoMeter> ParseServoMeters(byte[] svPayload, byte[] axisNamePayload, int maxCount)
{
var result = new List<WireServoMeter>();
for (var offset = 0; offset + 8 <= svPayload.Length && result.Count < maxCount; offset += 8)
{
var index = result.Count;
var nameOffset = index * 4;
var name = nameOffset + 4 <= axisNamePayload.Length
? FocasWireProtocol.ReadNameRecord(axisNamePayload.AsSpan(nameOffset, 4))
: string.Empty;
result.Add(new WireServoMeter(
(short)(index + 1),
name,
ReadInt32(svPayload, offset),
ReadInt16(svPayload, offset + 4),
ReadInt16(svPayload, offset + 6)));
}
return result;
}
/// <summary>Byte width of one PMC slot for a FOCAS data-type code: Byte=1, Word=2, Long/Real=4, Double=8.</summary>
internal static int PmcByteWidth(short dataType) => dataType switch
{
1 => 2,
2 or 4 => 4,
5 => 8,
_ => 1,
};
/// <summary>
/// Decode a <c>pmc_rdpmcrng</c> payload into <see cref="WirePmcRange"/>. The CNC returns
/// (end-start+1) BYTES; this slices them into width-sized big-endian slots. Callers must
/// size the request range to <c>width</c> bytes per value (see
/// <c>WireFocasClient.ReadPmcAsync</c>) or a trailing partial slot is dropped — which on the
/// 31i-B surfaced as a spurious <c>BadOutOfRange</c> for a single Word read. 2026-06-25.
/// </summary>
internal static WirePmcRange ParsePmcRange(short area, short dataType, ushort start, ushort end, byte[] payload)
{
var width = PmcByteWidth(dataType);
var values = new List<long>();
for (var offset = 0; offset + width <= payload.Length; offset += width)
{
values.Add(width switch
{
1 => payload[offset],
2 => ReadInt16(payload, offset),
4 => ReadInt32(payload, offset),
8 => BinaryPrimitives.ReadInt64BigEndian(payload.AsSpan(offset, 8)),
_ => 0,
});
}
return new WirePmcRange(area, dataType, start, end, values);
}
private static byte[] FindPayload(IReadOnlyList<ResponseBlock> blocks, ushort command)
=> blocks.FirstOrDefault(block => block.Command == command)?.Payload ?? Array.Empty<byte>();