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Auto: focas-f1d — Tool number + work coordinate offsets

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Closes #260
This commit is contained in:
Joseph Doherty
2026-04-25 14:37:51 -04:00
parent 49fc23adc6
commit 9ec92a9082
6 changed files with 603 additions and 0 deletions
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188
src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FocasDriver.cs
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@@ -32,6 +32,10 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, ITagDiscovery,
new(StringComparer.OrdinalIgnoreCase);
private readonly Dictionary<string, (string Host, string Field)> _overrideNodesByName =
new(StringComparer.OrdinalIgnoreCase);
private readonly Dictionary<string, string> _toolingNodesByName =
new(StringComparer.OrdinalIgnoreCase);
private readonly Dictionary<string, (string Host, string Slot, string Axis)> _offsetNodesByName =
new(StringComparer.OrdinalIgnoreCase);
private DriverHealth _health = new(DriverState.Unknown, null, null);
/// <summary>
@@ -69,6 +73,24 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, ITagDiscovery,
/// </summary>
private static readonly string[] OverrideFieldNames = ["Feed", "Rapid", "Spindle", "Jog"];
/// <summary>
/// Names of the standard work-coordinate offset slots surfaced under
/// <c>Offsets/</c> per device — G54..G59 from <c>cnc_rdzofs(n=1..6)</c>
/// (issue #260). Extended G54.1 P1..P48 surfaces are deferred to a follow-up
/// PR because <c>cnc_rdzofsr</c> uses a different range surface.
/// </summary>
private static readonly string[] WorkOffsetSlotNames =
[
"G54", "G55", "G56", "G57", "G58", "G59",
];
/// <summary>
/// Axis columns surfaced under each <c>Offsets/{slot}/</c> folder. Per the F1-d
/// plan a fixed 3-axis (X/Y/Z) view is used; lathes / mills with extra rotational
/// offsets get those columns exposed as 0.0 until a follow-up extends the surface.
/// </summary>
private static readonly string[] WorkOffsetAxisNames = ["X", "Y", "Z"];
public event EventHandler<DataChangeEventArgs>? OnDataChange;
public event EventHandler<HostStatusChangedEventArgs>? OnHostStatusChanged;
@@ -141,6 +163,28 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, ITagDiscovery,
(device.Options.HostAddress, field);
}
}
// Tooling/CurrentTool — single Int16 node per device (issue #260). Tool
// life + active offset index are deferred per the F1-d plan; they need
// ODBTLIFE* unions whose shape varies per series.
if (FocasCapabilityMatrix.SupportsTooling(device.Options.Series))
{
_toolingNodesByName[ToolingReferenceFor(device.Options.HostAddress, "CurrentTool")] =
device.Options.HostAddress;
}
// Offsets/{G54..G59}/{X|Y|Z} — fixed 3-axis view of the standard work-
// coordinate offsets (issue #260). Capability matrix gates by series so
// legacy CNCs that don't support cnc_rdzofs don't produce the subtree.
if (FocasCapabilityMatrix.SupportsWorkOffsets(device.Options.Series))
{
foreach (var slot in WorkOffsetSlotNames)
foreach (var axis in WorkOffsetAxisNames)
{
_offsetNodesByName[OffsetReferenceFor(device.Options.HostAddress, slot, axis)] =
(device.Options.HostAddress, slot, axis);
}
}
}
if (_options.Probe.Enabled)
@@ -184,6 +228,8 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, ITagDiscovery,
_productionNodesByName.Clear();
_modalNodesByName.Clear();
_overrideNodesByName.Clear();
_toolingNodesByName.Clear();
_offsetNodesByName.Clear();
_health = new DriverHealth(DriverState.Unknown, _health.LastSuccessfulRead, null);
}
@@ -237,6 +283,22 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, ITagDiscovery,
continue;
}
// Fixed-tree Tooling/CurrentTool — served from cached cnc_rdtnum snapshot
// refreshed on the probe tick (issue #260). No wire call here.
if (_toolingNodesByName.TryGetValue(reference, out var toolingHost))
{
results[i] = ReadToolingField(toolingHost, "CurrentTool", now);
continue;
}
// Fixed-tree Offsets/{slot}/{axis} — served from cached cnc_rdzofs(1..6)
// snapshot refreshed on the probe tick (issue #260). No wire call here.
if (_offsetNodesByName.TryGetValue(reference, out var offsetKey))
{
results[i] = ReadOffsetField(offsetKey.Host, offsetKey.Slot, offsetKey.Axis, now);
continue;
}
if (!_tagsByName.TryGetValue(reference, out var def))
{
results[i] = new DataValueSnapshot(null, FocasStatusMapper.BadNodeIdUnknown, null, now);
@@ -435,6 +497,50 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, ITagDiscovery,
WriteIdempotent: false));
}
}
// Fixed-tree Tooling/ subfolder — single Int16 CurrentTool node from
// cnc_rdtnum (issue #260). Tool life + active offset index are deferred
// per the F1-d plan because the FWLIB ODBTLIFE* unions vary per series.
if (FocasCapabilityMatrix.SupportsTooling(device.Series))
{
var toolingFolder = deviceFolder.Folder("Tooling", "Tooling");
var toolingRef = ToolingReferenceFor(device.HostAddress, "CurrentTool");
toolingFolder.Variable("CurrentTool", "CurrentTool", new DriverAttributeInfo(
FullName: toolingRef,
DriverDataType: DriverDataType.Int16,
IsArray: false,
ArrayDim: null,
SecurityClass: SecurityClassification.ViewOnly,
IsHistorized: false,
IsAlarm: false,
WriteIdempotent: false));
}
// Fixed-tree Offsets/ subfolder — G54..G59 each with X/Y/Z Float64 axes
// from cnc_rdzofs(n=1..6) (issue #260). Capability matrix gates the surface
// by series so legacy controllers without cnc_rdzofs support don't expose
// dead nodes. Extended G54.1 P1..P48 surfaces are deferred to a follow-up.
if (FocasCapabilityMatrix.SupportsWorkOffsets(device.Series))
{
var offsetsFolder = deviceFolder.Folder("Offsets", "Offsets");
foreach (var slot in WorkOffsetSlotNames)
{
var slotFolder = offsetsFolder.Folder(slot, slot);
foreach (var axis in WorkOffsetAxisNames)
{
var fullRef = OffsetReferenceFor(device.HostAddress, slot, axis);
slotFolder.Variable(axis, axis, new DriverAttributeInfo(
FullName: fullRef,
DriverDataType: DriverDataType.Float64,
IsArray: false,
ArrayDim: null,
SecurityClass: SecurityClassification.ViewOnly,
IsHistorized: false,
IsAlarm: false,
WriteIdempotent: false));
}
}
}
}
return Task.CompletedTask;
}
@@ -451,6 +557,12 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, ITagDiscovery,
private static string OverrideReferenceFor(string hostAddress, string field) =>
$"{hostAddress}::Override/{field}";
private static string ToolingReferenceFor(string hostAddress, string field) =>
$"{hostAddress}::Tooling/{field}";
private static string OffsetReferenceFor(string hostAddress, string slot, string axis) =>
$"{hostAddress}::Offsets/{slot}/{axis}";
private static ushort? OverrideParamFor(FocasOverrideParameters p, string field) => field switch
{
"Feed" => p.FeedParam,
@@ -566,6 +678,28 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, ITagDiscovery,
state.LastOverrideUtc = DateTime.UtcNow;
}
}
// Tooling/CurrentTool + Offsets/{G54..G59}/{X|Y|Z} — same best-
// effort policy as the other fixed-tree caches (issue #260). A
// null result leaves the previous good snapshot in place so reads
// keep serving until the next successful refresh.
if (FocasCapabilityMatrix.SupportsTooling(state.Options.Series))
{
var tooling = await client.GetToolingAsync(ct).ConfigureAwait(false);
if (tooling is not null)
{
state.LastTooling = tooling;
state.LastToolingUtc = DateTime.UtcNow;
}
}
if (FocasCapabilityMatrix.SupportsWorkOffsets(state.Options.Series))
{
var offsets = await client.GetWorkOffsetsAsync(ct).ConfigureAwait(false);
if (offsets is not null)
{
state.LastWorkOffsets = offsets;
state.LastWorkOffsetsUtc = DateTime.UtcNow;
}
}
}
}
catch (OperationCanceledException) when (ct.IsCancellationRequested) { break; }
@@ -630,6 +764,43 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, ITagDiscovery,
device.LastOverrideUtc, now);
}
private DataValueSnapshot ReadToolingField(string hostAddress, string field, DateTime now)
{
if (!_devices.TryGetValue(hostAddress, out var device))
return new DataValueSnapshot(null, FocasStatusMapper.BadNodeIdUnknown, null, now);
if (device.LastTooling is not { } snap)
return new DataValueSnapshot(null, FocasStatusMapper.BadCommunicationError, null, now);
return field switch
{
"CurrentTool" => new DataValueSnapshot(snap.CurrentTool, FocasStatusMapper.Good,
device.LastToolingUtc, now),
_ => new DataValueSnapshot(null, FocasStatusMapper.BadNodeIdUnknown, null, now),
};
}
private DataValueSnapshot ReadOffsetField(string hostAddress, string slot, string axis, DateTime now)
{
if (!_devices.TryGetValue(hostAddress, out var device))
return new DataValueSnapshot(null, FocasStatusMapper.BadNodeIdUnknown, null, now);
if (device.LastWorkOffsets is not { } snap)
return new DataValueSnapshot(null, FocasStatusMapper.BadCommunicationError, null, now);
var match = snap.Offsets.FirstOrDefault(o =>
string.Equals(o.Name, slot, StringComparison.OrdinalIgnoreCase));
if (match is null)
return new DataValueSnapshot(null, FocasStatusMapper.BadNodeIdUnknown, null, now);
var value = axis switch
{
"X" => (double?)match.X,
"Y" => match.Y,
"Z" => match.Z,
_ => null,
};
if (value is null)
return new DataValueSnapshot(null, FocasStatusMapper.BadNodeIdUnknown, null, now);
return new DataValueSnapshot(value.Value, FocasStatusMapper.Good,
device.LastWorkOffsetsUtc, now);
}
private void TransitionDeviceState(DeviceState state, HostState newState)
{
HostState old;
@@ -717,6 +888,23 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, ITagDiscovery,
public FocasOverrideInfo? LastOverride { get; set; }
public DateTime LastOverrideUtc { get; set; }
/// <summary>
/// Cached <c>cnc_rdtnum</c> snapshot — current tool number — refreshed on
/// every probe tick. Reads of <c>Tooling/CurrentTool</c> serve from this
/// cache so they don't pile extra wire traffic on top of user-driven
/// reads (issue #260).
/// </summary>
public FocasToolingInfo? LastTooling { get; set; }
public DateTime LastToolingUtc { get; set; }
/// <summary>
/// Cached <c>cnc_rdzofs(1..6)</c> snapshot — G54..G59 work-coordinate
/// offsets — refreshed on every probe tick. Reads of
/// <c>Offsets/{slot}/{X|Y|Z}</c> serve from this cache (issue #260).
/// </summary>
public FocasWorkOffsetsInfo? LastWorkOffsets { get; set; }
public DateTime LastWorkOffsetsUtc { get; set; }
public void DisposeClient()
{
Client?.Dispose();