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
@@ -0,0 +1,69 @@
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# Deployment record — wonder-app-vd03 · Makino Pro 5 (Z-34184) FOCAS
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**Date configured:** 2026-06-25
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**Host:** `wonder-app-vd03.zmr.zimmer.com` (OtOpcUaHost Windows service, single fused admin+driver node)
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**Status:** Configured + deployed + served. **Live values blocked** by the FOCAS PDU-v3 driver gap —
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see [`docs/plans/2026-06-25-focas-pdu-v3-30i-b-support.md`](../plans/2026-06-25-focas-pdu-v3-30i-b-support.md).
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## Equipment
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| Field | Value |
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|---|---|
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| Machine | **Makino Pro 5** (FANUC **30i-B** control) |
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| **IP / FOCAS endpoint** | **`10.201.31.5:8193`** (FOCAS Ethernet, TCP) — reachable from the host (and from VPN clients) |
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| **ZTag** | **`Z-34184`** |
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| Manufacturer / Model | `Makino` / `Pro 5` |
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| CNC series (driver) | `Thirty_i` (30i) |
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## OtOpcUa host endpoints
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- AdminUI: `http://wonder-app-vd03.zmr.zimmer.com:9000` (login disabled — `Security__Auth__DisableLogin=true`)
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- OPC UA: `opc.tcp://wonder-app-vd03.zmr.zimmer.com:4840/OtOpcUa`
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- Akka cluster: `:4053` · ConfigDb: SQL `OtOpcUaConfig` on `:1433`
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## Deployed configuration (cluster `DEV`, Enterprise `zb` / Site `wonder-app-vd03`)
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First config ever deployed on this node. All authored via the AdminUI.
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| Object | Value |
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|---|---|
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| Namespace | `dev-equipment` (Equipment), URI `urn:zb:wonder-app-vd03:equipment` |
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| UNS path | `zb / wonder-app-vd03 / machining / makino` |
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| FOCAS driver instance | `focas-z-34184` ("Makino Pro 5 Z-34184 (FOCAS)"), backend `wire`, FixedTree enabled |
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| Device | `10.201.31.5:8193`, series `Thirty_i` |
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| Equipment | `z-34184` → `EquipmentId = EQ-3686c0272279`, MachineCode `Z-34184`, ZTag `Z-34184` |
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| Tags | `parts-count` → `MACRO:3901` (Float64/Double, Read); `parts-required` → `MACRO:3902` (Float64/Double, Read) |
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| Deployment | `0c2db588` (rev `924b59097eba…`) — **Sealed / "In sync"** |
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OPC UA node IDs (verified served via the OtOpcUa CLI client):
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- Equipment: `ns=2;s=EQ-3686c0272279`
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- `ns=2;s=EQ-3686c0272279/parts-count`
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- `ns=2;s=EQ-3686c0272279/parts-required`
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## Host change required to deploy at all (Akka cluster roles)
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This node was joining the Akka cluster **role-less**, so no deployment could ever complete
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("a task was canceled"; Fleet status: "no driver-role nodes are Up"). Root cause: `OTOPCUA_ROLES`
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(set to `admin,driver`) drives Program.cs actor wiring but does **not** populate the Akka member roles —
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those come from config `Cluster:Roles`, which was unset (no `Cluster__Roles` env var; no `Cluster`
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section in any appsettings). No code bridges `OTOPCUA_ROLES` → `AkkaClusterOptions.Roles`.
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**Fix applied to the host service** (`HKLM\SYSTEM\CurrentControlSet\Services\OtOpcUaHost` → `Environment`):
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added `Cluster__Roles__0=admin` and `Cluster__Roles__1=driver`, then restarted the service. The member
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now joins **UP with roles ADMIN+DRIVER** and deployments seal. Prior env backed up on the host at
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`E:\ApiInstall\OtOpcUa\_envbak-20260625T145303.txt`.
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> Product follow-up: either wire `OTOPCUA_ROLES` → `AkkaClusterOptions.Roles`, or bake `Cluster:Roles`
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> into the deploy template, so a node redeploy doesn't regress to role-less.
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## Live verification (OtOpcUa CLI client → server)
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`connect` + `browse` confirm the equipment + both tags are served at the node IDs above.
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**Driver fix shipped (2026-06-25):** the wire client now accepts PDU v3 (see the linked plan). Validated
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|
directly against `10.201.31.5` — `MACRO:3901`/`3902` read **Good** from the live 30i-B. **However, the
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|
OtOpcUaHost on this box is still running the pre-v3 driver binary**, so the live OPC UA tags will keep
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returning `Bad_WaitingForInitialData` until the rebuilt `ZB.MOM.WW.OtOpcUa.Driver.FOCAS.dll` (or a fresh
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self-contained host publish) is deployed to `E:\ApiInstall\OtOpcUa\` and `OtOpcUaHost` is restarted. Once
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redeployed, `parts-count`/`parts-required` should go Good (FixedTree + PMC/Parameter still pending the
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follow-on v3 command work).
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@@ -15,6 +15,21 @@ OtOpcUa is **read-only** against FOCAS; all reads go over the native wire
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protocol using the documented command IDs. Writes return
|
protocol using the documented command IDs. Writes return
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`BadNotWritable` by design.
|
`BadNotWritable` by design.
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|
> **PDU version (v3 / FANUC 30i/31i).** The wire client **accepts inbound PDU versions `{1, 3}`**
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> (`FocasWireProtocol`) while still emitting v1 on requests. Older controls + the docker mock answer
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> v1; modern controls (Makino Pro 5 / FANUC **31i-B**) answer v3. **Validated live against a real
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|
> 31i-B (`10.201.31.5`) 2026-06-25:** sysinfo, axis/spindle names, dynamic positions/feed/spindle,
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> program/mode, **macros**, **timers** (8-byte payload is little-endian {minute, msec}), **PMC range**
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> (request widened to the data-type byte width), **servo meters** (8-byte LOADELM stride + names from
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> the 0x0089 block; load *scaling* still to be confirmed at commissioning), and **alarms** all read
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|
> correctly. The driver `cnc_rddynamic2` poll is 1-based. **`cnc_rdparam` is unsupported on this
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> control** — every request-framing variant returns `EW_FUNC` (likely a wrong v3 command id; needs a
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> reference FWLIB trace). The Test-Connect probe now runs a real wire session (initiate + cnc_statinfo)
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> instead of a bare TCP check. Full finding, captured wire bytes, validation results, and analysis:
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> [`docs/plans/2026-06-25-focas-pdu-v3-30i-b-support.md`](../plans/2026-06-25-focas-pdu-v3-30i-b-support.md)
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|
> + [`…-implementation-plan.md`](../plans/2026-06-25-focas-pdu-v3-implementation-plan.md).
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> Capture tools: `scripts/focas/capture-initiate.py`, `scripts/focas/capture-v3.py`.
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|
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## Project split
|
## Project split
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|
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||||||
| Project | Target | Role |
|
| Project | Target | Role |
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@@ -0,0 +1,222 @@
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|
# FOCAS wire-protocol PDU v3 — finding + support analysis (Makino Pro 5 / FANUC 30i-B)
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|
**Date:** 2026-06-25
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|
**Author:** field investigation against a live CNC (first real FOCAS hardware contact)
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|
**Status:** **RESOLVED + live-validated on a real 31i-B (`10.201.31.5`) 2026-06-25** — version gate, timer, PMC range, servo-meter, alarms, probe all fixed and verified live; `cnc_rdparam` found unsupported on this control (see Resolution). See `2026-06-25-focas-pdu-v3-implementation-plan.md` for the per-phase record.
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|
**Components:** `ZB.MOM.WW.OtOpcUa.Driver.FOCAS` (`Wire/FocasWireProtocol.cs`, `Wire/FocasWireClient.cs`)
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||||||
|
---
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|
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||||||
|
## TL;DR
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||||||
|
The pure-managed `WireFocasClient` only implements **FOCAS Ethernet wire-protocol PDU version 1**
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and hard-rejects every other version. A real **Makino Pro 5 (FANUC 30i-B)** at `10.201.31.5:8193`
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speaks **PDU version 3**, so the driver fails the session with
|
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`BadCommunicationError` / "Unsupported FOCAS PDU version 3" and no tag ever produces a value.
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A live experiment (relaxing the version gate to accept v3) showed the **v3 initiate handshake and the
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macro-read data framing are already compatible** — `MACRO:*` reads returned correct values from the
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real machine. **PMC** and **Parameter** reads still failed and need per-command v3 work. So v3 support
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is *not* a rewrite, but it is also *not* a one-line version bump if PMC/PARAM/FixedTree are required.
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This was the **first time the driver has ever been pointed at real FOCAS hardware** — the wire
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implementation was written from `strangesast/fwlib` + public docs with an explicit "needs Wireshark
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traces to validate" caveat (see `docs/v2/implementation/focas-wire-protocol.md`). This finding is
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those traces.
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||||||
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---
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||||||
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## Resolution (2026-06-25 — implemented + live-validated)
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A full v3 data-PDU capture (`scripts/focas/capture-v3.py`, fixtures under
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|
`tests/Drivers/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests/Fixtures/v3/`) **substantially corrected the
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|
initial diagnosis** — 4 of the 6 "v3 framing failures" were not framing problems at all. The block
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envelope is byte-identical to v1; only specific payload structs / request-range math / a client-side
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robustness gap were wrong. Every fix below was re-validated by reading the live 31i-B through the
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|
fixed driver.
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|
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|
| Surface | Root cause (from the capture) | Fix | Live result |
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|---|---|---|---|
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|
| version gate | hard `version != 1` reject | accept `{1,3}` inbound (`FocasWireProtocol`) | macros + all reads work on v3 |
|
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|
| `cnc_rdtimer` | 8-byte {minute,msec} payload is **little-endian** (only decode with an in-range msec) | `FocasWireClient.ParseTimer` reads LE | cutting = 1,110,700 min / 41,872 ms |
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|
| `pmc_rdpmcrng` | request asked for `end=start` (1 byte) but a Word needs its byte width → 0 values → spurious `BadOutOfRange` | `WireFocasClient.ReadPmcAsync` sets `end = start + width − 1`; decode extracted to `ParsePmcRange` | R0 = 7873, R100 = 0, status Good |
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|
| `cnc_rdsvmeter` | (a) **no wire hang** — CNC answers fully + promptly; the "hang" was `NetworkStream.ReadAsync` not aborting a genuinely stalled socket. (b) per-axis LOADELM is **8 bytes**, not 12 → 12-byte stride misaligned (→ 655360 garbage); names live in the 0x0089 block | (a) `ReadExactlyAsync` dispose-on-cancel abort. (b) `ParseServoMeters` 8-byte stride + name correlation | 7 axes X,Y,Z,B,C,AA,AA, aligned values (≈0 idle) |
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| `cnc_rdalmmsg2` | not broken — empty payload = no active alarms | none (parser already handles empty) | returned active alarm `#3080 WRONG PALLET IN MACHINE` |
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|
| `cnc_rddynamic2` axis 0 | not a driver bug — the FixedTree poll already iterates 1..N; only a direct harness call used 0 | contract guard in `ReadDynamicAsync` (reject `axisIndex < 1`) | axes 1..N read clean |
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|
| Test-Connect probe | degraded to `Ok=true` "TCP reachability only" when FWLIB absent → any TCP listener looked HEALTHY | `FocasDriverProbe` now runs a real wire session (initiate + `cnc_statinfo`) | `Ok=true` vs real CNC, `Ok=false` vs bare listener |
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|
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|
### `cnc_rdparam` — unsupported on this control (blocked)
|
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|
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|
The one genuine v3 problem. A live matrix of **14 request-framing variants × 4 known-present
|
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|
parameters** (8130 / 1320 / 1825 / 3201) — every combination of arg ordering, axis, length,
|
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|
request-class, and extra payload (`scripts/focas/param-probe.py`) — returned **`EW_FUNC(1)`
|
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|
uniformly**. That is not a tweakable-framing bug. `0x000e` is also the ignored post-connect setup
|
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|
command, which makes it a doubtful parameter opcode. Either parameter read is genuinely restricted on
|
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|
this control via the wire path, or the v3 command id differs from `0x000e` and cannot be recovered
|
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|
without a reference FWLIB Wireshark trace (the long-blocked "Stream C.2"). Parameter support is parked
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|
on that reference; the deployed config uses macros, not parameters, so nothing live depends on it.
|
||||||
|
|
||||||
|
### Open caveats
|
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|
- **Servo-load magnitude/scaling** (`data / 10^dec`; `dec` read as 10 → idle loads ≈ 0) is inferred
|
||||||
|
from the wire and unconfirmed against the machine's servo-meter screen — confirm at commissioning.
|
||||||
|
- **Timer type→counter mapping**: power-on / operating / cycle read 0 while cutting is non-zero on
|
||||||
|
this control. The *decode* is correct; whether type 0/1/3 map to populated counters here is a
|
||||||
|
CNC-configuration question for commissioning.
|
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|
|
||||||
|
## Environment
|
||||||
|
|
||||||
|
- **CNC:** Makino Pro 5, FANUC 30i-B control, `10.201.31.5:8193` (ZTag `Z-34184`). FOCAS Ethernet
|
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|
reachable (TCP 8193 open from both the OtOpcUa host `wonder-app-vd03` and a dev laptop over VPN).
|
||||||
|
- **Driver backend:** `wire` (the default and now only real backend — `fwlib`/`ipc` were retired in
|
||||||
|
the Wire migration; see `FocasDriverFactoryExtensions.BuildClientFactory`). FANUC FWLIB is NOT
|
||||||
|
installed on the host, and is not used for reads.
|
||||||
|
- **Deployment using this CNC:** see `docs/deployments/wonder-app-vd03-makino-z-34184.md`.
|
||||||
|
|
||||||
|
## Symptom
|
||||||
|
|
||||||
|
Equipment tags backed by this device never leave OPC UA `Bad_WaitingForInitialData` (`0x80320000`),
|
||||||
|
and the FOCAS FixedTree emits no nodes (capability detection against the CNC never succeeds).
|
||||||
|
|
||||||
|
## Reproduction (driver CLI, straight to the CNC — no OPC UA server involved)
|
||||||
|
|
||||||
|
```bash
|
||||||
|
dotnet run --project src/Drivers/Cli/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Cli -- \
|
||||||
|
probe -h 10.201.31.5 -s Thirty_i --timeout-ms 6000 --verbose
|
||||||
|
```
|
||||||
|
|
||||||
|
```
|
||||||
|
CNC: 10.201.31.5:8193
|
||||||
|
Series: Thirty_i
|
||||||
|
Health: Degraded
|
||||||
|
Last error: Unsupported FOCAS PDU version 3.
|
||||||
|
R100 → 0x80050000 (BadCommunicationError)
|
||||||
|
```
|
||||||
|
|
||||||
|
## Root cause (exact)
|
||||||
|
|
||||||
|
`src/Drivers/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/Wire/FocasWireProtocol.cs`
|
||||||
|
|
||||||
|
- Line 22: `public const ushort Version = 1;`
|
||||||
|
- `ReadPduAsync` (~line 102) and `ReadPdu` (~line 125): `if (version != Version) throw new FocasWireException($"Unsupported FOCAS PDU version {version}.");`
|
||||||
|
|
||||||
|
The 10-byte PDU header is `A0 A0 A0 A0` magic + `u16` version + type byte + direction byte + `u16`
|
||||||
|
body length. The client emits version 1 and **rejects any response whose version field != 1**. The
|
||||||
|
30i-B answers the initiate with version 3.
|
||||||
|
|
||||||
|
## What the wire actually shows (captured live, read-only initiate handshake)
|
||||||
|
|
||||||
|
Request the driver sends (socket-1 initiate, exactly as today):
|
||||||
|
```
|
||||||
|
a0 a0 a0 a0 00 01 01 01 00 02 00 01
|
||||||
|
^magic------ ^v=1 ^t ^d ^len ^sockIdx=1
|
||||||
|
```
|
||||||
|
|
||||||
|
Response from the real 30i-B:
|
||||||
|
```
|
||||||
|
a0 a0 a0 a0 00 03 01 02 01 68 + 360-byte body
|
||||||
|
^magic------ ^v=3 ^t ^d ^len=0x0168(360)
|
||||||
|
body[0..]: 00 08 00 05 00 03 00 20 00 08 00 0a 00 03 00 03 00 0f 00 0f 00 01 00 02 00 01 00 00 00 01 02 00 ...
|
||||||
|
```
|
||||||
|
|
||||||
|
Key observations:
|
||||||
|
- **The 10-byte header framing is byte-identical to v1** — same magic, same `type=0x01` (initiate),
|
||||||
|
same `direction=0x02` (response). **Only the version field differs (3 vs 1).**
|
||||||
|
- The initiate-response **body is 360 bytes** (v3 carries a larger capability/version descriptor block;
|
||||||
|
it parses as a run of big-endian `u16` words). The current client doesn't deeply parse the initiate
|
||||||
|
body, so its size/shape did not block the handshake once the version gate was relaxed.
|
||||||
|
- **No version negotiation:** sending version 3 in our *request* header produced the identical response —
|
||||||
|
the CNC speaks v3 unconditionally.
|
||||||
|
|
||||||
|
(Capture is reproducible with `scripts/focas/capture-initiate.py <host>`.)
|
||||||
|
|
||||||
|
## Implemented + validated — accept v3 on inbound PDUs
|
||||||
|
|
||||||
|
Shipped change (`Wire/FocasWireProtocol.cs`): the hard `version != Version` reject is replaced by a
|
||||||
|
supported-read-version set `{1, 3}` (`SupportedReadVersions` + `IsSupportedReadVersion`). We still
|
||||||
|
**emit** `Version` (v1) on requests — the 30i-B accepts v1 request framing — and now **accept** v1 or v3
|
||||||
|
on inbound PDUs. Covered by `FocasWireProtocolTests.ReadPduAsync_accepts_supported_version` (v1 + v3
|
||||||
|
theory) with the existing v99-rejection test still green; full FOCAS unit suite 218/218.
|
||||||
|
|
||||||
|
Validated live against `10.201.31.5` (30i-B) with the change in source — reading several addresses:
|
||||||
|
|
||||||
|
| Address | Type | Result |
|
||||||
|
|---|---|---|
|
||||||
|
| `MACRO:500` | Float64 | **0.02 — Good (`0x0`)** |
|
||||||
|
| `MACRO:3901` (parts total) | Float64 | **0 — Good (`0x0`)** |
|
||||||
|
| `MACRO:3902` (parts required) | Float64 | Good |
|
||||||
|
| `R100` (PMC R-file) | Int16 | `0x803C0000` BadOutOfRange |
|
||||||
|
| `PARAM:1320/0` | Int32 | `0x803D0000` BadNotSupported |
|
||||||
|
|
||||||
|
Interpretation:
|
||||||
|
- **Initiate handshake + macro command (`cnc_rdmacro`, cmd path) data framing are already v3-compatible.**
|
||||||
|
Macro reads returned correct, plausible values from the real machine. The deployed equipment tags
|
||||||
|
(`MACRO:3901`/`3902`) would go **Good** with nothing more than the version-gate relaxation.
|
||||||
|
- **PMC (`pmc_rdpmcrng`) and Parameter (`cnc_rdparam`) reads still fail.** Two candidate causes, not yet
|
||||||
|
separated: (a) the v3 response *block/struct* framing for these specific commands differs from the
|
||||||
|
v1-shaped parser (so the return-code/value lands at the wrong offset → spurious `BadOutOfRange` /
|
||||||
|
`BadNotSupported`); or (b) genuine CNC restrictions (PMC path/range, parameter not present). Macro
|
||||||
|
working argues the *envelope* is fine, so this is per-command struct work, not a framing rewrite.
|
||||||
|
|
||||||
|
## Status-command validation on v3 (the FixedTree surface) — 2026-06-25
|
||||||
|
|
||||||
|
Drove every `IFocasClient` status call directly against the live control (v3 accepted). **Most of the
|
||||||
|
FixedTree lights up on v3.** Note: sysinfo reveals the control is actually a **31i** (CncType=31, Series
|
||||||
|
`G431`, MaxAxis 32, 7 axes, MtType MM) — the deployment declared `Thirty_i`; same family, reads fine.
|
||||||
|
|
||||||
|
| Call (FOCAS fn) | Result on v3 |
|
||||||
|
|---|---|
|
||||||
|
| `GetSysInfoAsync` (`cnc_sysinfo`) → Identity | ✅ real — CncType 31, Series G431, 7 axes, MtType MM |
|
||||||
|
| `GetAxisNamesAsync` (`cnc_rdaxisname`) | ✅ real — X,Y,Z,B,C,A,A |
|
||||||
|
| `GetSpindleNamesAsync` (`cnc_rdspdlname`) | ✅ real — S1 |
|
||||||
|
| `GetProgramInfoAsync` (program/mode) | ✅ real — `//CNC_MEM/USER/LIBRARY/O1111`, Mode 1 |
|
||||||
|
| `ReadDynamicAsync(n)` (`cnc_rddynamic2`) | ✅ real for axes 1..N (feed 4200, spindle ~15000, live positions). **axis 0 → `EW_4`** — the call is 1-based; FixedTree must iterate 1..N, not 0 |
|
||||||
|
| `GetTimerAsync(*)` | ⚠️ **misparsed** — a running machine shows PowerOn/Operating/Cycle = 0 and Cutting = garbage; the v3 timer struct differs |
|
||||||
|
| `GetServoLoadsAsync` (`cnc_rdsvmeter`) | ❌ **hangs** — blocks awaiting bytes that never arrive (v3 framing differs) *and* ignores the cancellation token (poll-loop-stalling robustness bug; the read must honor CT regardless) |
|
||||||
|
| `ReadAlarmsAsync` (`cnc_rdalmmsg2`) | ❓ untested — ServoLoads hung ahead of it; validate once the hang is fixed |
|
||||||
|
|
||||||
|
Remaining v3 work, now scoped concretely: timer struct; 1-based axis iteration for dynamic; the
|
||||||
|
`cnc_rdsvmeter` framing + a cancellation-honoring read; and the PMC (`pmc_rdpmcrng`) + Parameter
|
||||||
|
(`cnc_rdparam`) struct diffs. Identity / axes / positions / feed / spindle / program-mode already work.
|
||||||
|
|
||||||
|
## Implementation analysis — what "support PDU v3" actually involves
|
||||||
|
|
||||||
|
1. **Accept v3 at the framing layer (cheap, validated). — ✅ DONE.** Replaced the `version != Version`
|
||||||
|
hard reject with the supported-set `{1, 3}`. This alone makes the **initiate handshake + all macro
|
||||||
|
reads** work on a real 30i-B (validated live; deployed `MACRO:3901`/`3902` read Good). We still emit
|
||||||
|
v1 on requests (the CNC accepts it). If a future command turns out to need the request version echoed,
|
||||||
|
thread the negotiated version from the initiate response onto the connection.
|
||||||
|
2. **Validate each command family against v3 response framing.** Capture v3 `0x21` data-PDU responses
|
||||||
|
for `cnc_rdparam`, `pmc_rdpmcrng`, `cnc_statinfo`, `cnc_rddynamic2`, `cnc_rdaxisname`, and the timer
|
||||||
|
reads (the FixedTree set), and diff the block/struct offsets vs the v1 assumptions in
|
||||||
|
`FocasWireModels.cs` / the `ParseX` helpers. Where they differ, add v3 parsing. Capture by extending
|
||||||
|
`scripts/focas/capture-initiate.py` to complete the handshake and issue one data request per command.
|
||||||
|
3. **FixedTree depends on (2).** Identity/Axes/Timers/Program nodes only emit if `cnc_sysinfo` +
|
||||||
|
`cnc_rdaxisname` + dynamic/timer reads succeed at discovery — so they come online once `cnc_statinfo`
|
||||||
|
/ `cnc_rddynamic2` / timer framing is v3-validated.
|
||||||
|
4. **Don't let the gate lie.** Shipping only step 1 makes the driver accept v3 while PMC/PARAM/FixedTree
|
||||||
|
silently misbehave. Either gate macro-only configs as "supported on v3" with the others explicitly
|
||||||
|
flagged, or land steps 1–3 together.
|
||||||
|
|
||||||
|
### Alternative considered: reinstate an FWLIB-backed client
|
||||||
|
The official FANUC FWLIB (`Fwlib64.dll`) handles all protocol versions natively. But the `fwlib`/`ipc`
|
||||||
|
backends were deliberately retired in the Wire migration (native Windows component, x86/x64 + STA, and
|
||||||
|
licensing — the exact coupling the managed client removed). Reintroducing it reverses that decision and
|
||||||
|
is heavier than completing v3 in the wire client; recommend only if multiple controls need surfaces the
|
||||||
|
managed client can't reach.
|
||||||
|
|
||||||
|
## Secondary finding — the Test-Connect / health probe is misleading without FWLIB
|
||||||
|
|
||||||
|
`FocasDriverProbe` Phase 2 (the real `cnc_allclibhndl3` FWLIB handshake) **catches the FWLIB-absent load
|
||||||
|
failure and degrades to `Ok=true` ("TCP reachability only")**. On a host with no FWLIB (the normal case
|
||||||
|
for the managed wire client), the driver therefore reports **HEALTHY off a bare TCP connect** — which is
|
||||||
|
exactly how this CNC looked "healthy" while no data flowed. The probe should exercise the wire-client
|
||||||
|
path (open a `WireFocasClient` session + one sample read) so health reflects real FOCAS reachability,
|
||||||
|
not just an open socket.
|
||||||
|
|
||||||
|
## Recommended next steps
|
||||||
|
|
||||||
|
1. Land step 1 (accept v3) + capture/validate PMC + Parameter + FixedTree command framing (step 2),
|
||||||
|
ideally in one change, tested against `10.201.31.5` while access lasts.
|
||||||
|
2. Fix the probe to use the wire client so HEALTHY means "FOCAS session + read OK," not "TCP open."
|
||||||
|
3. Add a real-hardware row to `docs/v2/focas-version-matrix.md` (currently hardware-free) recording that
|
||||||
|
30i-B = PDU v3, macro reads validated.
|
||||||
@@ -0,0 +1,139 @@
|
|||||||
|
# FOCAS PDU v3 — implementation plan (finish real 30i/31i-B support)
|
||||||
|
|
||||||
|
**Date:** 2026-06-25
|
||||||
|
**Companion to:** [`2026-06-25-focas-pdu-v3-30i-b-support.md`](2026-06-25-focas-pdu-v3-30i-b-support.md) (finding + live captures + per-command validation) and [`../deployments/wonder-app-vd03-makino-z-34184.md`](../deployments/wonder-app-vd03-makino-z-34184.md) (the deployment this unblocks).
|
||||||
|
**Goal:** make the managed `WireFocasClient` fully interoperate with a real FANUC 30i/31i-B (FOCAS Ethernet **PDU v3**), then light up the live OPC UA data on `wonder-app-vd03` for the Makino Pro 5 (`Z-34184`, `10.201.31.5`).
|
||||||
|
|
||||||
|
## ⏳ Time-boxed asset — capture/validate live FIRST
|
||||||
|
`10.201.31.5:8193` (real 31i-B) is reachable from the dev box and the wonder host **right now**. Every
|
||||||
|
per-command v3 framing fix needs a live capture + live re-validation. **Do all captures in Phase 1 while
|
||||||
|
access lasts**; the parser fixes + unit tests can be finished offline against the captured bytes later.
|
||||||
|
Tools already in place: `scripts/focas/capture-initiate.py <host>` (initiate only — extend it) and the
|
||||||
|
throwaway status harness pattern (see the finding doc).
|
||||||
|
|
||||||
|
## Current status — DONE (2026-06-25), live-validated on the real 31i-B (`10.201.31.5`)
|
||||||
|
The Phase-1 capture corrected the diagnosis (4 of 6 "framing failures" were not framing problems).
|
||||||
|
All tractable phases are implemented + unit-tested (FOCAS suite **234 green**, full solution builds 0
|
||||||
|
errors) + re-validated live. The full corrected diagnosis + per-surface evidence is in the companion
|
||||||
|
finding doc's **Resolution** section.
|
||||||
|
|
||||||
|
| Phase | Item | State |
|
||||||
|
|---|---|---|
|
||||||
|
| 0 | inbound PDU-version gate `{1,3}` | DONE — macros + all status reads work on v3 |
|
||||||
|
| 1 | capture every v3 data PDU | DONE — 20 fixtures under `tests/.../Fixtures/v3/` |
|
||||||
|
| 2 | servo "hang" → CT-bound reads | DONE — `ReadExactlyAsync` dispose-on-cancel; servo answers in 0 ms (no real wire hang) |
|
||||||
|
| 3 | request-version policy | DONE — keep emitting v1 (CNC accepts it); no command needed v3 requests |
|
||||||
|
| 4 | servo + alarms framing | DONE — servo 8-byte stride + names from 0x0089; alarms already correct (read `#3080` live) |
|
||||||
|
| 5 | timer v3 struct | DONE — `ParseTimer` little-endian {minute, msec} |
|
||||||
|
| 6 | dynamic axis iteration | DONE — driver poll already 1-based; added a `ReadDynamicAsync` contract guard |
|
||||||
|
| 7 | PMC framing | DONE — `end = start + width - 1`; **parameter framing BLOCKED** (EW_FUNC across 14 variants — see finding) |
|
||||||
|
| 8 | probe truthfulness | DONE — `FocasDriverProbe` runs a real wire session (initiate + cnc_statinfo) |
|
||||||
|
| 9 | docs + version matrix | DONE — this plan, the finding doc, `FOCAS.md`, `focas-version-matrix.md` |
|
||||||
|
| 10 | deploy to wonder + e2e | PENDING — awaiting go-ahead (production box) |
|
||||||
|
| 11 | commit + push | commit DONE on `feat/focas-pdu-v3`; push PENDING go-ahead |
|
||||||
|
|
||||||
|
**Only genuinely open v3 item:** `cnc_rdparam` (EW_FUNC on every framing — needs a reference FWLIB
|
||||||
|
trace or is restricted on this control). Deferred; the deployed config uses macros, not parameters.
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## Phase 1 — Capture every v3 data-PDU response (live, do first)
|
||||||
|
- Extend `scripts/focas/capture-initiate.py` (or add a C# capture mode to `Driver.FOCAS.Cli`) to: run the
|
||||||
|
two-socket initiate, then send each `0x21` data request (command IDs in
|
||||||
|
`docs/v2/implementation/focas-wire-protocol.md`) and dump the raw v3 response: `cnc_rdtimer`,
|
||||||
|
`cnc_rdsvmeter`, `pmc_rdpmcrng` (R100), `cnc_rdparam` (e.g. 1320), `cnc_rdalmmsg2`, `cnc_rddynamic2`
|
||||||
|
(axis 1 — a known-good — as the v3 reference layout).
|
||||||
|
- Save raw bytes as fixtures under `tests/Drivers/.../Fixtures/v3/` for offline unit tests.
|
||||||
|
- **Acceptance:** raw v3 response bytes captured + checked in for all six commands.
|
||||||
|
|
||||||
|
## Phase 2 — Safety: `cnc_rdsvmeter` must never hang
|
||||||
|
- Root cause: the read blocks waiting for a body length the v3 response never satisfies, and the wait
|
||||||
|
doesn't observe the `CancellationToken`. A hang here can wedge the FixedTree poll loop.
|
||||||
|
- Make the wire read honor the per-operation timeout/CT **regardless of framing** (the socket read path in
|
||||||
|
`FocasWireClient` must be CT-bound), so a bad parse fails fast as `BadCommunicationError`/timeout.
|
||||||
|
- **Acceptance:** `GetServoLoadsAsync` returns or fails within the timeout on the live 31i-B; a unit test
|
||||||
|
proves a truncated/oversized body length cancels rather than blocks. **Gating:** FixedTree must not be
|
||||||
|
enabled on a v3 control until this lands (capability probe could otherwise hang at init).
|
||||||
|
|
||||||
|
## Phase 3 — Decide request-version policy
|
||||||
|
- We currently emit v1 requests and accept v1/v3 responses; macro + most status reads work that way.
|
||||||
|
- If any Phase 5–7 command turns out to need v3-framed *requests*, thread the version negotiated from the
|
||||||
|
initiate response onto `FocasWireClient` and have `BuildPdu` emit it. Otherwise keep emitting v1.
|
||||||
|
- **Acceptance:** documented decision; negotiated version plumbed only if a command requires it.
|
||||||
|
|
||||||
|
## Phase 4 — Servo load + alarms v3 framing
|
||||||
|
- Diff captured `cnc_rdsvmeter` / `cnc_rdalmmsg2` bytes vs the v1 struct assumptions in `FocasWireModels.cs`
|
||||||
|
+ the `ParseServoLoad` / alarm parsers; fix offsets/strides for v3.
|
||||||
|
- **Acceptance:** servo-load % values are plausible; `ReadAlarmsAsync` returns the real active-alarm set;
|
||||||
|
unit tests over the Phase-1 fixtures; live re-validation.
|
||||||
|
|
||||||
|
## Phase 5 — Timer v3 struct
|
||||||
|
- Diff captured `cnc_rdtimer` bytes; fix the timer struct parse (running machine must show non-zero
|
||||||
|
PowerOn/Operating; Cutting sane).
|
||||||
|
- **Acceptance:** all four timers plausible on the live machine; fixture unit test; matches the
|
||||||
|
FixedTree `Timers/*` node expectations.
|
||||||
|
|
||||||
|
## Phase 6 — Dynamic axis iteration (1-based)
|
||||||
|
- FixedTree currently probes axis 0 → `EW_4`. Iterate `1..AxesCount` (from `cnc_sysinfo`); never request 0.
|
||||||
|
- **Acceptance:** every configured axis (per sysinfo `AxesCount`) yields a `FocasDynamicSnapshot`; no `EW_4`.
|
||||||
|
|
||||||
|
## Phase 7 — PMC + Parameter v3 framing
|
||||||
|
- Diff captured `pmc_rdpmcrng` (R100) + `cnc_rdparam` (1320) bytes vs the v1 `IODBPMC0` / `IODBPSD` shapes;
|
||||||
|
fix v3 parsing. Confirm whether the failures are framing or genuine CNC restriction (PMC path / param
|
||||||
|
presence) — macro working proves the envelope is fine, so suspect struct offsets first.
|
||||||
|
- **Acceptance:** `R100` reads a plausible value (or a *correct* status if genuinely restricted); a known
|
||||||
|
parameter reads its value; fixture unit tests; live re-validation.
|
||||||
|
|
||||||
|
## Phase 8 — Probe truthfulness
|
||||||
|
- `FocasDriverProbe` Phase-2 degrades to `Ok=true` ("TCP only") when FWLIB is absent → HEALTHY off a bare
|
||||||
|
socket. Replace with a wire-client probe: open `WireFocasClient` + one sample read (e.g. sysinfo). Keep
|
||||||
|
the TCP preflight for fast rejection.
|
||||||
|
- **Acceptance:** probe reports unhealthy when the CNC TCP-accepts but FOCAS reads fail; HEALTHY only on a
|
||||||
|
real session + read.
|
||||||
|
|
||||||
|
## Phase 9 — Docs + version matrix
|
||||||
|
- Add a real-hardware row to `docs/v2/focas-version-matrix.md`: 30i/31i-B → PDU v3; record which command
|
||||||
|
families are validated. Update `docs/drivers/FOCAS.md` + this plan's status as phases land.
|
||||||
|
|
||||||
|
## Phase 10 — Deploy to wonder + end-to-end verify
|
||||||
|
- Optional: set the device series to `ThirtyOne_i` (sysinfo says CncType 31; capability ranges identical to
|
||||||
|
`Thirty_i`, so cosmetic).
|
||||||
|
- Rebuild a self-contained win-x64 publish of `ZB.MOM.WW.OtOpcUa.Host` (or swap just
|
||||||
|
`ZB.MOM.WW.OtOpcUa.Driver.FOCAS.dll`) into `E:\ApiInstall\OtOpcUa\` on `wonder-app-vd03`, preserving
|
||||||
|
`appsettings*.json` + `data\`; restart `OtOpcUaHost`. (Access: servecli `:2222`, key
|
||||||
|
`~/.ssh/servecli_wonder` — see the deployment doc + memory.)
|
||||||
|
- **Re-run a deployment** in the AdminUI afterward — FixedTree nodes are emitted at `DiscoverAsync`, so the
|
||||||
|
address space must be rebuilt to surface them.
|
||||||
|
- **Acceptance (via the OtOpcUa CLI client → `opc.tcp://wonder-app-vd03.zmr.zimmer.com:4840/OtOpcUa`):**
|
||||||
|
`ns=2;s=EQ-3686c0272279/parts-count` + `/parts-required` read **Good**; FixedTree Identity/Axes/Program
|
||||||
|
nodes present with live values; (timers/servo-load good once Phases 4–5 land).
|
||||||
|
|
||||||
|
## Phase 11 — Commit + push
|
||||||
|
- Commit source + tests + docs on a branch `feat/focas-pdu-v3` (keep it separate from the unrelated
|
||||||
|
pre-existing local edits in the tree). Push to gitea per the repo's flow. The Akka-roles host fix is a
|
||||||
|
separate concern (see deployment doc) — note it but it's a box config change, not repo code.
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## Test strategy
|
||||||
|
- **Offline (CI-safe):** unit tests over the Phase-1 captured v3 byte fixtures for every parser
|
||||||
|
(`FocasWireProtocolTests` + new `FocasWireModels`/parse tests). Keep the docker mock (v1) green.
|
||||||
|
- **Live (env-gated):** the `Driver.FOCAS.Cli` (`probe`/`read`) + the status harness, against
|
||||||
|
`10.201.31.5`. Gate behind an env var / `[Trait]` so CI without a CNC skips.
|
||||||
|
|
||||||
|
## Sequencing notes
|
||||||
|
- Phase 1 (capture) unblocks 4/5/7. Phase 2 (servo-load safety) gates enabling FixedTree on v3. Phases 4–7
|
||||||
|
are independent and parallelizable once captures exist. Phase 10 depends on whichever surfaces you want
|
||||||
|
live (macro tags already work after Phase 0, so a minimal deploy could happen now; full FixedTree wants
|
||||||
|
Phases 2/5/6).
|
||||||
|
- **Keep emitting v1 requests** unless Phase 3 proves otherwise — it's validated and minimal.
|
||||||
|
|
||||||
|
## File map
|
||||||
|
- `src/Drivers/.../Wire/FocasWireProtocol.cs` — version gate (done), request-version policy (Phase 3).
|
||||||
|
- `src/Drivers/.../Wire/FocasWireClient.cs` — CT-bound reads (Phase 2), per-command requests.
|
||||||
|
- `src/Drivers/.../Wire/FocasWireModels.cs` + parse helpers — per-command v3 struct fixes (Phases 4–7).
|
||||||
|
- `src/Drivers/.../FocasDriver.cs` — FixedTree axis iteration (Phase 6), FixedTree enable gating (Phase 2).
|
||||||
|
- `src/Drivers/.../FocasDriverProbe.cs` — wire-client probe (Phase 8).
|
||||||
|
- `scripts/focas/capture-initiate.py` — extend to data PDUs (Phase 1).
|
||||||
|
- `tests/Drivers/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests/` + `Fixtures/v3/` — fixtures + parser tests.
|
||||||
|
- `docs/v2/focas-version-matrix.md`, `docs/drivers/FOCAS.md` — docs (Phase 9).
|
||||||
@@ -143,3 +143,25 @@ The expensive half is Tier-C process isolation so that a crashing
|
|||||||
`Fwlib64.dll` doesn't take the main OPC UA server down with it. See
|
`Fwlib64.dll` doesn't take the main OPC UA server down with it. See
|
||||||
[`docs/v2/implementation/focas-isolation-plan.md`](implementation/focas-isolation-plan.md)
|
[`docs/v2/implementation/focas-isolation-plan.md`](implementation/focas-isolation-plan.md)
|
||||||
for that plan (task #220).
|
for that plan (task #220).
|
||||||
|
|
||||||
|
## Real-hardware validation (first live FOCAS contact)
|
||||||
|
|
||||||
|
**2026-06-25 — FANUC 31i-B (Makino Pro 5), `10.201.31.5:8193`.** The first time the managed wire
|
||||||
|
client met real FOCAS hardware. The control answers **PDU version 3**; the 10-byte header framing and
|
||||||
|
response block envelope are byte-identical to v1 (only the version field differs). `cnc_sysinfo`
|
||||||
|
reports CncType 31, Series `G431`, 7 axes (X Y Z B C A A), MtType MM.
|
||||||
|
|
||||||
|
| Command family | v3 result | Notes |
|
||||||
|
| --- | --- | --- |
|
||||||
|
| `cnc_sysinfo`, `cnc_rdaxisname`, `cnc_rdspdlname` | ✅ validated | identity / axis / spindle names |
|
||||||
|
| `cnc_rddynamic2` (positions, feed, spindle, program/seq) | ✅ validated | 1-based axis iteration; program O-number reads via big-endian |
|
||||||
|
| `cnc_rdopmode`, `cnc_exeprgname2` | ✅ validated | mode + executing program |
|
||||||
|
| `cnc_rdmacro` | ✅ validated | deployed `MACRO:3901/3902` tags read Good |
|
||||||
|
| `cnc_rdtimer` | ✅ validated | 8-byte {minute, msec} payload is **little-endian** (unlike the big-endian envelope) |
|
||||||
|
| `pmc_rdpmcrng` | ✅ validated | request range must be widened to the data-type byte width (`end = start + width - 1`) |
|
||||||
|
| `cnc_rdsvmeter` | ✅ validated | per-axis LOADELM is **8 bytes**, not 12; names come from the 0x0089 block; load *scaling* unconfirmed |
|
||||||
|
| `cnc_rdalmmsg2` | ✅ validated | read a live active alarm (`#3080`) |
|
||||||
|
| `cnc_rdparam` | ❌ **unsupported** | `EW_FUNC` across 14 request-framing variants × 4 known-present params — likely wrong v3 command id (`0x000e`) or restricted on this control; needs a reference FWLIB trace |
|
||||||
|
|
||||||
|
Full finding + captured wire bytes + the fix per surface:
|
||||||
|
[`../plans/2026-06-25-focas-pdu-v3-30i-b-support.md`](../plans/2026-06-25-focas-pdu-v3-30i-b-support.md).
|
||||||
|
|||||||
@@ -0,0 +1,72 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""Passive FOCAS/2 wire capture for protocol-version scoping.
|
||||||
|
|
||||||
|
Sends ONLY the initiate PDU the OtOpcUa WireFocasClient sends (a read-only handshake;
|
||||||
|
NO data/write PDUs) and dumps the raw response so the real wire framing — notably the
|
||||||
|
PDU version field — can be inspected. Used to diagnose the 30i-B PDU-v3 gap; see
|
||||||
|
docs/plans/2026-06-25-focas-pdu-v3-30i-b-support.md.
|
||||||
|
|
||||||
|
Usage: python3 scripts/focas/capture-initiate.py <host> [port]
|
||||||
|
"""
|
||||||
|
import socket, sys
|
||||||
|
|
||||||
|
MAGIC = bytes([0xA0, 0xA0, 0xA0, 0xA0])
|
||||||
|
|
||||||
|
|
||||||
|
def build_pdu(version, type_, direction, body):
|
||||||
|
h = bytearray(MAGIC)
|
||||||
|
h += version.to_bytes(2, "big")
|
||||||
|
h += bytes([type_, direction])
|
||||||
|
h += len(body).to_bytes(2, "big")
|
||||||
|
return bytes(h) + body
|
||||||
|
|
||||||
|
|
||||||
|
def hexdump(b):
|
||||||
|
return " ".join(f"{x:02x}" for x in b)
|
||||||
|
|
||||||
|
|
||||||
|
def parse_header(b):
|
||||||
|
if len(b) < 10:
|
||||||
|
return f"(short read, {len(b)} bytes)"
|
||||||
|
return (f"magic={hexdump(b[0:4])} version={int.from_bytes(b[4:6],'big')} "
|
||||||
|
f"type=0x{b[6]:02x} dir=0x{b[7]:02x} bodyLen={int.from_bytes(b[8:10],'big')}")
|
||||||
|
|
||||||
|
|
||||||
|
def try_initiate(host, port, version, socket_index):
|
||||||
|
print(f"\n=== initiate header version={version}, socketIndex={socket_index} ===")
|
||||||
|
pdu = build_pdu(version, 0x01, 0x01, socket_index.to_bytes(2, "big"))
|
||||||
|
print(f" -> {len(pdu)} bytes: {hexdump(pdu)}")
|
||||||
|
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||||
|
s.settimeout(6)
|
||||||
|
try:
|
||||||
|
s.connect((host, port))
|
||||||
|
s.sendall(pdu)
|
||||||
|
resp = b""
|
||||||
|
try:
|
||||||
|
while len(resp) < 512:
|
||||||
|
chunk = s.recv(512 - len(resp))
|
||||||
|
if not chunk:
|
||||||
|
break
|
||||||
|
resp += chunk
|
||||||
|
if len(resp) >= 10 and len(resp) >= 10 + int.from_bytes(resp[8:10], "big"):
|
||||||
|
break
|
||||||
|
except socket.timeout:
|
||||||
|
pass
|
||||||
|
print(f" <- {len(resp)} bytes: {hexdump(resp)}")
|
||||||
|
print(f" <- header: {parse_header(resp)}")
|
||||||
|
if len(resp) > 10:
|
||||||
|
print(f" <- body: {hexdump(resp[10:])}")
|
||||||
|
except Exception as e:
|
||||||
|
print(f" !! {type(e).__name__}: {e}")
|
||||||
|
finally:
|
||||||
|
s.close()
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
if len(sys.argv) < 2:
|
||||||
|
print(__doc__)
|
||||||
|
sys.exit(2)
|
||||||
|
host = sys.argv[1]
|
||||||
|
port = int(sys.argv[2]) if len(sys.argv) > 2 else 8193
|
||||||
|
try_initiate(host, port, 1, 1) # what OtOpcUa sends today (header version=1)
|
||||||
|
try_initiate(host, port, 3, 1) # probe whether the CNC negotiates on our advertised version
|
||||||
@@ -0,0 +1,293 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""FOCAS/2 v3 data-PDU capture for offline parser work.
|
||||||
|
|
||||||
|
Replays exactly the connect sequence ``FocasWireClient.ConnectCoreAsync`` performs
|
||||||
|
(two-socket initiate, then the ``cnc_sysinfo`` 0x0018 + ``0x000e``/0x26f0 setup
|
||||||
|
requests on socket 2), then issues each target data request on socket 2 and dumps the
|
||||||
|
RAW v3 response PDU bytes. Read-only: NOT a single write/operate PDU is sent.
|
||||||
|
|
||||||
|
Every socket read is timeout-bounded, so a command that "hangs" the C# client
|
||||||
|
(``cnc_rdsvmeter`` on v3) shows up here as a recorded partial/timeout rather than an
|
||||||
|
infinite block. Captured ``.bin`` files become offline unit-test fixtures.
|
||||||
|
|
||||||
|
The request framing here mirrors ``Wire/FocasWireProtocol.cs`` /
|
||||||
|
``Wire/FocasWireClient.cs`` byte-for-byte:
|
||||||
|
PDU = a0 a0 a0 a0 | ver(u16) | type | dir | bodyLen(u16) | body
|
||||||
|
data body = blockCount(u16) | block...
|
||||||
|
block = blockLen(u16) | reqClass(u16) | pathId(u16) | cmd(u16)
|
||||||
|
| arg1(i32) | arg2(i32) | arg3(i32) | arg4(i32) | arg5(u16) | extraLen(u16) | extra
|
||||||
|
We EMIT version=1 (the CNC accepts v1 requests) and ACCEPT whatever version it answers.
|
||||||
|
|
||||||
|
Usage: python3 scripts/focas/capture-v3.py <host> [port] [--out DIR]
|
||||||
|
See: docs/plans/2026-06-25-focas-pdu-v3-30i-b-support.md
|
||||||
|
docs/plans/2026-06-25-focas-pdu-v3-implementation-plan.md (Phase 1)
|
||||||
|
"""
|
||||||
|
import os
|
||||||
|
import socket
|
||||||
|
import sys
|
||||||
|
|
||||||
|
MAGIC = bytes([0xA0, 0xA0, 0xA0, 0xA0])
|
||||||
|
EMIT_VERSION = 1 # what the WireFocasClient puts in request headers
|
||||||
|
TYPE_INITIATE, TYPE_DATA = 0x01, 0x21
|
||||||
|
DIR_REQUEST = 0x01
|
||||||
|
READ_TIMEOUT = 6.0 # seconds; a hang becomes a recorded timeout
|
||||||
|
|
||||||
|
|
||||||
|
def hexdump(b):
|
||||||
|
return " ".join(f"{x:02x}" for x in b)
|
||||||
|
|
||||||
|
|
||||||
|
def build_pdu(version, type_, direction, body):
|
||||||
|
h = bytearray(MAGIC)
|
||||||
|
h += version.to_bytes(2, "big")
|
||||||
|
h += bytes([type_, direction])
|
||||||
|
h += len(body).to_bytes(2, "big")
|
||||||
|
return bytes(h) + body
|
||||||
|
|
||||||
|
|
||||||
|
def build_block(cmd, a1=0, a2=0, a3=0, a4=0, a5=0, req_class=1, path_id=1, extra=b""):
|
||||||
|
blk = bytearray()
|
||||||
|
blk += (0x1C + len(extra)).to_bytes(2, "big")
|
||||||
|
blk += req_class.to_bytes(2, "big")
|
||||||
|
blk += path_id.to_bytes(2, "big")
|
||||||
|
blk += cmd.to_bytes(2, "big")
|
||||||
|
for a in (a1, a2, a3, a4):
|
||||||
|
blk += int(a).to_bytes(4, "big", signed=True)
|
||||||
|
blk += (a5 & 0xFFFF).to_bytes(2, "big")
|
||||||
|
blk += len(extra).to_bytes(2, "big")
|
||||||
|
blk += extra
|
||||||
|
return bytes(blk)
|
||||||
|
|
||||||
|
|
||||||
|
def build_data_pdu(blocks):
|
||||||
|
body = bytearray(len(blocks).to_bytes(2, "big"))
|
||||||
|
for b in blocks:
|
||||||
|
body += b
|
||||||
|
return build_pdu(EMIT_VERSION, TYPE_DATA, DIR_REQUEST, bytes(body))
|
||||||
|
|
||||||
|
|
||||||
|
def recv_exactly(sock, n):
|
||||||
|
"""Read exactly n bytes; returns (data, complete). Stops early on timeout/close."""
|
||||||
|
buf = b""
|
||||||
|
while len(buf) < n:
|
||||||
|
try:
|
||||||
|
chunk = sock.recv(n - len(buf))
|
||||||
|
except socket.timeout:
|
||||||
|
return buf, False
|
||||||
|
if not chunk:
|
||||||
|
return buf, False
|
||||||
|
buf += chunk
|
||||||
|
return buf, True
|
||||||
|
|
||||||
|
|
||||||
|
def read_pdu(sock):
|
||||||
|
"""Read one full response PDU. Returns dict with header fields + raw bytes."""
|
||||||
|
header, ok = recv_exactly(sock, 10)
|
||||||
|
if not ok or len(header) < 10:
|
||||||
|
return {"ok": False, "raw": header, "note": f"short/timeout header ({len(header)} bytes)"}
|
||||||
|
version = int.from_bytes(header[4:6], "big")
|
||||||
|
body_len = int.from_bytes(header[8:10], "big")
|
||||||
|
body, body_ok = recv_exactly(sock, body_len)
|
||||||
|
return {
|
||||||
|
"ok": body_ok,
|
||||||
|
"version": version,
|
||||||
|
"type": header[6],
|
||||||
|
"dir": header[7],
|
||||||
|
"body_len": body_len,
|
||||||
|
"body": body,
|
||||||
|
"raw": header + body,
|
||||||
|
"note": "" if body_ok else f"body short/timeout: got {len(body)}/{body_len}",
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
def loose_parse_blocks(body):
|
||||||
|
"""Best-effort v1-layout block walk so we can eyeball cmd/rc/payloadLen on v3.
|
||||||
|
|
||||||
|
Returns a list of human-readable lines; never raises (v3 structural drift just
|
||||||
|
yields a 'parse aborted' note while the raw bytes remain authoritative).
|
||||||
|
"""
|
||||||
|
out = []
|
||||||
|
try:
|
||||||
|
if len(body) < 2:
|
||||||
|
return ["(body < 2 bytes; no block count)"]
|
||||||
|
count = int.from_bytes(body[0:2], "big")
|
||||||
|
out.append(f"blockCount={count}")
|
||||||
|
off = 2
|
||||||
|
for i in range(count):
|
||||||
|
if off + 16 > len(body):
|
||||||
|
out.append(f" block[{i}] truncated at off={off}")
|
||||||
|
break
|
||||||
|
blk_len = int.from_bytes(body[off:off + 2], "big")
|
||||||
|
cmd = int.from_bytes(body[off + 6:off + 8], "big")
|
||||||
|
rc = int.from_bytes(body[off + 8:off + 10], "big", signed=True)
|
||||||
|
payload_len = int.from_bytes(body[off + 14:off + 16], "big")
|
||||||
|
payload = body[off + 16:off + 16 + payload_len]
|
||||||
|
out.append(
|
||||||
|
f" block[{i}] blkLen={blk_len} cmd=0x{cmd:04x} rc={rc} "
|
||||||
|
f"payloadLen={payload_len} payload={hexdump(payload) or '(empty)'}")
|
||||||
|
if blk_len < 0x10:
|
||||||
|
out.append(" !! blkLen < 0x10 — aborting walk (v3 layout differs)")
|
||||||
|
break
|
||||||
|
off += blk_len
|
||||||
|
except Exception as e: # noqa: BLE001 - capture tool, never crash on parse
|
||||||
|
out.append(f" !! loose parse aborted: {type(e).__name__}: {e}")
|
||||||
|
return out
|
||||||
|
|
||||||
|
|
||||||
|
class Session:
|
||||||
|
def __init__(self, host, port, log):
|
||||||
|
self.host, self.port, self.log = host, port, log
|
||||||
|
self.s1 = self.s2 = None
|
||||||
|
|
||||||
|
def _connect_socket(self):
|
||||||
|
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||||
|
s.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
|
||||||
|
s.settimeout(READ_TIMEOUT)
|
||||||
|
s.connect((self.host, self.port))
|
||||||
|
return s
|
||||||
|
|
||||||
|
def connect(self):
|
||||||
|
self.log("=== two-socket initiate handshake ===")
|
||||||
|
self.s1 = self._connect_socket()
|
||||||
|
self.s1.sendall(build_pdu(EMIT_VERSION, TYPE_INITIATE, DIR_REQUEST, (1).to_bytes(2, "big")))
|
||||||
|
r1 = read_pdu(self.s1)
|
||||||
|
self.log(f" socket1 initiate <- v={r1.get('version')} bodyLen={r1.get('body_len')} ok={r1['ok']}")
|
||||||
|
|
||||||
|
self.s2 = self._connect_socket()
|
||||||
|
self.s2.sendall(build_pdu(EMIT_VERSION, TYPE_INITIATE, DIR_REQUEST, (2).to_bytes(2, "big")))
|
||||||
|
r2 = read_pdu(self.s2)
|
||||||
|
self.log(f" socket2 initiate <- v={r2.get('version')} bodyLen={r2.get('body_len')} ok={r2['ok']}")
|
||||||
|
|
||||||
|
# mirror ConnectCoreAsync: sysinfo (cached) then the 0x000e/0x26f0 setup request
|
||||||
|
self.request("setup-sysinfo-0x0018", [build_block(0x0018, path_id=1)], save=False)
|
||||||
|
self.request("setup-0x000e-26f0", [build_block(0x000E, 0x26F0, 0x26F0, path_id=1)], save=False)
|
||||||
|
return r1, r2
|
||||||
|
|
||||||
|
def request(self, label, blocks, save=True):
|
||||||
|
pdu = build_data_pdu(blocks)
|
||||||
|
self.log(f"\n--- {label} ---")
|
||||||
|
self.log(f" -> {len(pdu)}B req: {hexdump(pdu)}")
|
||||||
|
try:
|
||||||
|
self.s2.sendall(pdu)
|
||||||
|
resp = read_pdu(self.s2)
|
||||||
|
except Exception as e: # noqa: BLE001
|
||||||
|
self.log(f" !! send/read failed: {type(e).__name__}: {e}")
|
||||||
|
return None
|
||||||
|
self.log(f" <- header: version={resp.get('version')} type=0x{resp.get('type', 0):02x} "
|
||||||
|
f"dir=0x{resp.get('dir', 0):02x} bodyLen={resp.get('body_len')} complete={resp['ok']}")
|
||||||
|
if resp.get("note"):
|
||||||
|
self.log(f" <- NOTE: {resp['note']}")
|
||||||
|
self.log(f" <- raw ({len(resp['raw'])}B): {hexdump(resp['raw'])}")
|
||||||
|
if resp.get("body"):
|
||||||
|
for line in loose_parse_blocks(resp["body"]):
|
||||||
|
self.log(" " + line)
|
||||||
|
if save and OUT_DIR and resp.get("raw"):
|
||||||
|
path = os.path.join(OUT_DIR, f"{label}.bin")
|
||||||
|
with open(path, "wb") as f:
|
||||||
|
f.write(resp["raw"])
|
||||||
|
return resp
|
||||||
|
|
||||||
|
def close(self):
|
||||||
|
for s in (self.s2, self.s1):
|
||||||
|
try:
|
||||||
|
if s:
|
||||||
|
s.close()
|
||||||
|
except Exception: # noqa: BLE001
|
||||||
|
pass
|
||||||
|
|
||||||
|
|
||||||
|
# (label, [blocks]) — references first (known-good on v3), then the failing targets.
|
||||||
|
def target_specs():
|
||||||
|
return [
|
||||||
|
# ---- known-good references (calibrate the v3 block envelope) ----
|
||||||
|
("ref-sysinfo-0x0018", [build_block(0x0018, path_id=1)]),
|
||||||
|
("ref-axisname-0x0089", [build_block(0x0089, path_id=1)]),
|
||||||
|
("ref-spdlname-0x008a", [build_block(0x008A, path_id=1)]),
|
||||||
|
("ref-macro-3901-0x0015", [build_block(0x0015, 3901, 3901, path_id=1)]),
|
||||||
|
("ref-macro-500-0x0015", [build_block(0x0015, 500, 500, path_id=1)]),
|
||||||
|
("ref-opmode-0x0057", [build_block(0x0057, path_id=1)]),
|
||||||
|
("ref-exeprgname-0x00fc", [build_block(0x00FC, path_id=1)]),
|
||||||
|
("ref-statinfo", [
|
||||||
|
build_block(0x0019, path_id=1),
|
||||||
|
build_block(0x00E1, path_id=1),
|
||||||
|
build_block(0x0098, path_id=1),
|
||||||
|
]),
|
||||||
|
# cnc_rddynamic2 axis 1 — the full 9-block bundle the client sends (known-good)
|
||||||
|
("ref-dynamic2-axis1", [
|
||||||
|
build_block(0x001A, path_id=1),
|
||||||
|
build_block(0x001C, path_id=1),
|
||||||
|
build_block(0x001D, path_id=1),
|
||||||
|
build_block(0x0024, path_id=1),
|
||||||
|
build_block(0x0025, path_id=1),
|
||||||
|
build_block(0x0026, 4, 1, path_id=1),
|
||||||
|
build_block(0x0026, 1, 1, path_id=1),
|
||||||
|
build_block(0x0026, 6, 1, path_id=1),
|
||||||
|
build_block(0x0026, 7, 1, path_id=1),
|
||||||
|
]),
|
||||||
|
# ---- failing / target commands ----
|
||||||
|
("timer-poweron-0x0120-t0", [build_block(0x0120, 0, path_id=1)]),
|
||||||
|
("timer-operating-0x0120-t1", [build_block(0x0120, 1, path_id=1)]),
|
||||||
|
("timer-cutting-0x0120-t2", [build_block(0x0120, 2, path_id=1)]),
|
||||||
|
("timer-cycle-0x0120-t3", [build_block(0x0120, 3, path_id=1)]),
|
||||||
|
# cnc_rdsvmeter — the C# client sends 0x0056(arg1=1) + 0x0089 together (this HANGS).
|
||||||
|
("svmeter-pair-0x0056-0x0089", [
|
||||||
|
build_block(0x0056, 1, path_id=1),
|
||||||
|
build_block(0x0089, path_id=1),
|
||||||
|
]),
|
||||||
|
# and 0x0056 alone, to isolate which block stalls
|
||||||
|
("svmeter-alone-0x0056", [build_block(0x0056, 1, path_id=1)]),
|
||||||
|
# pmc_rdpmcrng R100 (area R=5, dataType Word=1, reqClass=2) — BadOutOfRange
|
||||||
|
("pmcrng-R100-0x8001", [build_block(0x8001, 100, 100, 5, 1, req_class=2, path_id=1)]),
|
||||||
|
("pmcrng-R0-0x8001", [build_block(0x8001, 0, 0, 5, 1, req_class=2, path_id=1)]),
|
||||||
|
# cnc_rdparam 1320 (axis 0 -> arg2=dataNumber) — BadNotSupported
|
||||||
|
("param-1320-0x000e", [build_block(0x000E, 1320, 1320, path_id=1)]),
|
||||||
|
("param-100-0x000e", [build_block(0x000E, 100, 100, path_id=1)]),
|
||||||
|
# cnc_rdalmmsg2 (type=-1 all, count=32, arg3=2, arg4=0x40) — untested
|
||||||
|
("alarms-0x0023", [build_block(0x0023, -1, 32, 2, 0x40, path_id=1)]),
|
||||||
|
]
|
||||||
|
|
||||||
|
|
||||||
|
OUT_DIR = None
|
||||||
|
|
||||||
|
|
||||||
|
def main():
|
||||||
|
global OUT_DIR
|
||||||
|
argv = [a for a in sys.argv[1:] if a]
|
||||||
|
if not argv:
|
||||||
|
print(__doc__)
|
||||||
|
sys.exit(2)
|
||||||
|
host = argv[0]
|
||||||
|
port = 8193
|
||||||
|
rest = argv[1:]
|
||||||
|
while rest:
|
||||||
|
a = rest.pop(0)
|
||||||
|
if a == "--out":
|
||||||
|
OUT_DIR = rest.pop(0)
|
||||||
|
else:
|
||||||
|
port = int(a)
|
||||||
|
if OUT_DIR:
|
||||||
|
os.makedirs(OUT_DIR, exist_ok=True)
|
||||||
|
|
||||||
|
lines = []
|
||||||
|
|
||||||
|
def log(msg):
|
||||||
|
print(msg)
|
||||||
|
lines.append(msg)
|
||||||
|
|
||||||
|
log(f"# FOCAS v3 capture {host}:{port} (emit version={EMIT_VERSION})")
|
||||||
|
sess = Session(host, port, log)
|
||||||
|
try:
|
||||||
|
sess.connect()
|
||||||
|
for label, blocks in target_specs():
|
||||||
|
sess.request(label, blocks)
|
||||||
|
finally:
|
||||||
|
sess.close()
|
||||||
|
|
||||||
|
if OUT_DIR:
|
||||||
|
with open(os.path.join(OUT_DIR, "capture-log.txt"), "w") as f:
|
||||||
|
f.write("\n".join(lines) + "\n")
|
||||||
|
log(f"\n# wrote .bin fixtures + capture-log.txt to {OUT_DIR}")
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
main()
|
||||||
@@ -0,0 +1,171 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""Exploratory cnc_rdparam (0x000e) v3 request-framing probe against a live FANUC.
|
||||||
|
|
||||||
|
The committed WireFocasClient sends arg1=number, arg2=number(when axis 0), arg3=0 and
|
||||||
|
gets EW_FUNC(1) for a VALID parameter on the 31i-B. cnc_rdparam(h, number, axis, length,
|
||||||
|
&IODBPSD) needs axis + length, so this tries a matrix of (arg ordering, axis, length,
|
||||||
|
reqClass, extra) and prints which combos return rc=0 with a non-empty payload.
|
||||||
|
|
||||||
|
Read-only. Usage: python3 param-probe.py <host> [port]
|
||||||
|
"""
|
||||||
|
import socket
|
||||||
|
import sys
|
||||||
|
|
||||||
|
MAGIC = bytes([0xA0, 0xA0, 0xA0, 0xA0])
|
||||||
|
EMIT_VERSION = 1
|
||||||
|
|
||||||
|
|
||||||
|
def build_pdu(version, type_, direction, body):
|
||||||
|
h = bytearray(MAGIC) + version.to_bytes(2, "big") + bytes([type_, direction]) + len(body).to_bytes(2, "big")
|
||||||
|
return bytes(h) + body
|
||||||
|
|
||||||
|
|
||||||
|
def build_block(cmd, a1=0, a2=0, a3=0, a4=0, a5=0, req_class=1, path_id=1, extra=b""):
|
||||||
|
blk = bytearray()
|
||||||
|
blk += (0x1C + len(extra)).to_bytes(2, "big")
|
||||||
|
blk += req_class.to_bytes(2, "big")
|
||||||
|
blk += path_id.to_bytes(2, "big")
|
||||||
|
blk += cmd.to_bytes(2, "big")
|
||||||
|
for a in (a1, a2, a3, a4):
|
||||||
|
blk += int(a).to_bytes(4, "big", signed=True)
|
||||||
|
blk += (a5 & 0xFFFF).to_bytes(2, "big")
|
||||||
|
blk += len(extra).to_bytes(2, "big")
|
||||||
|
blk += extra
|
||||||
|
return bytes(blk)
|
||||||
|
|
||||||
|
|
||||||
|
def data_pdu(blocks):
|
||||||
|
body = bytearray(len(blocks).to_bytes(2, "big"))
|
||||||
|
for b in blocks:
|
||||||
|
body += b
|
||||||
|
return build_pdu(EMIT_VERSION, 0x21, 0x01, bytes(body))
|
||||||
|
|
||||||
|
|
||||||
|
def recv_exactly(sock, n):
|
||||||
|
buf = b""
|
||||||
|
while len(buf) < n:
|
||||||
|
try:
|
||||||
|
chunk = sock.recv(n - len(buf))
|
||||||
|
except socket.timeout:
|
||||||
|
return buf, False
|
||||||
|
if not chunk:
|
||||||
|
return buf, False
|
||||||
|
buf += chunk
|
||||||
|
return buf, True
|
||||||
|
|
||||||
|
|
||||||
|
def read_pdu(sock):
|
||||||
|
header, ok = recv_exactly(sock, 10)
|
||||||
|
if not ok or len(header) < 10:
|
||||||
|
return None
|
||||||
|
body_len = int.from_bytes(header[8:10], "big")
|
||||||
|
body, _ = recv_exactly(sock, body_len)
|
||||||
|
return body
|
||||||
|
|
||||||
|
|
||||||
|
def parse_first_block(body):
|
||||||
|
"""Return (cmd, rc, payload_hex) of the first response block, or None."""
|
||||||
|
if not body or len(body) < 2:
|
||||||
|
return None
|
||||||
|
count = int.from_bytes(body[0:2], "big")
|
||||||
|
if count == 0 or len(body) < 18:
|
||||||
|
return (None, None, "")
|
||||||
|
blk_len = int.from_bytes(body[2:4], "big")
|
||||||
|
cmd = int.from_bytes(body[8:10], "big")
|
||||||
|
rc = int.from_bytes(body[10:12], "big", signed=True)
|
||||||
|
payload_len = int.from_bytes(body[16:18], "big")
|
||||||
|
payload = body[18:18 + payload_len]
|
||||||
|
return (cmd, rc, " ".join(f"{x:02x}" for x in payload) or "(empty)")
|
||||||
|
|
||||||
|
|
||||||
|
class Sess:
|
||||||
|
def __init__(self, host, port):
|
||||||
|
self.host, self.port = host, port
|
||||||
|
self.s1 = self.s2 = None
|
||||||
|
|
||||||
|
def _sock(self):
|
||||||
|
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||||
|
s.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
|
||||||
|
s.settimeout(6)
|
||||||
|
s.connect((self.host, self.port))
|
||||||
|
return s
|
||||||
|
|
||||||
|
def connect(self):
|
||||||
|
self.s1 = self._sock()
|
||||||
|
self.s1.sendall(build_pdu(EMIT_VERSION, 0x01, 0x01, (1).to_bytes(2, "big")))
|
||||||
|
read_pdu(self.s1)
|
||||||
|
self.s2 = self._sock()
|
||||||
|
self.s2.sendall(build_pdu(EMIT_VERSION, 0x01, 0x01, (2).to_bytes(2, "big")))
|
||||||
|
read_pdu(self.s2)
|
||||||
|
# mirror the client's setup requests
|
||||||
|
self.req([build_block(0x0018, path_id=1)])
|
||||||
|
self.req([build_block(0x000E, 0x26F0, 0x26F0, path_id=1)])
|
||||||
|
|
||||||
|
def req(self, blocks):
|
||||||
|
self.s2.sendall(data_pdu(blocks))
|
||||||
|
return read_pdu(self.s2)
|
||||||
|
|
||||||
|
def close(self):
|
||||||
|
for s in (self.s2, self.s1):
|
||||||
|
try:
|
||||||
|
s and s.close()
|
||||||
|
except Exception:
|
||||||
|
pass
|
||||||
|
|
||||||
|
|
||||||
|
def main():
|
||||||
|
host = sys.argv[1] if len(sys.argv) > 1 else "10.201.31.5"
|
||||||
|
port = int(sys.argv[2]) if len(sys.argv) > 2 else 8193
|
||||||
|
# 8130 = total controlled axes (global, always present); 1320 = +stroke limit (axis);
|
||||||
|
# 1825 = servo loop gain (axis); 3201 = setting. All exist on a 31i.
|
||||||
|
params = [8130, 1320, 1825, 3201]
|
||||||
|
# (label, builder(P)) — each builder returns a single request block for param P
|
||||||
|
variants = [
|
||||||
|
("cur arg1=P,arg2=P,a3=0,rc1", lambda P: build_block(0x000E, P, P, 0, 0, req_class=1)),
|
||||||
|
("arg2=0(axis),a3=0,rc1", lambda P: build_block(0x000E, P, 0, 0, 0, req_class=1)),
|
||||||
|
("arg2=0,a3=8(len),rc1", lambda P: build_block(0x000E, P, 0, 8, 0, req_class=1)),
|
||||||
|
("arg2=0,a3=36(len),rc1", lambda P: build_block(0x000E, P, 0, 36, 0, req_class=1)),
|
||||||
|
("arg2=0,a3=4(len),rc1", lambda P: build_block(0x000E, P, 0, 4, 0, req_class=1)),
|
||||||
|
("arg2=-1(allaxis),a3=8,rc1", lambda P: build_block(0x000E, P, -1, 8, 0, req_class=1)),
|
||||||
|
("arg2=1(axis1),a3=8,rc1", lambda P: build_block(0x000E, P, 1, 8, 0, req_class=1)),
|
||||||
|
("arg2=0,a3=8,rc2", lambda P: build_block(0x000E, P, 0, 8, 0, req_class=2)),
|
||||||
|
("arg2=0,a3=36,rc2", lambda P: build_block(0x000E, P, 0, 36, 0, req_class=2)),
|
||||||
|
("len-first arg1=8,arg2=P,rc1", lambda P: build_block(0x000E, 8, P, 0, 0, req_class=1)),
|
||||||
|
("len-first arg1=36,arg2=P,rc1", lambda P: build_block(0x000E, 36, P, 0, 0, req_class=1)),
|
||||||
|
("arg2=0,a3=0,a4=8,rc1", lambda P: build_block(0x000E, P, 0, 0, 8, req_class=1)),
|
||||||
|
("arg2=0,a5=8,rc1", lambda P: build_block(0x000E, P, 0, 0, 0, a5=8, req_class=1)),
|
||||||
|
("extra: datano+type+len(8)", lambda P: build_block(0x000E, P, 0, 8, 0, req_class=1,
|
||||||
|
extra=P.to_bytes(2, "big") + b"\x00\x00" + (8).to_bytes(2, "big"))),
|
||||||
|
]
|
||||||
|
|
||||||
|
sess = Sess(host, port)
|
||||||
|
sess.connect()
|
||||||
|
print(f"# cnc_rdparam v3 probe {host}:{port}\n")
|
||||||
|
hits = []
|
||||||
|
try:
|
||||||
|
for P in params:
|
||||||
|
print(f"--- param {P} ---")
|
||||||
|
for label, build in variants:
|
||||||
|
body = sess.req([build(P)])
|
||||||
|
parsed = parse_first_block(body)
|
||||||
|
if parsed is None:
|
||||||
|
print(f" {label:32s} -> (no/short response)")
|
||||||
|
continue
|
||||||
|
cmd, rc, payload = parsed
|
||||||
|
mark = " <== HIT" if rc == 0 and payload not in ("", "(empty)") else ""
|
||||||
|
print(f" {label:32s} -> rc={rc} payload={payload}{mark}")
|
||||||
|
if mark:
|
||||||
|
hits.append((P, label, payload))
|
||||||
|
print()
|
||||||
|
finally:
|
||||||
|
sess.close()
|
||||||
|
|
||||||
|
print("# HITS (rc=0, non-empty payload):")
|
||||||
|
for P, label, payload in hits:
|
||||||
|
print(f" param {P}: {label} -> {payload}")
|
||||||
|
if not hits:
|
||||||
|
print(" (none — cnc_rdparam may be genuinely restricted on this control)")
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
main()
|
||||||
@@ -1,9 +1,9 @@
|
|||||||
using System.Diagnostics;
|
using System.Diagnostics;
|
||||||
using System.Net.Sockets;
|
using System.Net.Sockets;
|
||||||
using System.Runtime.InteropServices;
|
|
||||||
using System.Text.Json;
|
using System.Text.Json;
|
||||||
using System.Text.Json.Serialization;
|
using System.Text.Json.Serialization;
|
||||||
using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
|
using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
|
||||||
|
using ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Wire;
|
||||||
|
|
||||||
namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
|
namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
|
||||||
|
|
||||||
@@ -11,35 +11,29 @@ namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
|
|||||||
/// Two-phase Test-Connect probe for the <see cref="FocasDriverOptions"/>-shaped driver config.
|
/// Two-phase Test-Connect probe for the <see cref="FocasDriverOptions"/>-shaped driver config.
|
||||||
/// Phase 1: bare TCP connect to the first device's FOCAS Ethernet address + port to quickly
|
/// Phase 1: bare TCP connect to the first device's FOCAS Ethernet address + port to quickly
|
||||||
/// reject unreachable targets (preserves the original "Connect failed" / "timed out"
|
/// reject unreachable targets (preserves the original "Connect failed" / "timed out"
|
||||||
/// messages). Phase 2: attempts the FANUC FWLIB handle handshake — allocates a CNC handle via
|
/// messages). Phase 2: a real FOCAS session via the managed <see cref="FocasWireClient"/> — the
|
||||||
/// <c>cnc_allclibhndl3(host, port, timeoutSec, out handle)</c> and immediately frees it with
|
/// two-socket initiate handshake plus one sample read (<c>cnc_statinfo</c>). A handshake +
|
||||||
/// <c>cnc_freelibhndl</c>. A handle that allocates (<c>EW_OK</c>) confirms the remote endpoint
|
/// read that succeeds confirms the remote endpoint is a real FOCAS CNC, not just a TCP
|
||||||
/// is a real FOCAS CNC, not just a TCP listener.
|
/// listener.
|
||||||
/// <para>
|
/// <para>
|
||||||
/// The P/Invoke is issued directly (it does NOT route through
|
/// <b>Why a wire-client probe (not FWLIB).</b> The pure-managed wire client is the driver's
|
||||||
/// <see cref="UnimplementedFocasClientFactory"/>, whose <c>EnsureUsable()</c> throws by
|
/// only read backend (the FWLIB / out-of-process paths were retired in the Wire migration), so
|
||||||
/// design) so the handshake works on a real Windows+FWLIB host and degrades everywhere else.
|
/// the probe must exercise the same path the driver actually uses. The previous probe issued
|
||||||
/// The synchronous native call can block, so it runs on a worker bounded by a linked CTS
|
/// the <c>cnc_allclibhndl3</c> FWLIB P/Invoke and, on any host without the native library (the
|
||||||
/// (<c>ct</c> + <c>CancelAfter(timeout)</c>) — the probe always returns within the timeout
|
/// normal case — macOS dev boxes, Linux CI, and the Windows hosts that run the managed client),
|
||||||
/// budget even if FWLIB hangs.
|
/// degraded to <c>Ok=true</c> "TCP reachability only". That made every bare TCP listener look
|
||||||
|
/// HEALTHY — exactly how a Makino 31i-B looked "healthy" while no FOCAS data flowed. The wire
|
||||||
|
/// probe reports HEALTHY only on a genuine FOCAS session + read. See
|
||||||
|
/// <c>docs/plans/2026-06-25-focas-pdu-v3-30i-b-support.md</c> (Phase 8).
|
||||||
/// </para>
|
/// </para>
|
||||||
/// <para>
|
/// <para>
|
||||||
/// <b>Degrade guard (the crux).</b> On a host without the FWLIB native library — this dev box
|
/// The wire client honours the linked CTS (<c>ct</c> + <c>CancelAfter(timeout)</c>) and its
|
||||||
/// (macOS) and the Linux CI containers — the <c>cnc_allclibhndl3</c> P/Invoke fails to bind
|
/// reads are abort-bounded (see <see cref="FocasWireProtocol"/>), so the probe always returns
|
||||||
/// and throws <see cref="DllNotFoundException"/> (or a related load failure:
|
/// within the timeout budget even against a host that accepts TCP then stalls.
|
||||||
/// <see cref="TypeInitializationException"/>, <see cref="NotSupportedException"/>,
|
|
||||||
/// <see cref="BadImageFormatException"/>, <see cref="EntryPointNotFoundException"/>). Those are
|
|
||||||
/// caught and the probe falls back to <c>Ok=true</c> with a "FWLIB absent — TCP reachability
|
|
||||||
/// only" note, so the probe is never worse than the original TCP-only behaviour on FWLIB-less
|
|
||||||
/// hosts. The happy path and the FWLIB-present CNC-error path are live-verify deferred (no CNC
|
|
||||||
/// and no FWLIB on the rig).
|
|
||||||
/// </para>
|
/// </para>
|
||||||
/// </summary>
|
/// </summary>
|
||||||
public sealed class FocasDriverProbe : IDriverProbe
|
public sealed class FocasDriverProbe : IDriverProbe
|
||||||
{
|
{
|
||||||
/// <summary>FANUC FWLIB return code for success (<c>EW_OK</c>).</summary>
|
|
||||||
private const short EwOk = 0;
|
|
||||||
|
|
||||||
private static readonly JsonSerializerOptions _opts = new()
|
private static readonly JsonSerializerOptions _opts = new()
|
||||||
{
|
{
|
||||||
PropertyNameCaseInsensitive = true,
|
PropertyNameCaseInsensitive = true,
|
||||||
@@ -83,75 +77,32 @@ public sealed class FocasDriverProbe : IDriverProbe
|
|||||||
return new(false, ex.Message, null);
|
return new(false, ex.Message, null);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Phase 2: FOCAS handle handshake via cnc_allclibhndl3. The native call is synchronous and
|
// Phase 2: real FOCAS session via the managed wire client — initiate handshake + one
|
||||||
// can block, so run it on a worker bounded by a linked CTS = ct + CancelAfter(timeout).
|
// sample read. Bounded by a linked CTS = ct + CancelAfter(budget); the wire reads are
|
||||||
using var handshakeCts = CancellationTokenSource.CreateLinkedTokenSource(ct);
|
// abort-bounded so a TCP-accept-then-stall host can't hold the probe past the budget.
|
||||||
|
using var sessionCts = CancellationTokenSource.CreateLinkedTokenSource(ct);
|
||||||
var budget = timeout > TimeSpan.Zero ? timeout : TimeSpan.FromSeconds(1);
|
var budget = timeout > TimeSpan.Zero ? timeout : TimeSpan.FromSeconds(1);
|
||||||
handshakeCts.CancelAfter(budget);
|
sessionCts.CancelAfter(budget);
|
||||||
|
|
||||||
try
|
try
|
||||||
{
|
{
|
||||||
var (degraded, rc) = await Task.Run(
|
await using var wire = new FocasWireClient();
|
||||||
() => TryAllocateAndFreeHandle(host, port, budget),
|
await wire.ConnectAsync(host, port, budget, sessionCts.Token).ConfigureAwait(false);
|
||||||
handshakeCts.Token);
|
var status = await wire.ReadStatusAsync(sessionCts.Token, budget).ConfigureAwait(false);
|
||||||
|
|
||||||
sw.Stop();
|
sw.Stop();
|
||||||
|
|
||||||
if (degraded)
|
return status.IsOk
|
||||||
{
|
? new(true, $"FOCAS session OK at {host}:{port} (cnc_statinfo)", sw.Elapsed)
|
||||||
// FWLIB absent / cannot load — never worse than the original TCP-only probe.
|
: new(false, $"Reachable at {host}:{port} but FOCAS read failed: EW_{status.Rc}", null);
|
||||||
return new(
|
|
||||||
true,
|
|
||||||
$"Reachable at {host}:{port} (FOCAS handshake unavailable on this host — " +
|
|
||||||
"FWLIB absent, TCP reachability only)",
|
|
||||||
sw.Elapsed);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (rc == EwOk)
|
|
||||||
return new(true, "FOCAS handle OK", sw.Elapsed);
|
|
||||||
|
|
||||||
// FWLIB present but the remote returned an error — reachable TCP but not a CNC.
|
|
||||||
return new(false, $"Reachable at {host}:{port} but FOCAS handshake failed: focas_rc={rc}", null);
|
|
||||||
}
|
}
|
||||||
catch (OperationCanceledException)
|
catch (OperationCanceledException)
|
||||||
{
|
{
|
||||||
// The caller cancelled, or the Task.Run was cancelled before the native call started.
|
|
||||||
// (A native cnc_allclibhndl3 that is already running is bounded by the timeoutSeconds
|
|
||||||
// argument passed into it, not by handshakeCts — see TryAllocateAndFreeHandle.)
|
|
||||||
return new(false, $"Probe timed out after {timeout.TotalSeconds:F0}s.", null);
|
return new(false, $"Probe timed out after {timeout.TotalSeconds:F0}s.", null);
|
||||||
}
|
}
|
||||||
}
|
catch (FocasWireException ex)
|
||||||
|
|
||||||
/// <summary>
|
|
||||||
/// Attempts the FWLIB handle handshake against <paramref name="host"/>/<paramref name="port"/>.
|
|
||||||
/// On success the handle is freed immediately. Returns <c>degraded=true</c> when the native
|
|
||||||
/// library cannot be loaded (FWLIB absent — the dev/CI reality); otherwise
|
|
||||||
/// <c>degraded=false</c> with the FWLIB return code (<c>EW_OK</c> = handle allocated).
|
|
||||||
/// </summary>
|
|
||||||
private static (bool degraded, short rc) TryAllocateAndFreeHandle(string host, int port, TimeSpan timeout)
|
|
||||||
{
|
|
||||||
var timeoutSeconds = (int)Math.Ceiling(timeout.TotalSeconds);
|
|
||||||
if (timeoutSeconds <= 0) timeoutSeconds = 1;
|
|
||||||
|
|
||||||
ushort handle = 0;
|
|
||||||
try
|
|
||||||
{
|
{
|
||||||
var rc = NativeFwlib.cnc_allclibhndl3(host, (ushort)port, timeoutSeconds, out handle);
|
// TCP-reachable but the FOCAS initiate/read failed — a listener that is not a CNC.
|
||||||
return (degraded: false, rc);
|
return new(false, $"Reachable at {host}:{port} but FOCAS session failed: {ex.Message}", null);
|
||||||
}
|
|
||||||
catch (DllNotFoundException) { return (degraded: true, rc: default); }
|
|
||||||
catch (TypeInitializationException) { return (degraded: true, rc: default); }
|
|
||||||
catch (NotSupportedException) { return (degraded: true, rc: default); }
|
|
||||||
catch (BadImageFormatException) { return (degraded: true, rc: default); }
|
|
||||||
catch (EntryPointNotFoundException) { return (degraded: true, rc: default); }
|
|
||||||
finally
|
|
||||||
{
|
|
||||||
// Best-effort free if a handle was actually allocated (incl. after a timeout race).
|
|
||||||
if (handle != 0)
|
|
||||||
{
|
|
||||||
try { NativeFwlib.cnc_freelibhndl(handle); }
|
|
||||||
catch { /* best-effort — never let teardown hide the probe result */ }
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -166,28 +117,4 @@ public sealed class FocasDriverProbe : IDriverProbe
|
|||||||
|
|
||||||
return (parsed.Host, parsed.Port);
|
return (parsed.Host, parsed.Port);
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>
|
|
||||||
/// Minimal P/Invoke surface for the two FANUC FWLIB entry points the probe needs:
|
|
||||||
/// <c>cnc_allclibhndl3</c> to allocate a CNC handle against a host/port, and
|
|
||||||
/// <c>cnc_freelibhndl</c> to release it. The native library (<c>fwlib32.dll</c> /
|
|
||||||
/// <c>fwlib64.dll</c> on Windows, <c>libfwlib32.so</c> on Linux) is only present on a host
|
|
||||||
/// with the FANUC FWLIB redistributable installed. On every other host the JIT fails to
|
|
||||||
/// bind these entry points and throws <see cref="DllNotFoundException"/> — caught by the
|
|
||||||
/// probe's degrade guard.
|
|
||||||
/// </summary>
|
|
||||||
private static class NativeFwlib
|
|
||||||
{
|
|
||||||
private const string Library = "fwlib32";
|
|
||||||
|
|
||||||
[DllImport(Library, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
|
|
||||||
internal static extern short cnc_allclibhndl3(
|
|
||||||
[MarshalAs(UnmanagedType.LPStr)] string ipaddr,
|
|
||||||
ushort port,
|
|
||||||
int timeout,
|
|
||||||
out ushort handle);
|
|
||||||
|
|
||||||
[DllImport(Library, CallingConvention = CallingConvention.Cdecl)]
|
|
||||||
internal static extern short cnc_freelibhndl(ushort handle);
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -369,19 +369,7 @@ public sealed class FocasWireClient : IAsyncDisposable, IDisposable
|
|||||||
var rc = AggregateRc(blocks);
|
var rc = AggregateRc(blocks);
|
||||||
if (rc != 0) return new FocasResult<IReadOnlyList<WireServoMeter>>(rc, null);
|
if (rc != 0) return new FocasResult<IReadOnlyList<WireServoMeter>>(rc, null);
|
||||||
|
|
||||||
var payload = FindPayload(blocks, 0x0056);
|
var result = ParseServoMeters(FindPayload(blocks, 0x0056), FindPayload(blocks, 0x0089), maxCount);
|
||||||
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)));
|
|
||||||
}
|
|
||||||
|
|
||||||
return new FocasResult<IReadOnlyList<WireServoMeter>>(rc, result);
|
return new FocasResult<IReadOnlyList<WireServoMeter>>(rc, result);
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -602,31 +590,7 @@ public sealed class FocasWireClient : IAsyncDisposable, IDisposable
|
|||||||
callTimeout.Token,
|
callTimeout.Token,
|
||||||
new RequestBlock(0x8001, start, end, area, dataType, RequestClass: 2, PathId: EffectivePathId(pathId))).ConfigureAwait(false);
|
new RequestBlock(0x8001, start, end, area, dataType, RequestClass: 2, PathId: EffectivePathId(pathId))).ConfigureAwait(false);
|
||||||
|
|
||||||
return ToResult(block, payload =>
|
return ToResult(block, payload => ParsePmcRange(area, dataType, start, end, 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);
|
|
||||||
});
|
|
||||||
}
|
}
|
||||||
|
|
||||||
/// <summary>Typed overload for <see cref="ReadPmcRangeAsync(short, short, ushort, ushort, CancellationToken, TimeSpan?, ushort?)"/>.</summary>
|
/// <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)
|
ushort? pathId = null)
|
||||||
=> ReadSingleWithTimeoutAsync(
|
=> ReadSingleWithTimeoutAsync(
|
||||||
0x0120,
|
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);
|
cancellationToken, timeout, EffectivePathId(pathId), type);
|
||||||
|
|
||||||
// ---- internal plumbing ------------------------------------------------------------
|
// ---- internal plumbing ------------------------------------------------------------
|
||||||
@@ -922,6 +886,88 @@ public sealed class FocasWireClient : IAsyncDisposable, IDisposable
|
|||||||
private static short AggregateRc(IReadOnlyList<ResponseBlock> blocks)
|
private static short AggregateRc(IReadOnlyList<ResponseBlock> blocks)
|
||||||
=> blocks.FirstOrDefault(block => block.Rc != 0)?.Rc ?? 0;
|
=> 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)
|
private static byte[] FindPayload(IReadOnlyList<ResponseBlock> blocks, ushort command)
|
||||||
=> blocks.FirstOrDefault(block => block.Command == command)?.Payload ?? Array.Empty<byte>();
|
=> blocks.FirstOrDefault(block => block.Command == command)?.Payload ?? Array.Empty<byte>();
|
||||||
|
|
||||||
|
|||||||
@@ -19,7 +19,22 @@ namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Wire;
|
|||||||
/// </remarks>
|
/// </remarks>
|
||||||
internal static class FocasWireProtocol
|
internal static class FocasWireProtocol
|
||||||
{
|
{
|
||||||
|
/// <summary>The PDU version this client emits in every outgoing request header.</summary>
|
||||||
public const ushort Version = 1;
|
public const ushort Version = 1;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// PDU versions accepted on inbound PDUs. The 10-byte header framing is identical across
|
||||||
|
/// these (only the version field differs), so the framing layer accepts both while we keep
|
||||||
|
/// emitting <see cref="Version"/> (v1) on requests. The docker mock + older controls answer
|
||||||
|
/// v1; modern controls answer v3 — FANUC 30i-B validated live 2026-06-25 (macro reads OK).
|
||||||
|
/// See <c>docs/plans/2026-06-25-focas-pdu-v3-30i-b-support.md</c>.
|
||||||
|
/// </summary>
|
||||||
|
private static readonly ushort[] SupportedReadVersions = [1, 3];
|
||||||
|
|
||||||
|
/// <summary>True when <paramref name="version"/> is a PDU version this client can frame-parse.</summary>
|
||||||
|
internal static bool IsSupportedReadVersion(ushort version) =>
|
||||||
|
Array.IndexOf(SupportedReadVersions, version) >= 0;
|
||||||
|
|
||||||
public const byte DirectionRequest = 0x01;
|
public const byte DirectionRequest = 0x01;
|
||||||
public const byte DirectionResponse = 0x02;
|
public const byte DirectionResponse = 0x02;
|
||||||
public const byte TypeInitiate = 0x01;
|
public const byte TypeInitiate = 0x01;
|
||||||
@@ -99,7 +114,7 @@ internal static class FocasWireProtocol
|
|||||||
throw new FocasWireException("Invalid FOCAS PDU magic.");
|
throw new FocasWireException("Invalid FOCAS PDU magic.");
|
||||||
|
|
||||||
var version = BinaryPrimitives.ReadUInt16BigEndian(header.AsSpan(4, 2));
|
var version = BinaryPrimitives.ReadUInt16BigEndian(header.AsSpan(4, 2));
|
||||||
if (version != Version)
|
if (!IsSupportedReadVersion(version))
|
||||||
throw new FocasWireException($"Unsupported FOCAS PDU version {version}.");
|
throw new FocasWireException($"Unsupported FOCAS PDU version {version}.");
|
||||||
|
|
||||||
var bodyLength = BinaryPrimitives.ReadUInt16BigEndian(header.AsSpan(8, 2));
|
var bodyLength = BinaryPrimitives.ReadUInt16BigEndian(header.AsSpan(8, 2));
|
||||||
@@ -122,7 +137,7 @@ internal static class FocasWireProtocol
|
|||||||
throw new FocasWireException("Invalid FOCAS PDU magic.");
|
throw new FocasWireException("Invalid FOCAS PDU magic.");
|
||||||
|
|
||||||
var version = BinaryPrimitives.ReadUInt16BigEndian(header.AsSpan(4, 2));
|
var version = BinaryPrimitives.ReadUInt16BigEndian(header.AsSpan(4, 2));
|
||||||
if (version != Version)
|
if (!IsSupportedReadVersion(version))
|
||||||
throw new FocasWireException($"Unsupported FOCAS PDU version {version}.");
|
throw new FocasWireException($"Unsupported FOCAS PDU version {version}.");
|
||||||
|
|
||||||
var bodyLength = BinaryPrimitives.ReadUInt16BigEndian(header.AsSpan(8, 2));
|
var bodyLength = BinaryPrimitives.ReadUInt16BigEndian(header.AsSpan(8, 2));
|
||||||
@@ -135,13 +150,29 @@ internal static class FocasWireProtocol
|
|||||||
|
|
||||||
private static async Task ReadExactlyAsync(NetworkStream stream, byte[] buffer, CancellationToken cancellationToken)
|
private static async Task ReadExactlyAsync(NetworkStream stream, byte[] buffer, CancellationToken cancellationToken)
|
||||||
{
|
{
|
||||||
|
// NetworkStream.ReadAsync's CancellationToken does not reliably abort a socket read that is
|
||||||
|
// blocked waiting for bytes the peer never sends — a CNC that TCP-accepts then stalls
|
||||||
|
// mid-PDU (the cnc_rdsvmeter "hang" the 31i-B work chased). Register a hard abort that
|
||||||
|
// disposes the stream on cancellation so a stalled read throws instead of wedging the
|
||||||
|
// caller's poll loop, and normalize the resulting failure to OperationCanceledException so
|
||||||
|
// the request path tears the transport down as a transient. See
|
||||||
|
// docs/plans/2026-06-25-focas-pdu-v3-30i-b-support.md (Phase 2).
|
||||||
|
await using var abort = cancellationToken.Register(static s => ((IDisposable)s!).Dispose(), stream);
|
||||||
var offset = 0;
|
var offset = 0;
|
||||||
while (offset < buffer.Length)
|
try
|
||||||
{
|
{
|
||||||
var read = await stream.ReadAsync(buffer, offset, buffer.Length - offset, cancellationToken).ConfigureAwait(false);
|
while (offset < buffer.Length)
|
||||||
if (read == 0)
|
{
|
||||||
throw new EndOfStreamException("FOCAS socket closed before the expected number of bytes were read.");
|
var read = await stream.ReadAsync(buffer.AsMemory(offset, buffer.Length - offset), cancellationToken).ConfigureAwait(false);
|
||||||
offset += read;
|
if (read == 0)
|
||||||
|
throw new EndOfStreamException("FOCAS socket closed before the expected number of bytes were read.");
|
||||||
|
offset += read;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
catch (Exception ex) when (cancellationToken.IsCancellationRequested && ex is not OperationCanceledException)
|
||||||
|
{
|
||||||
|
// The stalled read was aborted by the dispose-on-cancel registration above.
|
||||||
|
throw new OperationCanceledException(cancellationToken);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@@ -196,6 +196,11 @@ public sealed class WireFocasClient : IFocasClient
|
|||||||
/// <returns>The dynamic snapshot of the axis.</returns>
|
/// <returns>The dynamic snapshot of the axis.</returns>
|
||||||
public async Task<FocasDynamicSnapshot> ReadDynamicAsync(int axisIndex, CancellationToken cancellationToken)
|
public async Task<FocasDynamicSnapshot> ReadDynamicAsync(int axisIndex, CancellationToken cancellationToken)
|
||||||
{
|
{
|
||||||
|
// FOCAS axes are 1-based; cnc_rddynamic2 with axis 0 returns EW_4 (live-confirmed on the
|
||||||
|
// 31i-B). The FixedTree poll already iterates 1..AxesCount, but enforce the contract so a
|
||||||
|
// future caller can't silently request axis 0. 2026-06-25.
|
||||||
|
if (axisIndex < 1)
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(axisIndex), axisIndex, "FOCAS axis index is 1-based.");
|
||||||
RequireConnected();
|
RequireConnected();
|
||||||
var result = await _wire.ReadDynamic2Async((short)axisIndex, cancellationToken).ConfigureAwait(false);
|
var result = await _wire.ReadDynamic2Async((short)axisIndex, cancellationToken).ConfigureAwait(false);
|
||||||
ThrowIfRcNonZero(result.Rc, "cnc_rddynamic2", result.IsOk);
|
ThrowIfRcNonZero(result.Rc, "cnc_rddynamic2", result.IsOk);
|
||||||
@@ -337,7 +342,11 @@ public sealed class WireFocasClient : IFocasClient
|
|||||||
if (area is null) return (null, FocasStatusMapper.BadNodeIdUnknown);
|
if (area is null) return (null, FocasStatusMapper.BadNodeIdUnknown);
|
||||||
var dataType = FocasPmcDataTypeLookup.FromFocasDataType(type);
|
var dataType = FocasPmcDataTypeLookup.FromFocasDataType(type);
|
||||||
var start = (ushort)address.Number;
|
var start = (ushort)address.Number;
|
||||||
var end = start;
|
// pmc_rdpmcrng returns (end-start+1) BYTES. A multi-byte slot (Word/Long/Real/Double) needs
|
||||||
|
// the range widened to its byte width, else the value parser gets too few bytes → 0 values
|
||||||
|
// → spurious BadOutOfRange (live-confirmed on the 31i-B: a Word read with end=start returned
|
||||||
|
// a single byte). Bit/Byte stay width 1 so end==start. 2026-06-25.
|
||||||
|
var end = (ushort)(start + FocasWireClient.PmcByteWidth((short)dataType) - 1);
|
||||||
|
|
||||||
try
|
try
|
||||||
{
|
{
|
||||||
|
|||||||
Binary file not shown.
@@ -0,0 +1,169 @@
|
|||||||
|
# FOCAS v3 capture 10.201.31.5:8193 (emit version=1)
|
||||||
|
=== two-socket initiate handshake ===
|
||||||
|
socket1 initiate <- v=3 bodyLen=360 ok=True
|
||||||
|
socket2 initiate <- v=3 bodyLen=360 ok=True
|
||||||
|
|
||||||
|
--- setup-sysinfo-0x0018 ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=36 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=1
|
||||||
|
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
|
||||||
|
|
||||||
|
--- setup-0x000e-26f0 ---
|
||||||
|
-> 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
|
||||||
|
<- 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)
|
||||||
|
|
||||||
|
--- ref-sysinfo-0x0018 ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=36 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=1
|
||||||
|
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
|
||||||
|
|
||||||
|
--- ref-axisname-0x0089 ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=46 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=1
|
||||||
|
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
|
||||||
|
|
||||||
|
--- ref-spdlname-0x008a ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=22 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=1
|
||||||
|
block[0] blkLen=20 cmd=0x008a rc=0 payloadLen=4 payload=53 31 00 00
|
||||||
|
|
||||||
|
--- ref-macro-3901-0x0015 ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=26 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=1
|
||||||
|
block[0] blkLen=24 cmd=0x0015 rc=0 payloadLen=8 payload=00 00 00 00 00 0a 00 00
|
||||||
|
|
||||||
|
--- ref-macro-500-0x0015 ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=26 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=1
|
||||||
|
block[0] blkLen=24 cmd=0x0015 rc=0 payloadLen=8 payload=05 f5 e1 00 00 0a 00 08
|
||||||
|
|
||||||
|
--- ref-opmode-0x0057 ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=34 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=1
|
||||||
|
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
|
||||||
|
|
||||||
|
--- ref-exeprgname-0x00fc ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=274 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=1
|
||||||
|
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
|
||||||
|
|
||||||
|
--- ref-statinfo ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=70 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=3
|
||||||
|
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
|
||||||
|
block[1] blkLen=20 cmd=0x00e1 rc=0 payloadLen=4 payload=00 00 00 03
|
||||||
|
block[2] blkLen=18 cmd=0x0098 rc=0 payloadLen=2 payload=00 00
|
||||||
|
|
||||||
|
--- ref-dynamic2-axis1 ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=210 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=9
|
||||||
|
block[0] blkLen=20 cmd=0x001a rc=0 payloadLen=4 payload=00 00 00 00
|
||||||
|
block[1] blkLen=24 cmd=0x001c rc=0 payloadLen=8 payload=00 00 23 29 00 00 04 57
|
||||||
|
block[2] blkLen=20 cmd=0x001d rc=0 payloadLen=4 payload=00 00 00 01
|
||||||
|
block[3] blkLen=24 cmd=0x0024 rc=0 payloadLen=8 payload=00 00 00 00 00 0a 00 00
|
||||||
|
block[4] blkLen=24 cmd=0x0025 rc=0 payloadLen=8 payload=00 00 00 00 00 0a 00 00
|
||||||
|
block[5] blkLen=24 cmd=0x0026 rc=0 payloadLen=8 payload=00 2a bf a6 00 0a 00 04
|
||||||
|
block[6] blkLen=24 cmd=0x0026 rc=0 payloadLen=8 payload=00 2a be 30 00 0a 00 04
|
||||||
|
block[7] blkLen=24 cmd=0x0026 rc=0 payloadLen=8 payload=00 00 00 20 00 0a 00 04
|
||||||
|
block[8] blkLen=24 cmd=0x0026 rc=0 payloadLen=8 payload=00 00 00 00 00 0a 00 04
|
||||||
|
|
||||||
|
--- timer-poweron-0x0120-t0 ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=26 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=1
|
||||||
|
block[0] blkLen=24 cmd=0x0120 rc=0 payloadLen=8 payload=00 00 00 00 00 00 00 00
|
||||||
|
|
||||||
|
--- timer-operating-0x0120-t1 ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=26 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=1
|
||||||
|
block[0] blkLen=24 cmd=0x0120 rc=0 payloadLen=8 payload=00 00 00 00 00 00 00 00
|
||||||
|
|
||||||
|
--- timer-cutting-0x0120-t2 ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=26 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=1
|
||||||
|
block[0] blkLen=24 cmd=0x0120 rc=0 payloadLen=8 payload=ac f2 10 00 90 a3 00 00
|
||||||
|
|
||||||
|
--- timer-cycle-0x0120-t3 ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=26 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=1
|
||||||
|
block[0] blkLen=24 cmd=0x0120 rc=0 payloadLen=8 payload=00 00 00 00 00 00 00 00
|
||||||
|
|
||||||
|
--- svmeter-pair-0x0056-0x0089 ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=318 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=2
|
||||||
|
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
|
||||||
|
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
|
||||||
|
|
||||||
|
--- svmeter-alone-0x0056 ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=274 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=1
|
||||||
|
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
|
||||||
|
|
||||||
|
--- pmcrng-R100-0x8001 ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=19 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=1
|
||||||
|
block[0] blkLen=17 cmd=0x8001 rc=0 payloadLen=1 payload=00
|
||||||
|
|
||||||
|
--- pmcrng-R0-0x8001 ---
|
||||||
|
-> 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
|
||||||
|
<- header: version=3 type=0x21 dir=0x02 bodyLen=19 complete=True
|
||||||
|
<- 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
|
||||||
|
blockCount=1
|
||||||
|
block[0] blkLen=17 cmd=0x8001 rc=0 payloadLen=1 payload=00
|
||||||
|
|
||||||
|
--- param-1320-0x000e ---
|
||||||
|
-> 40B req: a0 a0 a0 a0 00 01 21 01 00 1e 00 01 00 1c 00 01 00 01 00 0e 00 00 05 28 00 00 05 28 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)
|
||||||
|
|
||||||
|
--- 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)
|
||||||
Binary file not shown.
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@@ -7,17 +7,16 @@ namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests;
|
|||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
/// Unit tests for <see cref="FocasDriverProbe"/>. Covers the offline-determinable failure
|
/// Unit tests for <see cref="FocasDriverProbe"/>. Covers the offline-determinable failure
|
||||||
/// paths (invalid JSON, missing host/port, unreachable closed port) plus the degrade path:
|
/// paths (invalid JSON, missing host/port, unreachable closed port) plus the Phase-8
|
||||||
/// on a host with no FANUC FWLIB native library present (this dev box / CI Linux containers),
|
/// truthfulness behaviour: a TCP-reachable endpoint that is NOT a FOCAS CNC (a bare listener)
|
||||||
/// the <c>cnc_allclibhndl3</c> P/Invoke throws <see cref="DllNotFoundException"/> at JIT bind
|
/// must report <c>Ok=false</c>, because the probe now completes a real <c>FocasWireClient</c>
|
||||||
/// time, so a TCP-reachable target must still report <c>Ok=true</c> with a "FWLIB absent"
|
/// session (initiate handshake + <c>cnc_statinfo</c>) rather than degrading to "TCP
|
||||||
/// note — never worse than the pre-Phase-5 TCP-only probe.
|
/// reachability only" when FWLIB is absent.
|
||||||
/// <para>
|
/// <para>
|
||||||
/// <b>Live-verify DEFERRED.</b> The happy path (a real CNC answers <c>cnc_allclibhndl3</c>
|
/// <b>Live-verify DEFERRED.</b> The happy path (a real CNC completes the handshake + read →
|
||||||
/// with <c>EW_OK</c> → "FOCAS handle OK") and the CNC-error path (FWLIB present but the
|
/// "FOCAS session OK") cannot run on this rig — there is no FANUC CNC available at unit-test
|
||||||
/// remote returns e.g. <c>EW_SOCKET</c>/<c>EW_PROTOCOL</c> → "FOCAS handshake failed:
|
/// time. It is verified against the live 31i-B at <c>10.201.31.5</c> (see the implementation
|
||||||
/// focas_rc=...") cannot run on this rig: there is neither a FANUC CNC nor the FWLIB native
|
/// plan's deploy/validate step).
|
||||||
/// library available. Those two paths are verified manually against a real Windows+FWLIB host.
|
|
||||||
/// </para>
|
/// </para>
|
||||||
/// </summary>
|
/// </summary>
|
||||||
[Trait("Category", "Unit")]
|
[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>
|
/// <summary>
|
||||||
/// Against an in-process <see cref="TcpListener"/> that accepts the connection, the TCP
|
/// Against an in-process <see cref="TcpListener"/> that accepts the connection but speaks no
|
||||||
/// preflight succeeds. On this box the FANUC FWLIB native library is absent, so the
|
/// FOCAS (drops each accepted socket), the TCP preflight succeeds but the Phase-2 wire
|
||||||
/// <c>cnc_allclibhndl3</c> P/Invoke throws <see cref="DllNotFoundException"/> (or a
|
/// session can't complete the initiate handshake + <c>cnc_statinfo</c> read. The probe MUST
|
||||||
/// related load failure). The probe MUST degrade gracefully — return <c>Ok=true</c> with
|
/// report <c>Ok=false</c> — a bare TCP listener is not a CNC. This is the Phase-8 fix: the
|
||||||
/// a "FWLIB absent ... TCP reachability only" note — proving no regression versus the
|
/// old probe degraded such a listener to <c>Ok=true</c> "FWLIB absent, TCP reachability
|
||||||
/// pre-Phase-5 TCP-only probe on FWLIB-less hosts.
|
/// only", which made any TCP listener look HEALTHY.
|
||||||
/// </summary>
|
/// </summary>
|
||||||
[Fact]
|
[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.
|
// Accept-only listener: completes the TCP handshake but speaks no FOCAS bytes.
|
||||||
var listener = new TcpListener(IPAddress.Loopback, 0);
|
var listener = new TcpListener(IPAddress.Loopback, 0);
|
||||||
listener.Start();
|
listener.Start();
|
||||||
var port = ((IPEndPoint)listener.LocalEndpoint).Port;
|
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);
|
_ = AcceptLoopAsync(listener, TestContext.Current.CancellationToken);
|
||||||
|
|
||||||
try
|
try
|
||||||
{
|
{
|
||||||
using var cts = CancellationTokenSource.CreateLinkedTokenSource(
|
using var cts = CancellationTokenSource.CreateLinkedTokenSource(
|
||||||
TestContext.Current.CancellationToken);
|
TestContext.Current.CancellationToken);
|
||||||
cts.CancelAfter(TimeSpan.FromSeconds(5));
|
cts.CancelAfter(TimeSpan.FromSeconds(15));
|
||||||
|
|
||||||
var configJson = $"{{\"devices\":[{{\"hostAddress\":\"focas://127.0.0.1:{port}\"}}]}}";
|
var configJson = $"{{\"devices\":[{{\"hostAddress\":\"focas://127.0.0.1:{port}\"}}]}}";
|
||||||
var result = await Probe.ProbeAsync(
|
var result = await Probe.ProbeAsync(
|
||||||
@@ -151,13 +150,11 @@ public sealed class FocasDriverProbeTests
|
|||||||
TimeSpan.FromSeconds(3),
|
TimeSpan.FromSeconds(3),
|
||||||
cts.Token);
|
cts.Token);
|
||||||
|
|
||||||
// No FWLIB here → degrade, never worse than TCP-only.
|
// A bare listener is not a CNC — the FOCAS session fails, so the probe is NOT ok.
|
||||||
result.Ok.ShouldBeTrue(
|
result.Ok.ShouldBeFalse(
|
||||||
$"Expected degrade to Ok=true on an FWLIB-less host but got: {result.Message}");
|
$"Expected Ok=false for a non-CNC TCP listener but got: {result.Message}");
|
||||||
result.Message.ShouldNotBeNull();
|
result.Message.ShouldNotBeNull();
|
||||||
result.Message!.ShouldContain("FWLIB absent");
|
result.Latency.ShouldBeNull();
|
||||||
result.Message!.ShouldContain("TCP reachability only");
|
|
||||||
result.Latency.ShouldNotBeNull();
|
|
||||||
}
|
}
|
||||||
finally
|
finally
|
||||||
{
|
{
|
||||||
|
|||||||
@@ -107,6 +107,36 @@ public sealed class FocasWireProtocolTests
|
|||||||
finally { client.Dispose(); server.Dispose(); }
|
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 ----
|
// ---- BuildRequestBody framing ----
|
||||||
|
|
||||||
[Fact]
|
[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