feat(focas): real FANUC 30i/31i-B PDU-v3 support (live-validated on a 31i-B)
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
Binary file not shown.
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# FOCAS v3 capture 10.201.31.5:8193 (emit version=1)
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=== two-socket initiate handshake ===
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socket1 initiate <- v=3 bodyLen=360 ok=True
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socket2 initiate <- v=3 bodyLen=360 ok=True
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--- setup-sysinfo-0x0018 ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 00 18 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=36 complete=True
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<- raw (46B): a0 a0 a0 a0 00 03 21 02 00 24 00 01 00 22 00 01 00 01 00 18 00 00 00 00 00 00 00 12 02 02 00 20 33 31 4d 4d 47 34 33 31 32 32 2e 30 30 37
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blockCount=1
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block[0] blkLen=34 cmd=0x0018 rc=0 payloadLen=18 payload=02 02 00 20 33 31 4d 4d 47 34 33 31 32 32 2e 30 30 37
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--- setup-0x000e-26f0 ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 00 0e 00 00 26 f0 00 00 26 f0 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=18 complete=True
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<- raw (28B): a0 a0 a0 a0 00 03 21 02 00 12 00 01 00 10 00 01 00 01 00 0e 00 01 00 00 00 00 00 00
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blockCount=1
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block[0] blkLen=16 cmd=0x000e rc=1 payloadLen=0 payload=(empty)
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--- ref-sysinfo-0x0018 ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 00 18 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=36 complete=True
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<- raw (46B): a0 a0 a0 a0 00 03 21 02 00 24 00 01 00 22 00 01 00 01 00 18 00 00 00 00 00 00 00 12 02 02 00 20 33 31 4d 4d 47 34 33 31 32 32 2e 30 30 37
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blockCount=1
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block[0] blkLen=34 cmd=0x0018 rc=0 payloadLen=18 payload=02 02 00 20 33 31 4d 4d 47 34 33 31 32 32 2e 30 30 37
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--- ref-axisname-0x0089 ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 00 89 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=46 complete=True
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<- raw (56B): a0 a0 a0 a0 00 03 21 02 00 2e 00 01 00 2c 00 01 00 01 00 89 00 00 00 00 00 00 00 1c 58 00 00 00 59 00 00 00 5a 00 00 00 42 00 00 00 43 00 00 00 41 41 36 00 41 41 37 00
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blockCount=1
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block[0] blkLen=44 cmd=0x0089 rc=0 payloadLen=28 payload=58 00 00 00 59 00 00 00 5a 00 00 00 42 00 00 00 43 00 00 00 41 41 36 00 41 41 37 00
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--- ref-spdlname-0x008a ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 00 8a 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=22 complete=True
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<- raw (32B): a0 a0 a0 a0 00 03 21 02 00 16 00 01 00 14 00 01 00 01 00 8a 00 00 00 00 00 00 00 04 53 31 00 00
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blockCount=1
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block[0] blkLen=20 cmd=0x008a rc=0 payloadLen=4 payload=53 31 00 00
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--- ref-macro-3901-0x0015 ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 00 15 00 00 0f 3d 00 00 0f 3d 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=26 complete=True
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<- raw (36B): a0 a0 a0 a0 00 03 21 02 00 1a 00 01 00 18 00 01 00 01 00 15 00 00 00 00 00 00 00 08 00 00 00 00 00 0a 00 00
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blockCount=1
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block[0] blkLen=24 cmd=0x0015 rc=0 payloadLen=8 payload=00 00 00 00 00 0a 00 00
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--- ref-macro-500-0x0015 ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 00 15 00 00 01 f4 00 00 01 f4 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=26 complete=True
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<- raw (36B): a0 a0 a0 a0 00 03 21 02 00 1a 00 01 00 18 00 01 00 01 00 15 00 00 00 00 00 00 00 08 05 f5 e1 00 00 0a 00 08
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blockCount=1
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block[0] blkLen=24 cmd=0x0015 rc=0 payloadLen=8 payload=05 f5 e1 00 00 0a 00 08
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--- ref-opmode-0x0057 ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 00 57 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=34 complete=True
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<- raw (44B): a0 a0 a0 a0 00 03 21 02 00 22 00 01 00 20 00 01 00 01 00 57 00 00 00 00 00 00 00 10 00 02 00 e1 0a 00 08 00 00 5a 00 00 00 42 00 00
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blockCount=1
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block[0] blkLen=32 cmd=0x0057 rc=0 payloadLen=16 payload=00 02 00 e1 0a 00 08 00 00 5a 00 00 00 42 00 00
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--- ref-exeprgname-0x00fc ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 00 fc 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=274 complete=True
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<- raw (284B): a0 a0 a0 a0 00 03 21 02 01 12 00 01 01 10 00 01 00 01 00 fc 00 00 00 00 00 00 01 00 2f 2f 43 4e 43 5f 4d 45 4d 2f 55 53 45 52 2f 4c 49 42 52 41 52 59 2f 4f 39 30 30 31 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
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blockCount=1
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block[0] blkLen=272 cmd=0x00fc rc=0 payloadLen=256 payload=2f 2f 43 4e 43 5f 4d 45 4d 2f 55 53 45 52 2f 4c 49 42 52 41 52 59 2f 4f 39 30 30 31 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
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--- ref-statinfo ---
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-> 96B req: a0 a0 a0 a0 00 01 21 01 00 56 00 03 00 1c 00 01 00 01 00 19 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1c 00 01 00 01 00 e1 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1c 00 01 00 01 00 98 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=70 complete=True
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<- raw (80B): a0 a0 a0 a0 00 03 21 02 00 46 00 03 00 1e 00 01 00 01 00 19 00 00 00 00 00 00 00 0e 00 01 00 03 00 00 00 01 00 00 00 00 00 00 00 14 00 01 00 01 00 e1 00 00 00 00 00 00 00 04 00 00 00 03 00 12 00 01 00 01 00 98 00 00 00 00 00 00 00 02 00 00
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blockCount=3
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block[0] blkLen=30 cmd=0x0019 rc=0 payloadLen=14 payload=00 01 00 03 00 00 00 01 00 00 00 00 00 00
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block[1] blkLen=20 cmd=0x00e1 rc=0 payloadLen=4 payload=00 00 00 03
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block[2] blkLen=18 cmd=0x0098 rc=0 payloadLen=2 payload=00 00
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--- ref-dynamic2-axis1 ---
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-> 264B req: a0 a0 a0 a0 00 01 21 01 00 fe 00 09 00 1c 00 01 00 01 00 1a 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1c 00 01 00 01 00 1c 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1c 00 01 00 01 00 1d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1c 00 01 00 01 00 24 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1c 00 01 00 01 00 25 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1c 00 01 00 01 00 26 00 00 00 04 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 1c 00 01 00 01 00 26 00 00 00 01 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 1c 00 01 00 01 00 26 00 00 00 06 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 1c 00 01 00 01 00 26 00 00 00 07 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=210 complete=True
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<- raw (220B): a0 a0 a0 a0 00 03 21 02 00 d2 00 09 00 14 00 01 00 01 00 1a 00 00 00 00 00 00 00 04 00 00 00 00 00 18 00 01 00 01 00 1c 00 00 00 00 00 00 00 08 00 00 23 29 00 00 04 57 00 14 00 01 00 01 00 1d 00 00 00 00 00 00 00 04 00 00 00 01 00 18 00 01 00 01 00 24 00 00 00 00 00 00 00 08 00 00 00 00 00 0a 00 00 00 18 00 01 00 01 00 25 00 00 00 00 00 00 00 08 00 00 00 00 00 0a 00 00 00 18 00 01 00 01 00 26 00 00 00 00 00 00 00 08 00 2a bf a6 00 0a 00 04 00 18 00 01 00 01 00 26 00 00 00 00 00 00 00 08 00 2a be 30 00 0a 00 04 00 18 00 01 00 01 00 26 00 00 00 00 00 00 00 08 00 00 00 20 00 0a 00 04 00 18 00 01 00 01 00 26 00 00 00 00 00 00 00 08 00 00 00 00 00 0a 00 04
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blockCount=9
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block[0] blkLen=20 cmd=0x001a rc=0 payloadLen=4 payload=00 00 00 00
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block[1] blkLen=24 cmd=0x001c rc=0 payloadLen=8 payload=00 00 23 29 00 00 04 57
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block[2] blkLen=20 cmd=0x001d rc=0 payloadLen=4 payload=00 00 00 01
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block[3] blkLen=24 cmd=0x0024 rc=0 payloadLen=8 payload=00 00 00 00 00 0a 00 00
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block[4] blkLen=24 cmd=0x0025 rc=0 payloadLen=8 payload=00 00 00 00 00 0a 00 00
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block[5] blkLen=24 cmd=0x0026 rc=0 payloadLen=8 payload=00 2a bf a6 00 0a 00 04
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block[6] blkLen=24 cmd=0x0026 rc=0 payloadLen=8 payload=00 2a be 30 00 0a 00 04
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block[7] blkLen=24 cmd=0x0026 rc=0 payloadLen=8 payload=00 00 00 20 00 0a 00 04
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block[8] blkLen=24 cmd=0x0026 rc=0 payloadLen=8 payload=00 00 00 00 00 0a 00 04
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--- timer-poweron-0x0120-t0 ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 01 20 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=26 complete=True
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<- raw (36B): a0 a0 a0 a0 00 03 21 02 00 1a 00 01 00 18 00 01 00 01 01 20 00 00 00 00 00 00 00 08 00 00 00 00 00 00 00 00
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blockCount=1
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block[0] blkLen=24 cmd=0x0120 rc=0 payloadLen=8 payload=00 00 00 00 00 00 00 00
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--- timer-operating-0x0120-t1 ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 01 20 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=26 complete=True
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<- raw (36B): a0 a0 a0 a0 00 03 21 02 00 1a 00 01 00 18 00 01 00 01 01 20 00 00 00 00 00 00 00 08 00 00 00 00 00 00 00 00
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blockCount=1
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block[0] blkLen=24 cmd=0x0120 rc=0 payloadLen=8 payload=00 00 00 00 00 00 00 00
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--- timer-cutting-0x0120-t2 ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 01 20 00 00 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=26 complete=True
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<- raw (36B): a0 a0 a0 a0 00 03 21 02 00 1a 00 01 00 18 00 01 00 01 01 20 00 00 00 00 00 00 00 08 ac f2 10 00 90 a3 00 00
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blockCount=1
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block[0] blkLen=24 cmd=0x0120 rc=0 payloadLen=8 payload=ac f2 10 00 90 a3 00 00
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--- timer-cycle-0x0120-t3 ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 01 20 00 00 00 03 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=26 complete=True
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<- raw (36B): a0 a0 a0 a0 00 03 21 02 00 1a 00 01 00 18 00 01 00 01 01 20 00 00 00 00 00 00 00 08 00 00 00 00 00 00 00 00
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blockCount=1
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block[0] blkLen=24 cmd=0x0120 rc=0 payloadLen=8 payload=00 00 00 00 00 00 00 00
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--- svmeter-pair-0x0056-0x0089 ---
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-> 68B req: a0 a0 a0 a0 00 01 21 01 00 3a 00 02 00 1c 00 01 00 01 00 56 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1c 00 01 00 01 00 89 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=318 complete=True
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<- raw (328B): a0 a0 a0 a0 00 03 21 02 01 3e 00 02 01 10 00 01 00 01 00 56 00 00 00 00 00 00 01 00 00 00 00 00 00 0a 00 00 00 00 00 32 00 0a 00 00 ff ff ff fd 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 2c 00 01 00 01 00 89 00 00 00 00 00 00 00 1c 58 00 00 00 59 00 00 00 5a 00 00 00 42 00 00 00 43 00 00 00 41 41 36 00 41 41 37 00
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blockCount=2
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block[0] blkLen=272 cmd=0x0056 rc=0 payloadLen=256 payload=00 00 00 00 00 0a 00 00 00 00 00 32 00 0a 00 00 ff ff ff fd 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00
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block[1] blkLen=44 cmd=0x0089 rc=0 payloadLen=28 payload=58 00 00 00 59 00 00 00 5a 00 00 00 42 00 00 00 43 00 00 00 41 41 36 00 41 41 37 00
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--- svmeter-alone-0x0056 ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 00 56 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=274 complete=True
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<- raw (284B): a0 a0 a0 a0 00 03 21 02 01 12 00 01 01 10 00 01 00 01 00 56 00 00 00 00 00 00 01 00 00 00 00 01 00 0a 00 00 00 00 00 32 00 0a 00 00 ff ff ff fd 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00
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blockCount=1
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block[0] blkLen=272 cmd=0x0056 rc=0 payloadLen=256 payload=00 00 00 01 00 0a 00 00 00 00 00 32 00 0a 00 00 ff ff ff fd 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 00 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00 00 00 00 00 00 0a 0a 00
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--- pmcrng-R100-0x8001 ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 02 00 01 80 01 00 00 00 64 00 00 00 64 00 00 00 05 00 00 00 01 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=19 complete=True
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<- raw (29B): a0 a0 a0 a0 00 03 21 02 00 13 00 01 00 11 00 02 00 01 80 01 00 00 00 00 00 00 00 01 00
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blockCount=1
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block[0] blkLen=17 cmd=0x8001 rc=0 payloadLen=1 payload=00
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--- pmcrng-R0-0x8001 ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 02 00 01 80 01 00 00 00 00 00 00 00 00 00 00 00 05 00 00 00 01 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=19 complete=True
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<- raw (29B): a0 a0 a0 a0 00 03 21 02 00 13 00 01 00 11 00 02 00 01 80 01 00 00 00 00 00 00 00 01 00
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blockCount=1
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block[0] blkLen=17 cmd=0x8001 rc=0 payloadLen=1 payload=00
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--- param-1320-0x000e ---
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-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 00 0e 00 00 05 28 00 00 05 28 00 00 00 00 00 00 00 00 00 00 00 00
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<- header: version=3 type=0x21 dir=0x02 bodyLen=18 complete=True
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<- raw (28B): a0 a0 a0 a0 00 03 21 02 00 12 00 01 00 10 00 01 00 01 00 0e 00 01 00 00 00 00 00 00
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blockCount=1
|
||||
block[0] blkLen=16 cmd=0x000e rc=1 payloadLen=0 payload=(empty)
|
||||
|
||||
--- param-100-0x000e ---
|
||||
-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 00 0e 00 00 00 64 00 00 00 64 00 00 00 00 00 00 00 00 00 00 00 00
|
||||
<- header: version=3 type=0x21 dir=0x02 bodyLen=18 complete=True
|
||||
<- raw (28B): a0 a0 a0 a0 00 03 21 02 00 12 00 01 00 10 00 01 00 01 00 0e 00 01 00 00 00 00 00 00
|
||||
blockCount=1
|
||||
block[0] blkLen=16 cmd=0x000e rc=1 payloadLen=0 payload=(empty)
|
||||
|
||||
--- alarms-0x0023 ---
|
||||
-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 00 23 ff ff ff ff 00 00 00 20 00 00 00 02 00 00 00 40 00 00 00 00
|
||||
<- header: version=3 type=0x21 dir=0x02 bodyLen=18 complete=True
|
||||
<- raw (28B): a0 a0 a0 a0 00 03 21 02 00 12 00 01 00 10 00 01 00 01 00 23 00 00 00 00 00 00 00 00
|
||||
blockCount=1
|
||||
block[0] blkLen=16 cmd=0x0023 rc=0 payloadLen=0 payload=(empty)
|
||||
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@@ -7,17 +7,16 @@ namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests;
|
||||
|
||||
/// <summary>
|
||||
/// Unit tests for <see cref="FocasDriverProbe"/>. Covers the offline-determinable failure
|
||||
/// paths (invalid JSON, missing host/port, unreachable closed port) plus the degrade path:
|
||||
/// on a host with no FANUC FWLIB native library present (this dev box / CI Linux containers),
|
||||
/// the <c>cnc_allclibhndl3</c> P/Invoke throws <see cref="DllNotFoundException"/> at JIT bind
|
||||
/// time, so a TCP-reachable target must still report <c>Ok=true</c> with a "FWLIB absent"
|
||||
/// note — never worse than the pre-Phase-5 TCP-only probe.
|
||||
/// paths (invalid JSON, missing host/port, unreachable closed port) plus the Phase-8
|
||||
/// truthfulness behaviour: a TCP-reachable endpoint that is NOT a FOCAS CNC (a bare listener)
|
||||
/// must report <c>Ok=false</c>, because the probe now completes a real <c>FocasWireClient</c>
|
||||
/// session (initiate handshake + <c>cnc_statinfo</c>) rather than degrading to "TCP
|
||||
/// reachability only" when FWLIB is absent.
|
||||
/// <para>
|
||||
/// <b>Live-verify DEFERRED.</b> The happy path (a real CNC answers <c>cnc_allclibhndl3</c>
|
||||
/// with <c>EW_OK</c> → "FOCAS handle OK") and the CNC-error path (FWLIB present but the
|
||||
/// remote returns e.g. <c>EW_SOCKET</c>/<c>EW_PROTOCOL</c> → "FOCAS handshake failed:
|
||||
/// focas_rc=...") cannot run on this rig: there is neither a FANUC CNC nor the FWLIB native
|
||||
/// library available. Those two paths are verified manually against a real Windows+FWLIB host.
|
||||
/// <b>Live-verify DEFERRED.</b> The happy path (a real CNC completes the handshake + read →
|
||||
/// "FOCAS session OK") cannot run on this rig — there is no FANUC CNC available at unit-test
|
||||
/// time. It is verified against the live 31i-B at <c>10.201.31.5</c> (see the implementation
|
||||
/// plan's deploy/validate step).
|
||||
/// </para>
|
||||
/// </summary>
|
||||
[Trait("Category", "Unit")]
|
||||
@@ -118,32 +117,32 @@ public sealed class FocasDriverProbeTests
|
||||
}
|
||||
|
||||
// -------------------------------------------------------------------------
|
||||
// 4. Degrade path — TCP reachable, FWLIB absent (the key test)
|
||||
// 4. TCP reachable but not a CNC — wire-session probe must say Ok=false (Phase 8)
|
||||
// -------------------------------------------------------------------------
|
||||
|
||||
/// <summary>
|
||||
/// Against an in-process <see cref="TcpListener"/> that accepts the connection, the TCP
|
||||
/// preflight succeeds. On this box the FANUC FWLIB native library is absent, so the
|
||||
/// <c>cnc_allclibhndl3</c> P/Invoke throws <see cref="DllNotFoundException"/> (or a
|
||||
/// related load failure). The probe MUST degrade gracefully — return <c>Ok=true</c> with
|
||||
/// a "FWLIB absent ... TCP reachability only" note — proving no regression versus the
|
||||
/// pre-Phase-5 TCP-only probe on FWLIB-less hosts.
|
||||
/// Against an in-process <see cref="TcpListener"/> that accepts the connection but speaks no
|
||||
/// FOCAS (drops each accepted socket), the TCP preflight succeeds but the Phase-2 wire
|
||||
/// session can't complete the initiate handshake + <c>cnc_statinfo</c> read. The probe MUST
|
||||
/// report <c>Ok=false</c> — a bare TCP listener is not a CNC. This is the Phase-8 fix: the
|
||||
/// old probe degraded such a listener to <c>Ok=true</c> "FWLIB absent, TCP reachability
|
||||
/// only", which made any TCP listener look HEALTHY.
|
||||
/// </summary>
|
||||
[Fact]
|
||||
public async Task TcpReachable_FwlibAbsent_Degrades_To_OkTrue_WithReachabilityNote()
|
||||
public async Task TcpReachable_NotACnc_Returns_OkFalse()
|
||||
{
|
||||
// Accept-only listener: completes the TCP handshake but speaks no FOCAS bytes.
|
||||
var listener = new TcpListener(IPAddress.Loopback, 0);
|
||||
listener.Start();
|
||||
var port = ((IPEndPoint)listener.LocalEndpoint).Port;
|
||||
// Keep accepting so the connect always completes; ignore the accepted socket.
|
||||
// Keep accepting so the connect always completes; drop the accepted socket.
|
||||
_ = AcceptLoopAsync(listener, TestContext.Current.CancellationToken);
|
||||
|
||||
try
|
||||
{
|
||||
using var cts = CancellationTokenSource.CreateLinkedTokenSource(
|
||||
TestContext.Current.CancellationToken);
|
||||
cts.CancelAfter(TimeSpan.FromSeconds(5));
|
||||
cts.CancelAfter(TimeSpan.FromSeconds(15));
|
||||
|
||||
var configJson = $"{{\"devices\":[{{\"hostAddress\":\"focas://127.0.0.1:{port}\"}}]}}";
|
||||
var result = await Probe.ProbeAsync(
|
||||
@@ -151,13 +150,11 @@ public sealed class FocasDriverProbeTests
|
||||
TimeSpan.FromSeconds(3),
|
||||
cts.Token);
|
||||
|
||||
// No FWLIB here → degrade, never worse than TCP-only.
|
||||
result.Ok.ShouldBeTrue(
|
||||
$"Expected degrade to Ok=true on an FWLIB-less host but got: {result.Message}");
|
||||
// A bare listener is not a CNC — the FOCAS session fails, so the probe is NOT ok.
|
||||
result.Ok.ShouldBeFalse(
|
||||
$"Expected Ok=false for a non-CNC TCP listener but got: {result.Message}");
|
||||
result.Message.ShouldNotBeNull();
|
||||
result.Message!.ShouldContain("FWLIB absent");
|
||||
result.Message!.ShouldContain("TCP reachability only");
|
||||
result.Latency.ShouldNotBeNull();
|
||||
result.Latency.ShouldBeNull();
|
||||
}
|
||||
finally
|
||||
{
|
||||
|
||||
@@ -107,6 +107,36 @@ public sealed class FocasWireProtocolTests
|
||||
finally { client.Dispose(); server.Dispose(); }
|
||||
}
|
||||
|
||||
// The 10-byte header framing is identical across supported versions (only the version field
|
||||
// differs) — older controls + the mock answer v1, modern controls answer v3 (FANUC 30i-B).
|
||||
// Validated live 2026-06-25; see docs/plans/2026-06-25-focas-pdu-v3-30i-b-support.md.
|
||||
[Theory]
|
||||
[InlineData((ushort)1)]
|
||||
[InlineData((ushort)3)]
|
||||
public async Task ReadPduAsync_accepts_supported_version(ushort version)
|
||||
{
|
||||
var body = new byte[] { 9, 8, 7 };
|
||||
var pdu = new byte[10 + body.Length];
|
||||
new byte[] { 0xa0, 0xa0, 0xa0, 0xa0 }.CopyTo(pdu, 0);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(pdu.AsSpan(4, 2), version);
|
||||
pdu[6] = FocasWireProtocol.TypeData;
|
||||
pdu[7] = FocasWireProtocol.DirectionResponse;
|
||||
BinaryPrimitives.WriteUInt16BigEndian(pdu.AsSpan(8, 2), (ushort)body.Length);
|
||||
body.CopyTo(pdu.AsSpan(10));
|
||||
|
||||
var (client, server) = await ConnectedPairAsync();
|
||||
try
|
||||
{
|
||||
await server.GetStream().WriteAsync(pdu);
|
||||
var read = await FocasWireProtocol.ReadPduAsync(client.GetStream(), CancellationToken.None);
|
||||
|
||||
read.Type.ShouldBe(FocasWireProtocol.TypeData);
|
||||
read.Direction.ShouldBe(FocasWireProtocol.DirectionResponse);
|
||||
read.Body.ShouldBe(body);
|
||||
}
|
||||
finally { client.Dispose(); server.Dispose(); }
|
||||
}
|
||||
|
||||
// ---- BuildRequestBody framing ----
|
||||
|
||||
[Fact]
|
||||
|
||||
@@ -0,0 +1,178 @@
|
||||
using System.Buffers.Binary;
|
||||
using System.Diagnostics;
|
||||
using System.Net;
|
||||
using System.Net.Sockets;
|
||||
using Shouldly;
|
||||
using Xunit;
|
||||
using ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Wire;
|
||||
|
||||
namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests;
|
||||
|
||||
/// <summary>
|
||||
/// Byte-level coverage for the FOCAS PDU-v3 fixes derived from a live FANUC 31i-B capture
|
||||
/// (2026-06-25). The fixtures under <c>Fixtures/v3/</c> are the raw responses; the specific
|
||||
/// payload bytes are inlined here so the tests stay hermetic. See
|
||||
/// <c>docs/plans/2026-06-25-focas-pdu-v3-30i-b-support.md</c> +
|
||||
/// <c>docs/plans/2026-06-25-focas-pdu-v3-implementation-plan.md</c>.
|
||||
/// </summary>
|
||||
[Trait("Category", "Unit")]
|
||||
public sealed class FocasWireV3Tests
|
||||
{
|
||||
// ---- cnc_rdtimer (0x0120): little-endian {minute, msec} ----
|
||||
|
||||
// Captured cutting-time (type 2) payload from the live 31i-B.
|
||||
private static readonly byte[] CuttingTimerPayload = [0xac, 0xf2, 0x10, 0x00, 0x90, 0xa3, 0x00, 0x00];
|
||||
|
||||
[Fact]
|
||||
public void ParseTimer_decodes_the_live_payload_as_little_endian_minute_and_msec()
|
||||
{
|
||||
var timer = FocasWireClient.ParseTimer(2, CuttingTimerPayload);
|
||||
|
||||
timer.Type.ShouldBe((short)2);
|
||||
timer.Minutes.ShouldBe(1_110_700); // 0x0010F2AC little-endian
|
||||
timer.Milliseconds.ShouldBe(41_872); // 0x0000A390 little-endian
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void ParseTimer_little_endian_is_the_only_decode_with_an_in_range_msec()
|
||||
{
|
||||
// The whole point: under big-endian the msec field is nonsensical (~2.4e9), so it cannot be
|
||||
// the "fractional milliseconds 0..59999" field the model documents. Little-endian is in range.
|
||||
var beMsec = BinaryPrimitives.ReadUInt32BigEndian(CuttingTimerPayload.AsSpan(4, 4));
|
||||
beMsec.ShouldBeGreaterThan(59_999u);
|
||||
|
||||
var timer = FocasWireClient.ParseTimer(2, CuttingTimerPayload);
|
||||
timer.Milliseconds.ShouldBeInRange(0, 59_999);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void ParseTimer_handles_a_short_payload_without_throwing()
|
||||
{
|
||||
var timer = FocasWireClient.ParseTimer(0, []);
|
||||
timer.Minutes.ShouldBe(0);
|
||||
timer.Milliseconds.ShouldBe(0);
|
||||
}
|
||||
|
||||
// ---- pmc_rdpmcrng (0x8001): byte width + range decode ----
|
||||
|
||||
[Theory]
|
||||
[InlineData((short)0, 1)] // Byte
|
||||
[InlineData((short)1, 2)] // Word
|
||||
[InlineData((short)2, 4)] // Long
|
||||
[InlineData((short)4, 4)] // Real
|
||||
[InlineData((short)5, 8)] // Double
|
||||
[InlineData((short)99, 1)] // unknown → 1
|
||||
public void PmcByteWidth_maps_focas_datatype_codes(short dataType, int expectedWidth)
|
||||
{
|
||||
FocasWireClient.PmcByteWidth(dataType).ShouldBe(expectedWidth);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void ParsePmcRange_decodes_a_two_byte_word_into_one_value()
|
||||
{
|
||||
// A Word read of R100 must request bytes 100..101 (2 bytes); the CNC then returns 2 bytes.
|
||||
var range = FocasWireClient.ParsePmcRange(area: 5, dataType: 1, start: 100, end: 101, payload: [0x00, 0x64]);
|
||||
range.Values.Count.ShouldBe(1);
|
||||
range.Values[0].ShouldBe(100L); // 0x0064 big-endian
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void ParsePmcRange_with_a_single_byte_for_a_word_yields_no_value()
|
||||
{
|
||||
// This is the pre-fix bug: requesting end==start for a Word returned 1 byte, the 2-byte
|
||||
// slot never completed, so the value list was empty → WireFocasClient mapped it BadOutOfRange.
|
||||
var range = FocasWireClient.ParsePmcRange(area: 5, dataType: 1, start: 100, end: 100, payload: [0x00]);
|
||||
range.Values.ShouldBeEmpty();
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void ParsePmcRange_decodes_a_single_byte_value()
|
||||
{
|
||||
var range = FocasWireClient.ParsePmcRange(area: 5, dataType: 0, start: 0, end: 0, payload: [0x07]);
|
||||
range.Values.Count.ShouldBe(1);
|
||||
range.Values[0].ShouldBe(7L);
|
||||
}
|
||||
|
||||
// ---- cnc_rdsvmeter: 8-byte LOADELM stride + axis-name correlation ----
|
||||
|
||||
[Fact]
|
||||
public void ParseServoMeters_uses_an_eight_byte_stride_and_names_from_the_axis_block()
|
||||
{
|
||||
// Three 8-byte records {int32 data; int16 dec=10; int16 unit=0}: data = 0, 50, -3.
|
||||
byte[] sv =
|
||||
[
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, // axis 1: data=0
|
||||
0x00, 0x00, 0x00, 0x32, 0x00, 0x0a, 0x00, 0x00, // axis 2: data=50
|
||||
0xff, 0xff, 0xff, 0xfd, 0x00, 0x0a, 0x00, 0x00, // axis 3: data=-3
|
||||
];
|
||||
// 0x0089 axis-name block: 4-byte records X, Y, Z.
|
||||
byte[] names =
|
||||
[
|
||||
0x58, 0x00, 0x00, 0x00, // "X"
|
||||
0x59, 0x00, 0x00, 0x00, // "Y"
|
||||
0x5a, 0x00, 0x00, 0x00, // "Z"
|
||||
];
|
||||
|
||||
var meters = FocasWireClient.ParseServoMeters(sv, names, maxCount: 32);
|
||||
|
||||
meters.Count.ShouldBe(3);
|
||||
meters[0].Name.ShouldBe("X");
|
||||
meters[0].Value.ShouldBe(0);
|
||||
meters[1].Name.ShouldBe("Y");
|
||||
meters[1].Value.ShouldBe(50); // 8-byte stride: a 12-byte stride would misread this as 655360
|
||||
meters[1].Decimal.ShouldBe((short)10);
|
||||
meters[2].Name.ShouldBe("Z");
|
||||
meters[2].Value.ShouldBe(-3);
|
||||
}
|
||||
|
||||
// ---- cnc_rddynamic2: 1-based axis guard ----
|
||||
|
||||
[Theory]
|
||||
[InlineData(0)]
|
||||
[InlineData(-1)]
|
||||
public async Task ReadDynamicAsync_rejects_a_non_positive_axis_index(int axisIndex)
|
||||
{
|
||||
using var client = new WireFocasClient();
|
||||
await Should.ThrowAsync<ArgumentOutOfRangeException>(async () =>
|
||||
await client.ReadDynamicAsync(axisIndex, CancellationToken.None));
|
||||
}
|
||||
|
||||
// ---- read-stall hardening: a stalled peer must not wedge the poll loop ----
|
||||
|
||||
[Fact]
|
||||
public async Task ReadPduAsync_aborts_a_stalled_peer_within_the_cancellation_budget()
|
||||
{
|
||||
var (client, server) = await ConnectedPairAsync();
|
||||
try
|
||||
{
|
||||
// Send only 5 of the 10 header bytes, then stall forever — the cnc_rdsvmeter hang shape.
|
||||
await server.GetStream().WriteAsync(new byte[] { 0xa0, 0xa0, 0xa0, 0xa0, 0x00 });
|
||||
|
||||
using var cts = new CancellationTokenSource(TimeSpan.FromMilliseconds(300));
|
||||
var sw = Stopwatch.StartNew();
|
||||
await Should.ThrowAsync<OperationCanceledException>(async () =>
|
||||
await FocasWireProtocol.ReadPduAsync(client.GetStream(), cts.Token));
|
||||
sw.Stop();
|
||||
|
||||
// Must abort near the 300ms budget, not hang — generous ceiling for CI jitter.
|
||||
sw.Elapsed.ShouldBeLessThan(TimeSpan.FromSeconds(5));
|
||||
}
|
||||
finally { client.Dispose(); server.Dispose(); }
|
||||
}
|
||||
|
||||
private static async Task<(TcpClient client, TcpClient server)> ConnectedPairAsync()
|
||||
{
|
||||
var listener = new TcpListener(IPAddress.Loopback, 0);
|
||||
listener.Start();
|
||||
try
|
||||
{
|
||||
var port = ((IPEndPoint)listener.LocalEndpoint).Port;
|
||||
var client = new TcpClient();
|
||||
var connect = client.ConnectAsync(IPAddress.Loopback, port);
|
||||
var server = await listener.AcceptTcpClientAsync();
|
||||
await connect;
|
||||
return (client, server);
|
||||
}
|
||||
finally { listener.Stop(); }
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user