task-galaxy-e2e branch — non-FOCAS work-in-progress snapshot
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
@@ -1,12 +1,15 @@
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# TwinCAT XAR fixture project
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This folder holds the TwinCAT 3 XAE project that the XAR VM runs for the
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integration-tests suite (`tests/.../TwinCAT.IntegrationTests/*.cs`).
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This folder holds the TwinCAT 3 XAE project that the XAR VM (or TCBSD
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target) runs for the integration-tests suite and the broader browse /
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UDT / array / enum coverage exercised by the OPC UA driver.
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**Status today**: stub. The `.tsproj` isn't committed yet; once the XAR
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VM is up + a project with the required state exists, export via
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File → Export + drop it here as `OtOpcUaTwinCatFixture.tsproj` + its
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PLC `.library` / `.plcproj` companions.
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**Status today**: the `.sln` / `.tsproj` / `.plcproj` wrappers still get
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generated per-workstation in XAE (GUIDs are install-specific), but every
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PLC object is committed as a standalone `.TcGVL` / `.TcDUT` / `.TcPOU`
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under `PLC/{GVLs,DUTs,POUs}/`. Reconstruction is "Add Existing Item" of
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each file into a fresh XAE project — see **Importing the committed PLC
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objects** below.
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## Why `.tsproj`, not the binary bootproject
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@@ -30,41 +33,89 @@ Reconstruction workflow on the VM:
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## Required project state
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The smoke tests in `TwinCAT3SmokeTests.cs` depend on this exact GVL +
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PLC setup. Missing or renamed symbols surface as ADS `DeviceSymbolNotFound`
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or wrong-type read failures, not silent skips.
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`TwinCAT3SmokeTests.cs` ships 14 `[TwinCATFact]` methods plus a 16-case
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`[TwinCATTheory]` — the tests depend on the exact shapes below. Missing
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or renamed symbols surface as ADS `DeviceSymbolNotFound` or wrong-type
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read failures, not silent skips. Changed seed values will flip specific
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assertions — the load-bearing ones are called out inline.
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### Global Variable List: `GVL_Fixture`
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### Integration-test contract
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```st
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VAR_GLOBAL
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// Monotonically-increasing counter; MAIN increments each cycle.
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// Seed value 1234 picked so the smoke test can assert ">= 1234" without
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// synchronising with the initial cycle.
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nCounter : DINT := 1234;
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The dependency surface spans `GVL_Fixture`, `GVL_Primitives`, `GVL_Arrays`,
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`GVL_Enums`, `GVL_Plant`, and `MAIN`.
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// Scratch REAL for write-then-read round-trip test. Smoke test writes
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// 42.5 + reads back.
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rSetpoint : REAL := 0.0;
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**`GVL_Fixture`** (source: [`PLC/GVLs/GVL_Fixture.TcGVL`](PLC/GVLs/GVL_Fixture.TcGVL))
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holds exactly three variables — `nCounter : DINT := 1234`,
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`rSetpoint : REAL := 0.0`, `bFlag : BOOL := TRUE`. `MAIN`
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(source: [`PLC/POUs/MAIN.TcPOU`](PLC/POUs/MAIN.TcPOU)) increments
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`nCounter` every cycle so the native-notification test sees monotonic
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change without writing. Seeded values aren't reliable — PlcTask
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watchdog restarts reset them — so the read test only asserts a
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non-negative DINT.
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// Readable boolean with seed value TRUE. Reserved for future
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// expansion (e.g. discovery / symbol-browse tests).
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bFlag : BOOL := TRUE;
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END_VAR
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**`GVL_Primitives.vWord := 16#BEEF`** — the bit-indexed BOOL test pins
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to bit 3 (set in `0xBEEF`) and bit 4 (clear). Changing the seed flips
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that test.
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**`GVL_Primitives` numeric seeds** — the primitive-type theory reads
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each of `vSInt, vUSInt, vInt, vUInt, vDInt, vUDInt, vLInt, vULInt,
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vReal, vLReal, vString` and asserts the exact seed value. Matches
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the declarations in [`PLC/GVLs/GVL_Primitives.TcGVL`](PLC/GVLs/GVL_Primitives.TcGVL).
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**`GVL_Arrays.aReal1D[5]`** — the array round-trip test writes + reads
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element index 5. The array must be writable; don't apply read-only
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attributes.
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**`GVL_Plant.Line1.Stations[1].Axes[1].Motor.{Temperature, Running}`** —
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the nested-UDT test reads both (LREAL + BOOL). `FB_LineSim` must be
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driving the hierarchy (see `MAIN`) so values are alive.
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**`GVL_Enums.currentAxisState`** — the browse test asserts this symbol
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surfaces by name.
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### Complex hierarchy (for browse / UDT / array / enum coverage)
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All sources in [`PLC/`](PLC/). Commits are split
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one-object-per-file so XAE can "Add Existing Item" each into a fresh
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project (the `.plcproj` wrapper is environment-specific and not
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committed).
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**Type coverage** — `GVL_Primitives` has one of every ADS primitive:
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`BOOL, BYTE, WORD, DWORD, LWORD, SINT, USINT, INT, UINT, DINT, UDINT,
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LINT, ULINT, REAL, LREAL, STRING(80), WSTRING(80), TIME, TOD, DATE, DT`.
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**Array coverage** — `GVL_Arrays` has 1-D primitives, `ARRAY[1..4,1..4]
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OF REAL`, `ARRAY[0..2,0..2,0..2] OF DINT`, plus `ARRAY[1..4] OF ST_Axis`
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for per-element nested-struct browse.
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**Enum + alias coverage** — `E_AxisState : DINT`, `E_Severity : INT`,
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`T_Temperature : LREAL`, `T_MeterPerSec : LREAL`. `GVL_Enums` exposes
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each at the root so tests can assert `EnumStrings` /
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`DataTypeDefinition` rendering without walking the plant hierarchy.
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**5-level plant hierarchy** — rooted at `GVL_Plant.Line1 : ST_Line`:
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```
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GVL_Plant.Line1 (ST_Line)
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.Stations[1..3] (ARRAY OF ST_Station)
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.Axes[1..4] (ARRAY OF ST_Axis)
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.Motor (ST_Motor)
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.Encoder (ST_Encoder)
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.Commands (ST_AxisCommands)
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.TravelLog[1..8] (ARRAY OF LREAL)
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.IO (ST_StationIO — 32x DI/DO, 8x AI/AO)
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.Alarms[1..16] (ARRAY OF ST_Alarm)
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.Recipe (ST_Recipe)
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.Steps[1..10] (ARRAY OF ST_RecipeStep)
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.SupportedSkus[1..4] (ARRAY OF STRING)
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.Stats (ST_Stats)
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```
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### PLC program: `MAIN`
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```st
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PROGRAM MAIN
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VAR
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END_VAR
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// One-line program: increment the fixture counter every cycle.
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// The native-notification smoke test subscribes to GVL_Fixture.nCounter
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// + observes the monotonic changes without a write path.
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GVL_Fixture.nCounter := GVL_Fixture.nCounter + 1;
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```
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**Live value churn** — `FB_LineSim` + `FB_AxisSim` are called from
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`MAIN` every cycle: axes ramp position + derive velocity/accel, motor
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current/temperature track a sine, IO masks rotate, one alarm per station
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toggles each 32 cycles, stats counters increment. Subscription tests
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see real data-change notifications without an external writer.
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### Task
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@@ -77,6 +128,30 @@ GVL_Fixture.nCounter := GVL_Fixture.nCounter + 1;
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to this. Use runtime 2 / port `852` only if the single runtime is
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already taken by another project on the same VM.
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## Importing the committed PLC objects
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On a machine with a working TcXaeShell (or Visual Studio with the TC3
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XAE integration):
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1. File → New → Project → **TwinCAT XAE Project** → name
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`OtOpcUaTwinCatFixture`. This lays down the `.sln` + `.tsproj`
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scaffolding.
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2. In the Solution Explorer, right-click the `PLC` node →
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**Add New Item → Standard PLC Project** → name `PLC`. Delete the
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auto-generated stub `MAIN` — the committed one will replace it.
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3. Right-click the PLC project's `DUTs` folder → **Add → Existing Item
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…** → multi-select every file under [`PLC/DUTs/`](PLC/DUTs/) and
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**Add As Link** (so the repo stays the source of truth). Repeat for
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`GVLs/` → [`PLC/GVLs/`](PLC/GVLs/) and `POUs/` →
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[`PLC/POUs/`](PLC/POUs/).
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4. Assign `MAIN` to `PlcTask` (cyclic, 10 ms, priority 20).
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5. Set the target system to the TCBSD / XAR VM via the AMS route, then
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**Build → Build Solution** + **Activate Configuration → Run Mode**.
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If XAE complains about missing references while importing, add the DUTs
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before the GVLs (the structs are referenced by the plant GVL) and the
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enums/aliases first within DUTs.
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## XAR VM setup (one-time)
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Full bootstrap lives in `docs/v2/dev-environment.md`. The TwinCAT-specific
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@@ -126,14 +201,17 @@ Options to eliminate the manual step:
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On the dev box:
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```powershell
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$env:TWINCAT_TARGET_HOST = '10.0.0.42' # replace with the VM IP
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$env:TWINCAT_TARGET_NETID = '5.23.91.23.1.1' # replace with the VM AmsNetId
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# $env:TWINCAT_TARGET_PORT = '852' # only if not using PLC runtime 1
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$env:TWINCAT_TARGET_NETID = '5.23.91.23.1.1' # replace with the VM AmsNetId — REQUIRED
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$env:TWINCAT_TARGET_HOST = '10.0.0.42' # replace with the VM IP (defaults to localhost)
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# $env:TWINCAT_TARGET_PORT = '852' # only if not using PLC runtime 1 (default 851)
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dotnet test tests\ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.IntegrationTests
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```
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With any of those env vars unset, all three smoke tests skip cleanly via
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`[TwinCATFact]`; unit suite (`TwinCAT.Tests`) runs unchanged.
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Only `TWINCAT_TARGET_NETID` is required — fixture gates on it specifically.
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`TWINCAT_TARGET_HOST` defaults to `localhost` when unset; `TWINCAT_TARGET_PORT`
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defaults to `851`. With the NetID unset, the whole integration suite
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(~28 cases, both `[TwinCATFact]` and `[TwinCATTheory]`) skips cleanly;
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unit suite (`TwinCAT.Tests`) runs unchanged.
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## See also
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