fix(focas): scale positions from each cnc_rddynamic2 block; delete the fabricated cnc_getfigure

Every 0x0026 position block is self-describing: [i32 raw][u16 base][u16 exponent], value = raw / base^exponent. The live 31i-B capture (ref-dynamic2-axis1.bin) reports base 10 / exponent 4 on every block, so axis 1 is 280.1574 mm, not 2801574. The driver ignored the envelope and instead sent 'cnc_getfigure' (0x00D3) -- a command that does not exist in the FOCAS wire protocol, served only by the in-tree mock; the real control refuses it with rc=1, so on hardware every position fell back to PositionDecimalPlaces (default 0) and published raw counts. - ParsePositionBlock decodes the envelope into FocasPosition; the driver applies raw / base^exponent at publish. PositionDecimalPlaces is now only the fallback for a scale-less (4-byte) block. - A block describing no position (0xFFFF vacant marker, base not 2/10, exponent > 18 -- raw / 10^400 would read as a Good 0.0) publishes BadNoData on that node alone; siblings are untouched. - ReadPositionFiguresAsync / IFocasClient.GetPositionFiguresAsync and the per-axis figure cache are deleted. Ported from the sister ignitionoee FOCAS driver v0.17.0 (+ Focas.Wire-014); live axis-scoped captures live-dynamic2-axis{1,2}-0x0026.bin (Z-34184 X 0.0374, Y 370.177) added as fixtures.
2026-10-07 14:03:08 -04:00
parent 9460da513c
commit 69e0a622f3
16 changed files with 380 additions and 356 deletions
@@ -167,16 +167,6 @@ public interface IFocasClient : IDisposable
    /// <param name="cancellationToken">The cancellation token.</param>
    /// <returns>Per-spindle maximum RPM values, indexed as per <see cref="GetSpindleLoadsAsync"/>.</returns>
    Task<IReadOnlyList<int>> GetSpindleMaxRpmsAsync(CancellationToken cancellationToken);
-
-    /// <summary>
-    ///     Read the per-axis position decimal-place figure via <c>cnc_getfigure</c>. The returned
-    ///     list is parallel to <see cref="GetAxisNamesAsync"/> (index = axis). An EMPTY list means the
-    ///     CNC/backend does not report figures — the driver then falls back to the configured
-    ///     <c>PositionDecimalPlaces</c>. Values are clamped non-negative.
-    /// </summary>
-    /// <param name="cancellationToken">The cancellation token.</param>
-    /// <returns>Per-axis position decimal-place figures; empty when the CNC/backend doesn't report them.</returns>
-    Task<IReadOnlyList<int>> GetPositionFiguresAsync(CancellationToken cancellationToken);
 }

 /// <summary>One servo-meter entry — one axis's current load percentage.</summary>
@@ -238,12 +228,6 @@ public sealed record FocasSpindleName(string Name, string Suffix1, string Suffix
    }
 }

-/// <summary>
-///     Fast-poll bundle for one axis. Position values are scaled integers; the caller
-///     divides by <c>10^DecimalPlaces</c> to get the decimal value. DecimalPlaces is
-///     supplied by the caller — either via device config (<c>PositionDecimalPlaces</c>) or
-///     the per-axis <see cref="IFocasClient.GetPositionFiguresAsync"/> (<c>cnc_getfigure</c>) path.
-/// </summary>
 /// <summary>
 ///     Program + operation-mode snapshot. Name is the currently-executing
 ///     program filename (e.g. "O0001.NC"); ONumber is its Fanuc O-number (1-9999).
@@ -277,6 +261,10 @@ public static class FocasOpMode
    };
 }

+/// <summary>
+///     Fast-poll bundle for one axis (<c>cnc_rddynamic2</c>). Each position carries its own scale
+///     (see <see cref="FocasPosition"/>); the driver converts it to engineering units at publish.
+/// </summary>
 public sealed record FocasDynamicSnapshot(
    int AxisIndex,
    int AlarmFlags,
@@ -285,10 +273,63 @@ public sealed record FocasDynamicSnapshot(
    int SequenceNumber,
    int ActualFeedRate,
    int ActualSpindleSpeed,
-    int AbsolutePosition,
-    int MachinePosition,
-    int RelativePosition,
-    int DistanceToGo);
+    FocasPosition AbsolutePosition,
+    FocasPosition MachinePosition,
+    FocasPosition RelativePosition,
+    FocasPosition DistanceToGo);
+
+/// <summary>
+///     One <c>cnc_rddynamic2</c> position (command <c>0x0026</c>) as the CNC reported it. The 8-byte
+///     wire block is self-describing — <c>[0..3] i32 raw</c>, <c>[4..5] u16 base</c> (2 or 10),
+///     <c>[6..7] u16 exponent</c> (<c>0xFFFF</c> = the slot holds no valid position) — and the real
+///     coordinate is <c>raw / base^exponent</c>. Confirmed on a real FANUC 31i-B: every block of the
+///     <c>ref-dynamic2-axis1.bin</c> capture reports base 10 / exponent 4 (280.1574 mm, not
+///     2801574). That envelope is why no separate figure read exists: the <c>cnc_getfigure</c>
+///     (0x00D3) this driver used to send is not a FOCAS wire command, and the 31i-B refuses it.
+/// </summary>
+/// <param name="Raw">The raw i32 position value.</param>
+/// <param name="Base">The block's scale base (only 2 and 10 are meaningful).</param>
+/// <param name="Exponent">The block's scale exponent.</param>
+/// <param name="HasScale">
+///     True when the block carried the base/exponent envelope. A scale-less block (a 4-byte payload
+///     from an older simulator, or a raw integer a test supplies) falls back to the device's
+///     configured <c>PositionDecimalPlaces</c>.
+/// </param>
+public readonly record struct FocasPosition(int Raw, int Base = 0, int Exponent = 0, bool HasScale = false)
+{
+    /// <summary>
+    ///     Largest exponent that can describe a real coordinate. An i32 carries at most ten digits,
+    ///     so anything beyond is a misread block — and left unbounded, <c>raw / 10^400</c> is
+    ///     <c>raw / Infinity = 0.0</c>, a Good reading of a machine parked at the origin.
+    /// </summary>
+    public const int MaxExponent = 18;
+
+    /// <summary>
+    ///     False when the block says it holds no usable position: the <c>0xFFFF</c> vacant marker, a
+    ///     base other than 2 or 10, or an absurd exponent. A per-node quality decision — that node
+    ///     publishes Bad, its siblings are unaffected.
+    /// </summary>
+    public bool IsValid => !HasScale || (Exponent <= MaxExponent && Base is 2 or 10);
+
+    /// <summary>
+    ///     The position in engineering units: <c>Raw / Base^Exponent</c> when the block carried its
+    ///     own scale (the configured fallback is then ignored), else <c>Raw / 10^fallbackDecimalPlaces</c>.
+    ///     Null when <see cref="IsValid"/> is false.
+    /// </summary>
+    /// <param name="fallbackDecimalPlaces">The device's configured <c>PositionDecimalPlaces</c>.</param>
+    /// <returns>The scaled position, or null when the block describes none.</returns>
+    public double? ToEngineering(int fallbackDecimalPlaces)
+    {
+        if (!IsValid) return null;
+        if (HasScale) return Exponent == 0 ? Raw : Raw / Math.Pow(Base, Exponent);
+        var dp = Math.Max(0, fallbackDecimalPlaces);
+        return dp > 0 ? Raw / Math.Pow(10, dp) : Raw;
+    }
+
+    /// <summary>A bare integer is a scale-less position (legacy shape; tests and fakes).</summary>
+    /// <param name="raw">The raw position value.</param>
+    public static implicit operator FocasPosition(int raw) => new(raw);
+}

 /// <summary>
 ///     One active alarm surfaced by <see cref="IFocasClient.ReadAlarmsAsync"/>. Shape