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task-galaxy-e2e branch — non-FOCAS work-in-progress snapshot

Browse Source 
Catch-all commit for pending work on the task-galaxy-e2e branch that
wasn't part of the FOCAS migration. Grouping by topic so future per-topic
commits can be cherry-picked if needed.

TwinCAT
- src/.../Driver.TwinCAT/AdsTwinCATClient.cs + TwinCATDriverFactoryExtensions.cs:
  factory-registration extensions + ADS client refinements.
- src/.../Driver.TwinCAT.Cli/Commands/BrowseCommand.cs: new browse command
  for the TwinCAT test-client CLI.
- tests/.../Driver.TwinCAT.IntegrationTests/TwinCAT3SmokeTests.cs + TwinCatProject/:
  fixture scaffold with a minimal POU + README pointing at the TCBSD/ESXi
  VM for e2e.
- docs/Driver.TwinCAT.Cli.md + docs/drivers/TwinCAT-Test-Fixture.md:
  documentation for the above.
- docs/v3/twincat-backlog.md: forward-looking backlog seed.

Admin UI + fleet status
- src/.../Admin/Components/Pages/Clusters/DriversTab.razor + Hosts.razor:
  UI refresh for fleet-status rendering.
- src/.../Admin/Hubs/FleetStatusHub.cs + FleetStatusPoller.cs +
  Admin/Program.cs: SignalR hub + poller plumbing for live fleet data.
- tests/.../Admin.Tests/FleetStatusPollerTests.cs: poller coverage.

Server + redundancy runtime (Phase 6.3 follow-ups)
- src/.../Server/Hosting/RedundancyPublisherHostedService.cs: HostedService
  that owns the RedundancyStatePublisher lifecycle + wires peer reachability.
- src/.../Server/Redundancy/ServerRedundancyNodeWriter.cs: OPC UA
  variable-node writer binding ServiceLevel + ServerUriArray to the
  publisher's events.
- src/.../Server/Program.cs + Server.csproj: hosted-service registration.
- tests/.../Server.Tests/ServerRedundancyNodeWriterTests.cs +
  Server.Tests.csproj: coverage for the above.

Configuration
- src/.../Configuration/Validation/DraftValidator.cs +
  tests/.../Configuration.Tests/DraftValidatorTests.cs: draft-validation
  refinements.

E2E scripts (shared infrastructure)
- scripts/e2e/README.md + _common.ps1 + test-all.ps1: shared helpers + the
  all-drivers test-all runner.
- scripts/e2e/test-opcuaclient.ps1: OPC UA Client e2e runner.

Docs
- docs/v2/implementation/phase-6-{1,2,3,4}*.md + exit-gate-phase-{3,7}.md:
  phase-gate + implementation doc updates.
- docs/v2/plan.md: top-level plan refresh.
- docs/v2/redundancy-interop-playbook.md: client interop playbook for the
  Phase 6.3 redundancy-runtime work.

Two orphan FOCAS docs remain on disk but deliberately unstaged —
docs/v2/focas-deployment.md and docs/v2/implementation/focas-simulator-plan.md
describe the now-retired Tier-C topology and should either be rewritten
or deleted in a follow-up.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Joseph Doherty
2026-04-24 14:12:19 -04:00
parent 4b0664bd55
commit 69e0d02c72
58 changed files with 3070 additions and 247 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/E_AxisState.TcDUT Normal file
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@@ -0,0 +1,15 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<DUT Name="E_AxisState" Id="{ff675b51-fdf4-4a20-9755-d3a962aa226c}">
<Declaration><![CDATA[TYPE E_AxisState :
(
Idle := 0,
Homing := 1,
Moving := 2,
Stopped := 3,
Faulted := 99
) DINT;
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

14
tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/E_Severity.TcDUT Normal file
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@@ -0,0 +1,14 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<DUT Name="E_Severity" Id="{00ec5016-5d26-4d67-bac9-3fc28b1c92ce}">
<Declaration><![CDATA[TYPE E_Severity :
(
Info := 0,
Warning := 1,
Critical := 2,
Fatal := 3
) INT;
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

18
tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/ST_Alarm.TcDUT Normal file
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@@ -0,0 +1,18 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<DUT Name="ST_Alarm" Id="{d6459f8b-1fda-4bad-b787-c0e7e49fd8ec}">
<Declaration><![CDATA[TYPE ST_Alarm :
STRUCT
Active : BOOL;
Acknowledged : BOOL;
Code : DINT;
Severity : E_Severity;
RaisedAt : DT;
ClearedAt : DT;
Message : STRING(80);
Source : STRING(40);
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

19
tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/ST_Axis.TcDUT Normal file
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@@ -0,0 +1,19 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<DUT Name="ST_Axis" Id="{2e150fb3-4694-4853-bb73-754d225c082a}">
<Declaration><![CDATA[TYPE ST_Axis :
STRUCT
Name : STRING(32);
State : E_AxisState;
PositionMm : LREAL;
VelocityMps : T_MeterPerSec;
Accel : REAL;
Motor : ST_Motor;
Encoder : ST_Encoder;
Commands : ST_AxisCommands;
TravelLog : ARRAY[1..8] OF LREAL;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

16
tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/ST_AxisCommands.TcDUT Normal file
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@@ -0,0 +1,16 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<DUT Name="ST_AxisCommands" Id="{0aaff3fd-5525-495b-9759-4de792f6e615}">
<Declaration><![CDATA[TYPE ST_AxisCommands :
STRUCT
Enable : BOOL;
Home : BOOL;
Jog : BOOL;
Stop : BOOL;
TargetPos : LREAL;
TargetVel : T_MeterPerSec;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

15
tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/ST_Encoder.TcDUT Normal file
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@@ -0,0 +1,15 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<DUT Name="ST_Encoder" Id="{87f1e7c2-2359-4db5-acf3-46a1dd518acb}">
<Declaration><![CDATA[TYPE ST_Encoder :
STRUCT
RawCounts : DINT;
PositionMm : LREAL;
VelocityMmPerS : T_MeterPerSec;
Homed : BOOL;
LastHomedAt : DT;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

15
tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/ST_Line.TcDUT Normal file
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@@ -0,0 +1,15 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<DUT Name="ST_Line" Id="{3eaaae0a-31e2-43d6-b77c-5065a55c7d07}">
<Declaration><![CDATA[TYPE ST_Line :
STRUCT
Name : STRING(32);
Running : BOOL;
Stations : ARRAY[1..3] OF ST_Station;
Recipe : ST_Recipe;
Stats : ST_Stats;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

17
tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/ST_Motor.TcDUT Normal file
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@@ -0,0 +1,17 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<DUT Name="ST_Motor" Id="{9354c15d-7882-42bb-8bce-017f74e49cca}">
<Declaration><![CDATA[TYPE ST_Motor :
STRUCT
Current : REAL;
Voltage : REAL;
Temperature : T_Temperature;
Rpm : DINT;
Running : BOOL;
Faulted : BOOL;
SerialNo : STRING(24);
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

16
tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/ST_Recipe.TcDUT Normal file
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@@ -0,0 +1,16 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<DUT Name="ST_Recipe" Id="{723636a8-1265-46a5-88b3-fa1a3d77e594}">
<Declaration><![CDATA[TYPE ST_Recipe :
STRUCT
Name : STRING(40);
Description : WSTRING(120);
Version : UINT;
LoadedAt : DT;
Steps : ARRAY[1..10] OF ST_RecipeStep;
SupportedSkus: ARRAY[1..4] OF STRING(16);
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

16
tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/ST_RecipeStep.TcDUT Normal file
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@@ -0,0 +1,16 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<DUT Name="ST_RecipeStep" Id="{64d61cc8-2aba-4adb-9cf1-9345fc6f95b8}">
<Declaration><![CDATA[TYPE ST_RecipeStep :
STRUCT
Enabled : BOOL;
StepName : STRING(32);
Duration : TIME;
Setpoint : LREAL;
Tolerance : REAL;
Retries : USINT;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

16
tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/ST_Station.TcDUT Normal file
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@@ -0,0 +1,16 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<DUT Name="ST_Station" Id="{ab0c22da-aee2-42de-be7f-05b8a8c27083}">
<Declaration><![CDATA[TYPE ST_Station :
STRUCT
Name : STRING(32);
Online : BOOL;
Axes : ARRAY[1..4] OF ST_Axis;
IO : ST_StationIO;
Alarms : ARRAY[1..16] OF ST_Alarm;
Heartbeat: UDINT;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

17
tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/ST_StationIO.TcDUT Normal file
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@@ -0,0 +1,17 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<DUT Name="ST_StationIO" Id="{f71903d5-b9ea-4b75-9ca7-977b8374c11a}">
<Declaration><![CDATA[TYPE ST_StationIO :
STRUCT
DigitalInputs : ARRAY[0..31] OF BOOL;
DigitalOutputs : ARRAY[0..31] OF BOOL;
AnalogInputs : ARRAY[0..7] OF REAL;
AnalogOutputs : ARRAY[0..7] OF REAL;
CycleCounter : UDINT;
LastInputMask : DWORD;
LastOutputMask : DWORD;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

16
tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/ST_Stats.TcDUT Normal file
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@@ -0,0 +1,16 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<DUT Name="ST_Stats" Id="{23dffb59-ae06-4ac7-8c98-cba78dddf81d}">
<Declaration><![CDATA[TYPE ST_Stats :
STRUCT
UnitsProduced : UDINT;
UnitsRejected : UDINT;
UpTimeSeconds : UDINT;
LastRejectAt : DT;
LastProducedAt : DT;
RejectReasons : ARRAY[1..5] OF UDINT;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

8
tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/T_MeterPerSec.TcDUT Normal file
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@@ -0,0 +1,8 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<DUT Name="T_MeterPerSec" Id="{bddf08a2-da6c-4076-9719-13806a9e2438}">
<Declaration><![CDATA[TYPE T_MeterPerSec : LREAL;
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

8
tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests/TwinCatProject/PLC/DUTs/T_Temperature.TcDUT Normal file
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@@ -0,0 +1,8 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<DUT Name="T_Temperature" Id="{5e81fac6-ab58-4311-b798-907495f9ead9}">
<Declaration><![CDATA[TYPE T_Temperature : LREAL;
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>