chore: organize solution into module folders (Core/Server/Drivers/Client/Tooling)
Group all 69 projects into category subfolders under src/ and tests/ so the Rider Solution Explorer mirrors the module structure. Folders: Core, Server, Drivers (with a nested Driver CLIs subfolder), Client, Tooling. - Move every project folder on disk with git mv (history preserved as renames). - Recompute relative paths in 57 .csproj files: cross-category ProjectReferences, the lib/ HintPath+None refs in Driver.Historian.Wonderware, and the external mxaccessgw refs in Driver.Galaxy and its test project. - Rebuild ZB.MOM.WW.OtOpcUa.slnx with nested solution folders. - Re-prefix project paths in functional scripts (e2e, compliance, smoke SQL, integration, install). Build green (0 errors); unit tests pass. Docs left for a separate pass. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Joseph Doherty
@@ -0,0 +1,120 @@
|
||||
namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Wire;
|
||||
|
||||
/// <summary>
|
||||
/// PMC address-letter → FOCAS <c>ADR_*</c> numeric code. Values are the FOCAS/2 wire
|
||||
/// constants passed as the <c>area</c> argument on <c>pmc_rdpmcrng</c>
|
||||
/// (G=0, F=1, Y=2, X=3, A=4, R=5, T=6, K=7, C=8, D=9, E=10).
|
||||
/// </summary>
|
||||
public enum FocasPmcArea : short
|
||||
{
|
||||
G = 0,
|
||||
F = 1,
|
||||
Y = 2,
|
||||
X = 3,
|
||||
A = 4,
|
||||
R = 5,
|
||||
T = 6,
|
||||
K = 7,
|
||||
C = 8,
|
||||
D = 9,
|
||||
E = 10,
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// PMC data-type numeric codes per FOCAS/2: <c>Byte=0</c>, <c>Word=1</c>, <c>Long=2</c>,
|
||||
/// <c>Real=4</c>, <c>Double=5</c>. Passed as the <c>data_type</c> argument on
|
||||
/// <c>pmc_rdpmcrng</c>.
|
||||
/// </summary>
|
||||
public enum FocasPmcDataType : short
|
||||
{
|
||||
Byte = 0,
|
||||
Word = 1,
|
||||
Long = 2,
|
||||
Real = 4,
|
||||
Double = 5,
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// CNC operation mode as reported by <c>cnc_rdopmode</c>. Values are the FOCAS-defined
|
||||
/// mode codes; see <see cref="FocasOperationModeExtensions.ToText"/> for the canonical
|
||||
/// operator-facing labels.
|
||||
/// </summary>
|
||||
public enum FocasOperationMode : short
|
||||
{
|
||||
Mdi = 0,
|
||||
Auto = 1,
|
||||
TJog = 2,
|
||||
Edit = 3,
|
||||
Handle = 4,
|
||||
Jog = 5,
|
||||
TeachInHandle = 6,
|
||||
Reference = 7,
|
||||
Remote = 8,
|
||||
Test = 9,
|
||||
}
|
||||
|
||||
/// <summary>Extension helpers over <see cref="FocasOperationMode"/>.</summary>
|
||||
public static class FocasOperationModeExtensions
|
||||
{
|
||||
/// <summary>
|
||||
/// Canonical operator-facing label for an operation mode (e.g. <c>"AUTO"</c>,
|
||||
/// <c>"EDIT"</c>). Unknown codes fall back to the raw numeric value as a string
|
||||
/// so the UI still shows something interpretable.
|
||||
/// </summary>
|
||||
public static string ToText(this FocasOperationMode mode) => mode switch
|
||||
{
|
||||
FocasOperationMode.Mdi => "MDI",
|
||||
FocasOperationMode.Auto => "AUTO",
|
||||
FocasOperationMode.TJog => "T-JOG",
|
||||
FocasOperationMode.Edit => "EDIT",
|
||||
FocasOperationMode.Handle => "HANDLE",
|
||||
FocasOperationMode.Jog => "JOG",
|
||||
FocasOperationMode.TeachInHandle => "TEACH-IN-HANDLE",
|
||||
FocasOperationMode.Reference => "REFERENCE",
|
||||
FocasOperationMode.Remote => "REMOTE",
|
||||
FocasOperationMode.Test => "TEST",
|
||||
_ => ((short)mode).ToString(),
|
||||
};
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Letter → <see cref="FocasPmcArea"/> lookup. Used by <see cref="WireFocasClient"/> to
|
||||
/// translate a parsed <see cref="FocasAddress.PmcLetter"/> into the wire code expected by
|
||||
/// <c>pmc_rdpmcrng</c>.
|
||||
/// </summary>
|
||||
internal static class FocasPmcAreaLookup
|
||||
{
|
||||
public static FocasPmcArea? FromLetter(string letter) => letter.ToUpperInvariant() switch
|
||||
{
|
||||
"G" => FocasPmcArea.G,
|
||||
"F" => FocasPmcArea.F,
|
||||
"Y" => FocasPmcArea.Y,
|
||||
"X" => FocasPmcArea.X,
|
||||
"A" => FocasPmcArea.A,
|
||||
"R" => FocasPmcArea.R,
|
||||
"T" => FocasPmcArea.T,
|
||||
"K" => FocasPmcArea.K,
|
||||
"C" => FocasPmcArea.C,
|
||||
"D" => FocasPmcArea.D,
|
||||
"E" => FocasPmcArea.E,
|
||||
_ => null,
|
||||
};
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// <see cref="FocasDataType"/> → <see cref="FocasPmcDataType"/> mapping for wire PMC
|
||||
/// reads. Bit reads collapse to byte — the caller extracts the bit from the returned
|
||||
/// value.
|
||||
/// </summary>
|
||||
internal static class FocasPmcDataTypeLookup
|
||||
{
|
||||
public static FocasPmcDataType FromFocasDataType(FocasDataType t) => t switch
|
||||
{
|
||||
FocasDataType.Bit or FocasDataType.Byte => FocasPmcDataType.Byte,
|
||||
FocasDataType.Int16 => FocasPmcDataType.Word,
|
||||
FocasDataType.Int32 => FocasPmcDataType.Long,
|
||||
FocasDataType.Float32 => FocasPmcDataType.Real,
|
||||
FocasDataType.Float64 => FocasPmcDataType.Double,
|
||||
_ => FocasPmcDataType.Byte,
|
||||
};
|
||||
}
|
||||
@@ -0,0 +1,883 @@
|
||||
using System.Buffers.Binary;
|
||||
using System.Net.Sockets;
|
||||
using Microsoft.Extensions.Logging;
|
||||
|
||||
namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Wire;
|
||||
|
||||
/// <summary>
|
||||
/// Pure-managed read-only FOCAS/2 Ethernet wire client. Speaks the proprietary Fanuc
|
||||
/// binary protocol on TCP:8193 directly — no P/Invoke, no <c>Fwlib64.dll</c>, no
|
||||
/// out-of-process Host. One instance owns two TCP sockets for the duration of a CNC
|
||||
/// session; <see cref="ConnectAsync(string, int, int, CancellationToken)"/> runs the
|
||||
/// two-socket initiate handshake and a setup request, subsequent reads reuse
|
||||
/// <c>socket 2</c> serialised through an internal semaphore.
|
||||
/// </summary>
|
||||
/// <remarks>
|
||||
/// <para><b>Read surface.</b> Covers every FOCAS call OtOpcUa's managed driver issues:
|
||||
/// sysinfo, status, axis + spindle names, the <c>cnc_rddynamic2</c> fast-poll bundle,
|
||||
/// parameters (typed + raw-bytes overloads), macros, PMC ranges, alarms, operation mode,
|
||||
/// executing program, block count, timers, and servo / spindle meters. Writes are
|
||||
/// intentionally out of scope.</para>
|
||||
/// <para><b>Concurrency.</b> Callers may issue reads concurrently from multiple threads
|
||||
/// — <c>socket 2</c> is guarded by a <see cref="SemaphoreSlim"/> so at most one
|
||||
/// request/response pair is in flight at a time. <see cref="ConnectAsync(string, int, int, CancellationToken)"/>
|
||||
/// and <see cref="DisposeAsync"/> share a second semaphore to stop the two racing.</para>
|
||||
/// <para><b>Transient failures.</b> When cancellation or a socket-level error happens
|
||||
/// mid-request the client closes both sockets and throws
|
||||
/// <see cref="FocasWireException"/> with <see cref="FocasWireException.IsTransient"/>
|
||||
/// set — the caller must reconnect before issuing the next request. The transport is
|
||||
/// left deliberately torn down rather than half-open so a truncated response never
|
||||
/// desynchronises the next caller's read.</para>
|
||||
/// </remarks>
|
||||
public sealed class FocasWireClient : IAsyncDisposable, IDisposable
|
||||
{
|
||||
private readonly ILogger<FocasWireClient>? _logger;
|
||||
private readonly SemaphoreSlim _requestGate = new(1, 1);
|
||||
private readonly SemaphoreSlim _lifetimeGate = new(1, 1);
|
||||
private TcpClient? _socket1;
|
||||
private TcpClient? _socket2;
|
||||
private NetworkStream? _stream1;
|
||||
private NetworkStream? _stream2;
|
||||
private bool _connected;
|
||||
private bool _disposed;
|
||||
private FocasResult<WireSysInfo>? _sysInfo;
|
||||
|
||||
/// <summary>
|
||||
/// Construct a disconnected client. Optional <paramref name="logger"/> receives
|
||||
/// <c>Debug</c>-level entries per response block (command ID, RC, payload length).
|
||||
/// </summary>
|
||||
public FocasWireClient(ILogger<FocasWireClient>? logger = null)
|
||||
{
|
||||
_logger = logger;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Default <c>PathId</c> applied when no per-call override is supplied. Relevant for
|
||||
/// multi-path CNCs; single-path controllers leave this at the default of <c>1</c>.
|
||||
/// </summary>
|
||||
public ushort PathId { get; set; } = 1;
|
||||
|
||||
/// <summary>True when the two-socket handshake has completed and the transport is live.</summary>
|
||||
public bool IsConnected => _connected;
|
||||
|
||||
/// <summary>
|
||||
/// Open the FOCAS session using an integer-seconds timeout. Idempotent — a second
|
||||
/// call while already connected is a no-op. Sub-second timeouts require the
|
||||
/// <see cref="ConnectAsync(string, int, TimeSpan, CancellationToken)"/> overload.
|
||||
/// </summary>
|
||||
public Task ConnectAsync(
|
||||
string host,
|
||||
int port,
|
||||
int timeoutSeconds = 10,
|
||||
CancellationToken cancellationToken = default)
|
||||
=> ConnectCoreAsync(
|
||||
host,
|
||||
port,
|
||||
timeoutSeconds > 0 ? TimeSpan.FromSeconds(timeoutSeconds) : null,
|
||||
cancellationToken);
|
||||
|
||||
/// <summary>
|
||||
/// Open the FOCAS session with a <see cref="TimeSpan"/> timeout. Pass
|
||||
/// <see cref="TimeSpan.Zero"/> to disable the timeout entirely (rely on the caller's
|
||||
/// <paramref name="cancellationToken"/> instead). Idempotent.
|
||||
/// </summary>
|
||||
public Task ConnectAsync(
|
||||
string host,
|
||||
int port,
|
||||
TimeSpan timeout,
|
||||
CancellationToken cancellationToken = default)
|
||||
=> ConnectCoreAsync(host, port, timeout == TimeSpan.Zero ? null : timeout, cancellationToken);
|
||||
|
||||
private async Task ConnectCoreAsync(
|
||||
string host,
|
||||
int port,
|
||||
TimeSpan? timeoutValue,
|
||||
CancellationToken cancellationToken)
|
||||
{
|
||||
await _lifetimeGate.WaitAsync(cancellationToken).ConfigureAwait(false);
|
||||
try
|
||||
{
|
||||
ThrowIfDisposed();
|
||||
if (_connected) return;
|
||||
|
||||
using var timeout = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken);
|
||||
if (timeoutValue is { } value) timeout.CancelAfter(value);
|
||||
|
||||
try
|
||||
{
|
||||
_socket1 = await ConnectSocketAsync(host, port, timeout.Token).ConfigureAwait(false);
|
||||
_stream1 = _socket1.GetStream();
|
||||
await SendPduAsync(_stream1, FocasWireProtocol.TypeInitiate, FocasWireProtocol.BuildInitiateBody(1), timeout.Token).ConfigureAwait(false);
|
||||
await ReadExpectedPduAsync(_stream1, FocasWireProtocol.TypeInitiate, timeout.Token).ConfigureAwait(false);
|
||||
|
||||
_socket2 = await ConnectSocketAsync(host, port, timeout.Token).ConfigureAwait(false);
|
||||
_stream2 = _socket2.GetStream();
|
||||
await SendPduAsync(_stream2, FocasWireProtocol.TypeInitiate, FocasWireProtocol.BuildInitiateBody(2), timeout.Token).ConfigureAwait(false);
|
||||
await ReadExpectedPduAsync(_stream2, FocasWireProtocol.TypeInitiate, timeout.Token).ConfigureAwait(false);
|
||||
|
||||
_connected = true;
|
||||
// Cache the sysinfo payload from the setup exchange so later
|
||||
// ReadSysInfoAsync calls are a lookup rather than a wire hit.
|
||||
var sysInfoBlock = await SendSingleRequestAsync(timeout.Token, new RequestBlock(0x0018, PathId: PathId)).ConfigureAwait(false);
|
||||
_sysInfo = ToResult(sysInfoBlock, ParseSysInfo);
|
||||
// Kick the cached path/session metadata request the DLL sends
|
||||
// right after initiate. The result is ignored; the CNC uses it to
|
||||
// populate internal state the subsequent reads depend on.
|
||||
await SendRequestAsync(timeout.Token, new RequestBlock(0x000e, 0x26f0, 0x26f0, PathId: PathId)).ConfigureAwait(false);
|
||||
}
|
||||
catch (Exception ex) when (IsTransientException(ex))
|
||||
{
|
||||
CloseTransport();
|
||||
throw new FocasWireException("FOCAS wire connect failed.", ex, isTransient: true);
|
||||
}
|
||||
}
|
||||
finally
|
||||
{
|
||||
_lifetimeGate.Release();
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Synchronous dispose — sends the close PDU when connected and tears down both
|
||||
/// sockets. Idempotent. Callers on an async context should prefer
|
||||
/// <see cref="DisposeAsync"/>.
|
||||
/// </summary>
|
||||
public void Dispose()
|
||||
{
|
||||
_lifetimeGate.Wait();
|
||||
try
|
||||
{
|
||||
if (_disposed) return;
|
||||
|
||||
_disposed = true;
|
||||
if (_stream2 is not null && _connected)
|
||||
{
|
||||
try
|
||||
{
|
||||
SendPdu(_stream2, FocasWireProtocol.TypeClose, ReadOnlySpan<byte>.Empty);
|
||||
_ = FocasWireProtocol.ReadPdu(_stream2);
|
||||
}
|
||||
catch
|
||||
{
|
||||
// Close best-effort — don't let teardown failure hide a caller's real error.
|
||||
}
|
||||
}
|
||||
CloseTransport();
|
||||
}
|
||||
finally
|
||||
{
|
||||
_lifetimeGate.Release();
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Async dispose — sends the close PDU when connected and tears down both sockets.
|
||||
/// Idempotent.
|
||||
/// </summary>
|
||||
public async ValueTask DisposeAsync()
|
||||
{
|
||||
await _lifetimeGate.WaitAsync(CancellationToken.None).ConfigureAwait(false);
|
||||
try
|
||||
{
|
||||
if (_disposed) return;
|
||||
|
||||
_disposed = true;
|
||||
if (_stream2 is not null && _connected)
|
||||
{
|
||||
try
|
||||
{
|
||||
await SendPduAsync(_stream2, FocasWireProtocol.TypeClose, ReadOnlyMemory<byte>.Empty, CancellationToken.None).ConfigureAwait(false);
|
||||
await FocasWireProtocol.ReadPduAsync(_stream2, CancellationToken.None).ConfigureAwait(false);
|
||||
}
|
||||
catch
|
||||
{
|
||||
// Close best-effort — don't let teardown failure hide a caller's real error.
|
||||
}
|
||||
}
|
||||
CloseTransport();
|
||||
}
|
||||
finally
|
||||
{
|
||||
_lifetimeGate.Release();
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Read CNC identity via <c>cnc_sysinfo</c>. Cached from the connect-time exchange
|
||||
/// unless a per-call <paramref name="pathId"/> override is supplied.
|
||||
/// </summary>
|
||||
public async Task<FocasResult<WireSysInfo>> ReadSysInfoAsync(
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
{
|
||||
if (pathId is null && _sysInfo is { } cached) return cached;
|
||||
|
||||
using var callTimeout = CreateCallTimeout(cancellationToken, timeout);
|
||||
return await ReadSingleAsync(0x0018, ParseSysInfo, EffectivePathId(pathId), cancellationToken: callTimeout.Token).ConfigureAwait(false);
|
||||
}
|
||||
|
||||
/// <summary>Read CNC status bits via <c>cnc_statinfo</c> (3 command blocks aggregated into one <see cref="WireStatus"/>).</summary>
|
||||
public async Task<FocasResult<WireStatus>> ReadStatusAsync(
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
{
|
||||
using var callTimeout = CreateCallTimeout(cancellationToken, timeout);
|
||||
var requestPathId = EffectivePathId(pathId);
|
||||
var blocks = await SendRequestAsync(
|
||||
callTimeout.Token,
|
||||
new RequestBlock(0x0019, PathId: requestPathId),
|
||||
new RequestBlock(0x00e1, PathId: requestPathId),
|
||||
new RequestBlock(0x0098, PathId: requestPathId)).ConfigureAwait(false);
|
||||
|
||||
var rc = AggregateRc(blocks);
|
||||
if (rc != 0) return new FocasResult<WireStatus>(rc, null);
|
||||
|
||||
var primary = FindPayload(blocks, 0x0019);
|
||||
RequireLength(primary, 14, "cnc_statinfo");
|
||||
var tmModePayload = FindPayload(blocks, 0x0098);
|
||||
var tmMode = tmModePayload.Length >= 2 ? ReadInt16(tmModePayload, 0) : (short)0;
|
||||
|
||||
return new FocasResult<WireStatus>(
|
||||
rc,
|
||||
new WireStatus(
|
||||
Auto: ReadInt16(primary, 0),
|
||||
Run: ReadInt16(primary, 2),
|
||||
Motion: ReadInt16(primary, 4),
|
||||
Mstb: ReadInt16(primary, 6),
|
||||
Emergency: ReadInt16(primary, 8),
|
||||
Alarm: ReadInt16(primary, 10),
|
||||
Edit: ReadInt16(primary, 12),
|
||||
TmMode: tmMode));
|
||||
}
|
||||
|
||||
/// <summary>Read configured axis names via <c>cnc_rdaxisname</c> (command <c>0x0089</c>).</summary>
|
||||
public async Task<FocasResult<IReadOnlyList<WireAxisRecord>>> ReadAxisNamesAsync(
|
||||
short maxCount = 32,
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
{
|
||||
using var callTimeout = CreateCallTimeout(cancellationToken, timeout);
|
||||
var block = await SendSingleRequestAsync(callTimeout.Token, new RequestBlock(0x0089, PathId: EffectivePathId(pathId))).ConfigureAwait(false);
|
||||
return ToResult(block, payload => ReadNameRecords(payload, maxCount, (index, name) => new WireAxisRecord(index, name)));
|
||||
}
|
||||
|
||||
/// <summary>Read configured spindle names via <c>cnc_rdspdlname</c> (command <c>0x008a</c>).</summary>
|
||||
public async Task<FocasResult<IReadOnlyList<WireSpindleRecord>>> ReadSpindleNamesAsync(
|
||||
short maxCount = 8,
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
{
|
||||
using var callTimeout = CreateCallTimeout(cancellationToken, timeout);
|
||||
var block = await SendSingleRequestAsync(callTimeout.Token, new RequestBlock(0x008a, PathId: EffectivePathId(pathId))).ConfigureAwait(false);
|
||||
return ToResult(block, payload => ReadNameRecords(payload, maxCount, (index, name) => new WireSpindleRecord(index, name)));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Fast-poll bundle for one axis via <c>cnc_rddynamic2</c>. Sends 9 request blocks in
|
||||
/// one PDU and aggregates the replies — alarm flags, program/sequence numbers, feed
|
||||
/// and spindle actuals, plus the four-slot position quadruple.
|
||||
/// </summary>
|
||||
public async Task<FocasResult<WireDynamic>> ReadDynamic2Async(
|
||||
short axis = 1,
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
{
|
||||
using var callTimeout = CreateCallTimeout(cancellationToken, timeout);
|
||||
var requestPathId = EffectivePathId(pathId);
|
||||
var blocks = await SendRequestAsync(
|
||||
callTimeout.Token,
|
||||
new RequestBlock(0x001a, PathId: requestPathId),
|
||||
new RequestBlock(0x001c, PathId: requestPathId),
|
||||
new RequestBlock(0x001d, PathId: requestPathId),
|
||||
new RequestBlock(0x0024, PathId: requestPathId),
|
||||
new RequestBlock(0x0025, PathId: requestPathId),
|
||||
new RequestBlock(0x0026, 4, axis, PathId: requestPathId),
|
||||
new RequestBlock(0x0026, 1, axis, PathId: requestPathId),
|
||||
new RequestBlock(0x0026, 6, axis, PathId: requestPathId),
|
||||
new RequestBlock(0x0026, 7, axis, PathId: requestPathId)).ConfigureAwait(false);
|
||||
|
||||
var rc = AggregateRc(blocks);
|
||||
if (rc != 0) return new FocasResult<WireDynamic>(rc, null);
|
||||
|
||||
var programPayload = FindPayload(blocks, 0x001c);
|
||||
return new FocasResult<WireDynamic>(
|
||||
rc,
|
||||
new WireDynamic(
|
||||
ReadFirstInt32(blocks, 0x001a),
|
||||
programPayload.Length >= 4 ? ReadInt32(programPayload, 0) : 0,
|
||||
programPayload.Length >= 8 ? ReadInt32(programPayload, 4) : 0,
|
||||
ReadFirstInt32(blocks, 0x001d),
|
||||
ReadFirstInt32(blocks, 0x0024),
|
||||
ReadFirstInt32(blocks, 0x0025),
|
||||
new WireAxisPosition(
|
||||
ReadSelectorPosition(blocks, 0x0026, 0),
|
||||
ReadSelectorPosition(blocks, 0x0026, 1),
|
||||
ReadSelectorPosition(blocks, 0x0026, 2),
|
||||
ReadSelectorPosition(blocks, 0x0026, 3))));
|
||||
}
|
||||
|
||||
/// <summary>Read servo-meter load percentages via <c>cnc_rdsvmeter</c> (command <c>0x0056</c>).</summary>
|
||||
public async Task<FocasResult<IReadOnlyList<WireServoMeter>>> ReadServoMeterAsync(
|
||||
short maxCount = 32,
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
{
|
||||
using var callTimeout = CreateCallTimeout(cancellationToken, timeout);
|
||||
var requestPathId = EffectivePathId(pathId);
|
||||
var blocks = await SendRequestAsync(
|
||||
callTimeout.Token,
|
||||
new RequestBlock(0x0056, 1, PathId: requestPathId),
|
||||
new RequestBlock(0x0089, PathId: requestPathId)).ConfigureAwait(false);
|
||||
|
||||
var rc = AggregateRc(blocks);
|
||||
if (rc != 0) return new FocasResult<IReadOnlyList<WireServoMeter>>(rc, null);
|
||||
|
||||
var payload = FindPayload(blocks, 0x0056);
|
||||
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);
|
||||
}
|
||||
|
||||
/// <summary>Read per-spindle load percentages via <c>cnc_rdspload</c> (command <c>0x0040</c> with arg1=0).</summary>
|
||||
public Task<FocasResult<IReadOnlyList<WireSpindleMetric>>> ReadSpindleLoadAsync(
|
||||
short spindleSelector = -1,
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
=> ReadSpindleMetricAsync(0, spindleSelector, cancellationToken, timeout, pathId);
|
||||
|
||||
/// <summary>Read per-spindle maximum RPMs via <c>cnc_rdspmaxrpm</c> (command <c>0x0040</c> with arg1=1).</summary>
|
||||
public Task<FocasResult<IReadOnlyList<WireSpindleMetric>>> ReadSpindleMaxRpmAsync(
|
||||
short spindleSelector = -1,
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
=> ReadSpindleMetricAsync(1, spindleSelector, cancellationToken, timeout, pathId);
|
||||
|
||||
/// <summary>
|
||||
/// Raw-bytes parameter read via <c>cnc_rdparam</c>. Caller marshals the returned
|
||||
/// payload to the type declared in the per-series parameter catalog. <paramref name="axis"/>
|
||||
/// selects an axis-scoped parameter; <c>0</c> means global.
|
||||
/// </summary>
|
||||
public async Task<FocasResult<byte[]>> ReadParameterBytesAsync(
|
||||
short dataNumber,
|
||||
short axis = 0,
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
{
|
||||
using var callTimeout = CreateCallTimeout(cancellationToken, timeout);
|
||||
var secondArg = axis == 0 ? dataNumber : axis;
|
||||
var block = await SendSingleRequestAsync(callTimeout.Token, new RequestBlock(0x000e, dataNumber, secondArg, PathId: EffectivePathId(pathId))).ConfigureAwait(false);
|
||||
return ToResult(block, payload => payload);
|
||||
}
|
||||
|
||||
/// <summary>Typed Int32 parameter read — convenience over <see cref="ReadParameterBytesAsync"/>.</summary>
|
||||
public async Task<FocasResult<WireParameter>> ReadParameterAsync(
|
||||
short dataNumber,
|
||||
short type = 0,
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
{
|
||||
var result = await ReadParameterBytesAsync(dataNumber, cancellationToken: cancellationToken, timeout: timeout, pathId: pathId).ConfigureAwait(false);
|
||||
if (!result.IsOk || result.Value is null) return new FocasResult<WireParameter>(result.Rc, null);
|
||||
return new FocasResult<WireParameter>(
|
||||
result.Rc,
|
||||
new WireParameter(dataNumber, type, result.Value.Length >= 4 ? ReadInt32(result.Value, 0) : 0));
|
||||
}
|
||||
|
||||
/// <summary>Typed 8-bit parameter read.</summary>
|
||||
public async Task<FocasResult<byte>> ReadParameterByteAsync(short dataNumber, short axis = 0, CancellationToken cancellationToken = default, TimeSpan? timeout = null, ushort? pathId = null)
|
||||
{
|
||||
var result = await ReadParameterBytesAsync(dataNumber, axis, cancellationToken, timeout, pathId).ConfigureAwait(false);
|
||||
return !result.IsOk || result.Value is null
|
||||
? new FocasResult<byte>(result.Rc, default)
|
||||
: new FocasResult<byte>(result.Rc, result.Value.Length >= 1 ? result.Value[0] : default);
|
||||
}
|
||||
|
||||
/// <summary>Typed 16-bit parameter read.</summary>
|
||||
public async Task<FocasResult<short>> ReadParameterInt16Async(short dataNumber, short axis = 0, CancellationToken cancellationToken = default, TimeSpan? timeout = null, ushort? pathId = null)
|
||||
{
|
||||
var result = await ReadParameterBytesAsync(dataNumber, axis, cancellationToken, timeout, pathId).ConfigureAwait(false);
|
||||
return !result.IsOk || result.Value is null
|
||||
? new FocasResult<short>(result.Rc, default)
|
||||
: new FocasResult<short>(result.Rc, result.Value.Length >= 2 ? ReadInt16(result.Value, 0) : default);
|
||||
}
|
||||
|
||||
/// <summary>Typed 32-bit parameter read.</summary>
|
||||
public async Task<FocasResult<int>> ReadParameterInt32Async(short dataNumber, short axis = 0, CancellationToken cancellationToken = default, TimeSpan? timeout = null, ushort? pathId = null)
|
||||
{
|
||||
var result = await ReadParameterBytesAsync(dataNumber, axis, cancellationToken, timeout, pathId).ConfigureAwait(false);
|
||||
return !result.IsOk || result.Value is null
|
||||
? new FocasResult<int>(result.Rc, default)
|
||||
: new FocasResult<int>(result.Rc, result.Value.Length >= 4 ? ReadInt32(result.Value, 0) : default);
|
||||
}
|
||||
|
||||
/// <summary>Typed IEEE-754 single-precision parameter read.</summary>
|
||||
public async Task<FocasResult<float>> ReadParameterFloat32Async(short dataNumber, short axis = 0, CancellationToken cancellationToken = default, TimeSpan? timeout = null, ushort? pathId = null)
|
||||
{
|
||||
var result = await ReadParameterBytesAsync(dataNumber, axis, cancellationToken, timeout, pathId).ConfigureAwait(false);
|
||||
return !result.IsOk || result.Value is null || result.Value.Length < 4
|
||||
? new FocasResult<float>(result.Rc, default)
|
||||
: new FocasResult<float>(result.Rc, BitConverter.Int32BitsToSingle(ReadInt32(result.Value, 0)));
|
||||
}
|
||||
|
||||
/// <summary>Typed IEEE-754 double-precision parameter read.</summary>
|
||||
public async Task<FocasResult<double>> ReadParameterFloat64Async(short dataNumber, short axis = 0, CancellationToken cancellationToken = default, TimeSpan? timeout = null, ushort? pathId = null)
|
||||
{
|
||||
var result = await ReadParameterBytesAsync(dataNumber, axis, cancellationToken, timeout, pathId).ConfigureAwait(false);
|
||||
return !result.IsOk || result.Value is null || result.Value.Length < 8
|
||||
? new FocasResult<double>(result.Rc, default)
|
||||
: new FocasResult<double>(result.Rc, BitConverter.Int64BitsToDouble(BinaryPrimitives.ReadInt64BigEndian(result.Value.AsSpan(0, 8))));
|
||||
}
|
||||
|
||||
/// <summary>Read a single macro variable via <c>cnc_rdmacro</c> (command <c>0x0015</c>).</summary>
|
||||
public Task<FocasResult<WireMacro>> ReadMacroAsync(
|
||||
short number,
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
=> ReadSingleWithTimeoutAsync(
|
||||
0x0015,
|
||||
payload => new WireMacro(number, payload.Length >= 4 ? ReadInt32(payload, 0) : 0, payload.Length >= 6 ? ReadInt16(payload, 4) : (short)0),
|
||||
cancellationToken, timeout, EffectivePathId(pathId), number, number);
|
||||
|
||||
/// <summary>
|
||||
/// Read a PMC range via <c>pmc_rdpmcrng</c>. <paramref name="area"/> is the numeric
|
||||
/// address-letter code (see <see cref="FocasPmcArea"/>); <paramref name="dataType"/>
|
||||
/// is the width code (see <see cref="FocasPmcDataType"/>). Payload is decoded into
|
||||
/// <see cref="WirePmcRange.Values"/> — one entry per slot of the requested width.
|
||||
/// </summary>
|
||||
public async Task<FocasResult<WirePmcRange>> ReadPmcRangeAsync(
|
||||
short area,
|
||||
short dataType,
|
||||
ushort start,
|
||||
ushort end,
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
{
|
||||
if (end < start)
|
||||
throw new ArgumentOutOfRangeException(nameof(end), "PMC end address must be greater than or equal to start.");
|
||||
|
||||
using var callTimeout = CreateCallTimeout(cancellationToken, timeout);
|
||||
var block = await SendSingleRequestAsync(
|
||||
callTimeout.Token,
|
||||
new RequestBlock(0x8001, start, end, area, dataType, RequestClass: 2, PathId: EffectivePathId(pathId))).ConfigureAwait(false);
|
||||
|
||||
return ToResult(block, 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>
|
||||
public Task<FocasResult<WirePmcRange>> ReadPmcRangeAsync(
|
||||
FocasPmcArea area,
|
||||
FocasPmcDataType dataType,
|
||||
ushort start,
|
||||
ushort end,
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
=> ReadPmcRangeAsync((short)area, (short)dataType, start, end, cancellationToken, timeout, pathId);
|
||||
|
||||
/// <summary>
|
||||
/// Read active alarms via <c>cnc_rdalmmsg2</c> (command <c>0x0023</c>). Parses both
|
||||
/// the 76-byte vendor <c>ODBALMMSG2_data</c> layout and the 80-byte legacy wire
|
||||
/// shape so the same managed surface works across firmware revisions.
|
||||
/// </summary>
|
||||
public async Task<FocasResult<IReadOnlyList<WireAlarm>>> ReadAlarmsAsync(
|
||||
short type = -1,
|
||||
short count = 32,
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
{
|
||||
using var callTimeout = CreateCallTimeout(cancellationToken, timeout);
|
||||
var block = await SendSingleRequestAsync(
|
||||
callTimeout.Token,
|
||||
new RequestBlock(0x0023, type, count, 2, 0x40, PathId: EffectivePathId(pathId))).ConfigureAwait(false);
|
||||
|
||||
return ToResult(block, payload => ParseAlarms(payload, count));
|
||||
}
|
||||
|
||||
/// <summary>Read operation mode via <c>cnc_rdopmode</c>, returned as the typed <see cref="FocasOperationMode"/>.</summary>
|
||||
public Task<FocasResult<FocasOperationMode>> ReadOperationModeAsync(
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
=> ReadSingleWithTimeoutAsync(
|
||||
0x0057,
|
||||
payload => (FocasOperationMode)(payload.Length >= 2 ? ReadInt16(payload, 0) : (short)0),
|
||||
cancellationToken, timeout, EffectivePathId(pathId));
|
||||
|
||||
/// <summary>
|
||||
/// Raw-code variant of <see cref="ReadOperationModeAsync"/> — returns the underlying
|
||||
/// FOCAS <c>short</c> so callers storing the raw mode code (e.g. OtOpcUa's
|
||||
/// <c>FocasProgramInfo.Mode</c> int field) don't have to cast the enum.
|
||||
/// </summary>
|
||||
public Task<FocasResult<short>> ReadOperationModeCodeAsync(
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
=> ReadSingleWithTimeoutAsync(
|
||||
0x0057,
|
||||
payload => payload.Length >= 2 ? ReadInt16(payload, 0) : (short)0,
|
||||
cancellationToken, timeout, EffectivePathId(pathId));
|
||||
|
||||
/// <summary>Read the currently-executing program name + O-number via <c>cnc_exeprgname2</c> (command <c>0x00fc</c>).</summary>
|
||||
public Task<FocasResult<WireProgramName>> ReadExecutingProgramNameAsync(
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
=> ReadSingleWithTimeoutAsync(0x00fc, ParseProgramName, cancellationToken, timeout, EffectivePathId(pathId));
|
||||
|
||||
/// <summary>Read the executed block count via <c>cnc_rdblkcount</c>.</summary>
|
||||
public Task<FocasResult<int>> ReadBlockCountAsync(
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
=> ReadSingleWithTimeoutAsync(
|
||||
0x0035,
|
||||
payload => payload.Length >= 4 ? ReadInt32(payload, 0) : 0,
|
||||
cancellationToken, timeout, EffectivePathId(pathId));
|
||||
|
||||
/// <summary>
|
||||
/// Read one cumulative timer via <c>cnc_rdtimer</c>. <paramref name="type"/> selects
|
||||
/// PowerOn / Operating / Cutting / Cycle per the FOCAS spec (0..3).
|
||||
/// </summary>
|
||||
public Task<FocasResult<WireTimer>> ReadTimerAsync(
|
||||
short type,
|
||||
CancellationToken cancellationToken = default,
|
||||
TimeSpan? timeout = null,
|
||||
ushort? pathId = null)
|
||||
=> ReadSingleWithTimeoutAsync(
|
||||
0x0120,
|
||||
payload => new WireTimer(type, payload.Length >= 4 ? ReadInt32(payload, 0) : 0, payload.Length >= 8 ? ReadInt32(payload, 4) : 0),
|
||||
cancellationToken, timeout, EffectivePathId(pathId), type);
|
||||
|
||||
// ---- internal plumbing ------------------------------------------------------------
|
||||
|
||||
private async Task<FocasResult<IReadOnlyList<WireSpindleMetric>>> ReadSpindleMetricAsync(
|
||||
int metric, short spindleSelector, CancellationToken cancellationToken, TimeSpan? timeout, ushort? pathId)
|
||||
{
|
||||
using var callTimeout = CreateCallTimeout(cancellationToken, timeout);
|
||||
var block = await SendSingleRequestAsync(
|
||||
callTimeout.Token,
|
||||
new RequestBlock(0x0040, metric, spindleSelector, PathId: EffectivePathId(pathId))).ConfigureAwait(false);
|
||||
|
||||
return ToResult<IReadOnlyList<WireSpindleMetric>>(block, payload =>
|
||||
{
|
||||
var values = new List<WireSpindleMetric>();
|
||||
for (var offset = 0; offset + 8 <= payload.Length; offset += 8)
|
||||
values.Add(new WireSpindleMetric((short)(values.Count + 1), ReadInt32(payload, offset)));
|
||||
return values;
|
||||
});
|
||||
}
|
||||
|
||||
private async Task<FocasResult<T>> ReadSingleAsync<T>(
|
||||
ushort command,
|
||||
Func<byte[], T> parser,
|
||||
ushort? pathId = null,
|
||||
int arg1 = 0,
|
||||
int arg2 = 0,
|
||||
int arg3 = 0,
|
||||
int arg4 = 0,
|
||||
CancellationToken cancellationToken = default)
|
||||
{
|
||||
var block = await SendSingleRequestAsync(cancellationToken, new RequestBlock(command, arg1, arg2, arg3, arg4, PathId: EffectivePathId(pathId))).ConfigureAwait(false);
|
||||
return ToResult(block, parser);
|
||||
}
|
||||
|
||||
private async Task<FocasResult<T>> ReadSingleWithTimeoutAsync<T>(
|
||||
ushort command,
|
||||
Func<byte[], T> parser,
|
||||
CancellationToken cancellationToken,
|
||||
TimeSpan? timeout,
|
||||
ushort pathId,
|
||||
int arg1 = 0,
|
||||
int arg2 = 0,
|
||||
int arg3 = 0,
|
||||
int arg4 = 0)
|
||||
{
|
||||
using var callTimeout = CreateCallTimeout(cancellationToken, timeout);
|
||||
return await ReadSingleAsync(command, parser, pathId, arg1, arg2, arg3, arg4, callTimeout.Token).ConfigureAwait(false);
|
||||
}
|
||||
|
||||
private async Task<ResponseBlock> SendSingleRequestAsync(CancellationToken cancellationToken, RequestBlock block)
|
||||
{
|
||||
var blocks = await SendRequestAsync(cancellationToken, block).ConfigureAwait(false);
|
||||
return blocks.Count == 0 ? new ResponseBlock(block.Command, 0, Array.Empty<byte>()) : blocks[0];
|
||||
}
|
||||
|
||||
private async Task<IReadOnlyList<ResponseBlock>> SendRequestAsync(CancellationToken cancellationToken, params RequestBlock[] blocks)
|
||||
{
|
||||
EnsureConnected();
|
||||
await _requestGate.WaitAsync(cancellationToken).ConfigureAwait(false);
|
||||
var requestStarted = false;
|
||||
try
|
||||
{
|
||||
var body = FocasWireProtocol.BuildRequestBody(blocks);
|
||||
requestStarted = true;
|
||||
await SendPduAsync(_stream2!, FocasWireProtocol.TypeData, body, cancellationToken).ConfigureAwait(false);
|
||||
var response = await ReadExpectedPduAsync(_stream2!, FocasWireProtocol.TypeData, cancellationToken).ConfigureAwait(false);
|
||||
var responseBlocks = FocasWireProtocol.ParseResponseBlocks(response.Body);
|
||||
foreach (var block in responseBlocks)
|
||||
_logger?.LogDebug("FOCAS response command=0x{Command:x4} rc={Rc} payloadLength={PayloadLength}", block.Command, block.Rc, block.Payload.Length);
|
||||
return responseBlocks;
|
||||
}
|
||||
catch (Exception ex) when (requestStarted && IsTransientException(ex))
|
||||
{
|
||||
// A cancelled or failed mid-request write leaves the wire in an undefined state —
|
||||
// tear the connection down so the next caller reconnects cleanly instead of
|
||||
// consuming a stale response.
|
||||
CloseTransport();
|
||||
throw new FocasWireException("FOCAS wire request failed; connection was closed to avoid response desynchronization.", ex, isTransient: true);
|
||||
}
|
||||
finally
|
||||
{
|
||||
_requestGate.Release();
|
||||
}
|
||||
}
|
||||
|
||||
private static async Task<TcpClient> ConnectSocketAsync(string host, int port, CancellationToken cancellationToken)
|
||||
{
|
||||
var socket = new TcpClient { NoDelay = true };
|
||||
try
|
||||
{
|
||||
await WithCancellation(socket.ConnectAsync(host, port), cancellationToken).ConfigureAwait(false);
|
||||
return socket;
|
||||
}
|
||||
catch
|
||||
{
|
||||
socket.Dispose();
|
||||
throw;
|
||||
}
|
||||
}
|
||||
|
||||
private static async Task SendPduAsync(NetworkStream stream, byte type, ReadOnlyMemory<byte> body, CancellationToken cancellationToken)
|
||||
{
|
||||
var pdu = FocasWireProtocol.BuildPdu(type, FocasWireProtocol.DirectionRequest, body.Span);
|
||||
await stream.WriteAsync(pdu, 0, pdu.Length, cancellationToken).ConfigureAwait(false);
|
||||
await stream.FlushAsync(cancellationToken).ConfigureAwait(false);
|
||||
}
|
||||
|
||||
private static void SendPdu(NetworkStream stream, byte type, ReadOnlySpan<byte> body)
|
||||
{
|
||||
var pdu = FocasWireProtocol.BuildPdu(type, FocasWireProtocol.DirectionRequest, body);
|
||||
stream.Write(pdu, 0, pdu.Length);
|
||||
stream.Flush();
|
||||
}
|
||||
|
||||
private void ThrowIfDisposed()
|
||||
{
|
||||
if (_disposed) throw new ObjectDisposedException(nameof(FocasWireClient));
|
||||
}
|
||||
|
||||
private static async Task WithCancellation(Task task, CancellationToken cancellationToken)
|
||||
{
|
||||
if (!cancellationToken.CanBeCanceled)
|
||||
{
|
||||
await task.ConfigureAwait(false);
|
||||
return;
|
||||
}
|
||||
|
||||
var cancellation = new TaskCompletionSource<bool>();
|
||||
using var registration = cancellationToken.Register(static state => ((TaskCompletionSource<bool>)state!).TrySetResult(true), cancellation);
|
||||
if (task != await Task.WhenAny(task, cancellation.Task).ConfigureAwait(false))
|
||||
throw new OperationCanceledException(cancellationToken);
|
||||
await task.ConfigureAwait(false);
|
||||
}
|
||||
|
||||
private static CancellationTokenSource CreateCallTimeout(CancellationToken cancellationToken, TimeSpan? timeout)
|
||||
{
|
||||
var source = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken);
|
||||
if (timeout is { } value) source.CancelAfter(value);
|
||||
return source;
|
||||
}
|
||||
|
||||
private static async Task<Pdu> ReadExpectedPduAsync(NetworkStream stream, byte expectedType, CancellationToken cancellationToken)
|
||||
{
|
||||
var pdu = await FocasWireProtocol.ReadPduAsync(stream, cancellationToken).ConfigureAwait(false);
|
||||
if (pdu.Type != expectedType || pdu.Direction != FocasWireProtocol.DirectionResponse)
|
||||
throw new FocasWireException($"Unexpected FOCAS PDU type 0x{pdu.Type:x2}, direction 0x{pdu.Direction:x2}.", rc: null);
|
||||
return pdu;
|
||||
}
|
||||
|
||||
private void EnsureConnected()
|
||||
{
|
||||
ThrowIfDisposed();
|
||||
if (!_connected || _stream2 is null)
|
||||
throw new FocasWireException("FOCAS wire client is not connected.", rc: null, isTransient: true);
|
||||
}
|
||||
|
||||
private void CloseTransport()
|
||||
{
|
||||
_connected = false;
|
||||
_sysInfo = null;
|
||||
_stream1?.Dispose();
|
||||
_stream2?.Dispose();
|
||||
_socket1?.Dispose();
|
||||
_socket2?.Dispose();
|
||||
_stream1 = null;
|
||||
_stream2 = null;
|
||||
_socket1 = null;
|
||||
_socket2 = null;
|
||||
}
|
||||
|
||||
private ushort EffectivePathId(ushort? pathId) => pathId ?? PathId;
|
||||
|
||||
private static FocasResult<T> ToResult<T>(ResponseBlock block, Func<byte[], T> parser)
|
||||
=> block.Rc != 0
|
||||
? new FocasResult<T>(block.Rc, default)
|
||||
: new FocasResult<T>(block.Rc, parser(block.Payload));
|
||||
|
||||
private static short AggregateRc(IReadOnlyList<ResponseBlock> blocks)
|
||||
=> blocks.FirstOrDefault(block => block.Rc != 0)?.Rc ?? 0;
|
||||
|
||||
private static byte[] FindPayload(IReadOnlyList<ResponseBlock> blocks, ushort command)
|
||||
=> blocks.FirstOrDefault(block => block.Command == command)?.Payload ?? Array.Empty<byte>();
|
||||
|
||||
private static int ReadFirstInt32(IReadOnlyList<ResponseBlock> blocks, ushort command)
|
||||
{
|
||||
var payload = FindPayload(blocks, command);
|
||||
return payload.Length >= 4 ? ReadInt32(payload, 0) : 0;
|
||||
}
|
||||
|
||||
private static int ReadSelectorPosition(IReadOnlyList<ResponseBlock> blocks, ushort command, int selectorIndex)
|
||||
{
|
||||
var seen = 0;
|
||||
foreach (var block in blocks)
|
||||
{
|
||||
if (block.Command != command) continue;
|
||||
if (seen == selectorIndex)
|
||||
return block.Payload.Length >= 4 ? ReadInt32(block.Payload, 0) : 0;
|
||||
seen++;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
private static WireSysInfo ParseSysInfo(byte[] payload)
|
||||
{
|
||||
RequireLength(payload, 16, "cnc_sysinfo");
|
||||
return new WireSysInfo(
|
||||
ReadInt16(payload, 0),
|
||||
ReadInt16(payload, 2),
|
||||
FocasWireProtocol.ReadAscii(payload.AsSpan(4, 2)),
|
||||
FocasWireProtocol.ReadAscii(payload.AsSpan(6, 2)),
|
||||
FocasWireProtocol.ReadAscii(payload.AsSpan(8, 4)),
|
||||
FocasWireProtocol.ReadAscii(payload.AsSpan(12, 4)),
|
||||
payload.Length >= 18 ? FocasWireProtocol.ReadAscii(payload.AsSpan(16, 2)) : string.Empty);
|
||||
}
|
||||
|
||||
private static WireProgramName ParseProgramName(byte[] payload)
|
||||
{
|
||||
var nameLength = payload.Length >= 40 ? 36 : payload.Length;
|
||||
var name = FocasWireProtocol.ReadAscii(payload.AsSpan(0, nameLength));
|
||||
var number = payload.Length >= 40 ? ReadInt32(payload, 36) : (int?)null;
|
||||
return new WireProgramName(name, number);
|
||||
}
|
||||
|
||||
private static IReadOnlyList<WireAlarm> ParseAlarms(byte[] payload, short count)
|
||||
=> payload.Length % 76 == 0
|
||||
? ParseVendorAlarms(payload, count)
|
||||
: ParseLegacyWireAlarms(payload, count);
|
||||
|
||||
private static IReadOnlyList<WireAlarm> ParseVendorAlarms(byte[] payload, short count)
|
||||
{
|
||||
var alarms = new List<WireAlarm>();
|
||||
for (var offset = 0; offset + 76 <= payload.Length && alarms.Count < count; offset += 76)
|
||||
{
|
||||
var messageLength = ReadInt16(payload, offset + 10);
|
||||
alarms.Add(new WireAlarm(
|
||||
ReadInt32(payload, offset),
|
||||
ReadInt16(payload, offset + 4),
|
||||
ReadInt16(payload, offset + 6),
|
||||
messageLength,
|
||||
FocasWireProtocol.ReadAscii(payload.AsSpan(offset + 12, 64))));
|
||||
}
|
||||
return alarms;
|
||||
}
|
||||
|
||||
private static IReadOnlyList<WireAlarm> ParseLegacyWireAlarms(byte[] payload, short count)
|
||||
{
|
||||
var alarms = new List<WireAlarm>();
|
||||
for (var offset = 0; offset + 80 <= payload.Length && alarms.Count < count; offset += 80)
|
||||
{
|
||||
alarms.Add(new WireAlarm(
|
||||
ReadInt32(payload, offset),
|
||||
(short)ReadInt32(payload, offset + 4),
|
||||
(short)ReadInt32(payload, offset + 8),
|
||||
(short)ReadInt32(payload, offset + 12),
|
||||
FocasWireProtocol.ReadAscii(payload.AsSpan(offset + 16, 64))));
|
||||
}
|
||||
return alarms;
|
||||
}
|
||||
|
||||
private static IReadOnlyList<T> ReadNameRecords<T>(byte[] payload, short maxCount, Func<short, string, T> factory)
|
||||
{
|
||||
var names = new List<T>();
|
||||
for (var offset = 0; offset + 4 <= payload.Length && offset / 4 < maxCount; offset += 4)
|
||||
{
|
||||
var name = FocasWireProtocol.ReadNameRecord(payload.AsSpan(offset, 4));
|
||||
if (!string.IsNullOrWhiteSpace(name))
|
||||
names.Add(factory((short)((offset / 4) + 1), name));
|
||||
}
|
||||
return names;
|
||||
}
|
||||
|
||||
private static void RequireLength(byte[] payload, int length, string call)
|
||||
{
|
||||
if (payload.Length < length)
|
||||
throw new FocasWireException($"{call} returned {payload.Length} bytes; expected at least {length}.", rc: null);
|
||||
}
|
||||
|
||||
private static bool IsTransientException(Exception exception)
|
||||
=> exception is IOException or SocketException or TimeoutException or OperationCanceledException
|
||||
|| exception.InnerException is IOException or SocketException or TimeoutException or OperationCanceledException;
|
||||
|
||||
private static short ReadInt16(byte[] bytes, int offset)
|
||||
=> BinaryPrimitives.ReadInt16BigEndian(bytes.AsSpan(offset, 2));
|
||||
|
||||
private static int ReadInt32(byte[] bytes, int offset)
|
||||
=> BinaryPrimitives.ReadInt32BigEndian(bytes.AsSpan(offset, 4));
|
||||
}
|
||||
@@ -0,0 +1,51 @@
|
||||
namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Wire;
|
||||
|
||||
/// <summary>
|
||||
/// Thrown by the wire client when a FOCAS request fails — either at the protocol layer
|
||||
/// (invalid PDU magic, desynchronised response framing, connection dropped mid-request)
|
||||
/// or when the CNC returns a non-zero <c>EW_*</c> return code.
|
||||
/// </summary>
|
||||
/// <remarks>
|
||||
/// <para>Callers distinguish the two classes via <see cref="IsTransient"/>: <c>true</c>
|
||||
/// when the transport is gone (socket closed, timeout, cancellation mid-write) and the
|
||||
/// wire client has already torn the sockets down, so a reconnect is required before any
|
||||
/// further call. <c>false</c> for protocol-level errors where the connection is still
|
||||
/// usable.</para>
|
||||
/// <para><see cref="Rc"/> carries the wire-level FOCAS return code when the exception
|
||||
/// came from a parsed response block. Null when the failure happened before a response
|
||||
/// was received (e.g. connect-time handshake errors).</para>
|
||||
/// </remarks>
|
||||
public class FocasWireException : Exception
|
||||
{
|
||||
/// <summary>FOCAS <c>EW_*</c> return code from the response block, when available.</summary>
|
||||
public short? Rc { get; }
|
||||
|
||||
/// <summary>
|
||||
/// True when the transport was closed as a side effect of this failure — the caller
|
||||
/// must reconnect before issuing the next request.
|
||||
/// </summary>
|
||||
public bool IsTransient { get; }
|
||||
|
||||
public FocasWireException(string message)
|
||||
: base(message)
|
||||
{
|
||||
}
|
||||
|
||||
public FocasWireException(string message, short? rc, bool isTransient = false)
|
||||
: base(message)
|
||||
{
|
||||
Rc = rc;
|
||||
IsTransient = isTransient;
|
||||
}
|
||||
|
||||
public FocasWireException(string message, Exception innerException)
|
||||
: base(message, innerException)
|
||||
{
|
||||
}
|
||||
|
||||
public FocasWireException(string message, Exception innerException, bool isTransient)
|
||||
: base(message, innerException)
|
||||
{
|
||||
IsTransient = isTransient;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,131 @@
|
||||
namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Wire;
|
||||
|
||||
/// <summary>
|
||||
/// Return envelope over a parsed wire response. <see cref="Rc"/> carries the FOCAS
|
||||
/// <c>EW_*</c> code from the response block — <c>0</c> / <see cref="IsOk"/> means the
|
||||
/// call succeeded and <see cref="Value"/> is populated; non-zero means the CNC rejected
|
||||
/// the call and <see cref="Value"/> is <c>default</c>. Callers use the RC to distinguish
|
||||
/// "feature missing on this series" (<c>EW_FUNC</c> / <c>EW_NOOPT</c>) from genuine
|
||||
/// failures.
|
||||
/// </summary>
|
||||
public readonly record struct FocasResult<T>(short Rc, T? Value)
|
||||
{
|
||||
/// <summary>True when <see cref="Rc"/> is zero (<c>EW_OK</c>).</summary>
|
||||
public bool IsOk => Rc == 0;
|
||||
}
|
||||
|
||||
/// <summary>CNC identity payload returned by <c>cnc_sysinfo</c>.</summary>
|
||||
public sealed record WireSysInfo(
|
||||
short AddInfo,
|
||||
short MaxAxis,
|
||||
string CncType,
|
||||
string MachineType,
|
||||
string Series,
|
||||
string Version,
|
||||
string Axes);
|
||||
|
||||
/// <summary>Coarse CNC state bits returned by <c>cnc_statinfo</c> — the seven-word status block plus TM mode.</summary>
|
||||
public sealed record WireStatus(
|
||||
short Auto,
|
||||
short Run,
|
||||
short Motion,
|
||||
short Mstb,
|
||||
short Emergency,
|
||||
short Alarm,
|
||||
short Edit,
|
||||
short TmMode);
|
||||
|
||||
/// <summary>Four-slot position quadruple for one axis: absolute / machine / relative / distance-to-go.</summary>
|
||||
public sealed record WireAxisPosition(
|
||||
int Absolute,
|
||||
int Machine,
|
||||
int Relative,
|
||||
int Distance);
|
||||
|
||||
/// <summary>
|
||||
/// Fast-poll bundle for one axis from <c>cnc_rddynamic2</c> — alarm flags, active program
|
||||
/// numbers, sequence number, actual feed rate, actual spindle speed, and the position
|
||||
/// quadruple.
|
||||
/// </summary>
|
||||
public sealed record WireDynamic(
|
||||
int Alarm,
|
||||
int ProgramNumber,
|
||||
int MainProgramNumber,
|
||||
int SequenceNumber,
|
||||
int FeedRate,
|
||||
int SpindleSpeed,
|
||||
WireAxisPosition Axis);
|
||||
|
||||
/// <summary>One servo-meter entry from <c>cnc_rdsvmeter</c> — per-axis load percentage (scale by 10^<see cref="Decimal"/>).</summary>
|
||||
public sealed record WireServoMeter(
|
||||
short Index,
|
||||
string Name,
|
||||
int Value,
|
||||
short Decimal,
|
||||
short Unit);
|
||||
|
||||
/// <summary>One spindle metric slot from <c>cnc_rdspload</c> / <c>cnc_rdspmaxrpm</c>.</summary>
|
||||
public sealed record WireSpindleMetric(
|
||||
short Index,
|
||||
int Value);
|
||||
|
||||
/// <summary>
|
||||
/// One axis-name slot from <c>cnc_rdaxisname</c>. <see cref="Index"/> is the 1-based
|
||||
/// axis index (preserved even when the name is empty so callers can pass it to
|
||||
/// <c>cnc_rddynamic2</c>).
|
||||
/// </summary>
|
||||
public readonly record struct WireAxisRecord(short Index, string Name);
|
||||
|
||||
/// <summary>One spindle-name slot from <c>cnc_rdspdlname</c>.</summary>
|
||||
public readonly record struct WireSpindleRecord(short Index, string Name);
|
||||
|
||||
/// <summary>Parameter value returned by <c>cnc_rdparam</c>, interpreted as a scalar Int32.</summary>
|
||||
public sealed record WireParameter(
|
||||
short DataNumber,
|
||||
short Type,
|
||||
int Value);
|
||||
|
||||
/// <summary>
|
||||
/// Macro variable from <c>cnc_rdmacro</c>. Scaled decimal: the callable value is
|
||||
/// <c>Value / 10^Decimal</c>.
|
||||
/// </summary>
|
||||
public sealed record WireMacro(
|
||||
short Number,
|
||||
int Value,
|
||||
short Decimal);
|
||||
|
||||
/// <summary>PMC range read-back from <c>pmc_rdpmcrng</c>: one or more values of the requested width.</summary>
|
||||
public sealed record WirePmcRange(
|
||||
short Area,
|
||||
short DataType,
|
||||
ushort Start,
|
||||
ushort End,
|
||||
IReadOnlyList<long> Values);
|
||||
|
||||
/// <summary>
|
||||
/// One active alarm from <c>cnc_rdalmmsg2</c>. Mirrors the vendor <c>ODBALMMSG2</c>
|
||||
/// layout; <see cref="AlarmGroup"/> is populated when the wire responder carries it
|
||||
/// (currently <c>null</c> for both the 76-byte vendor shape and the 80-byte legacy
|
||||
/// shape).
|
||||
/// </summary>
|
||||
public sealed record WireAlarm(
|
||||
int AlarmNumber,
|
||||
short Type,
|
||||
short Axis,
|
||||
short MessageLength,
|
||||
string Message,
|
||||
int? AlarmGroup = null);
|
||||
|
||||
/// <summary>
|
||||
/// Executing-program identity from <c>cnc_exeprgname2</c>: the NUL-terminated name and
|
||||
/// the trailing 32-bit O-number (null when the wire responder omits the trailing int).
|
||||
/// </summary>
|
||||
public sealed record WireProgramName(
|
||||
string Name,
|
||||
int? ONumber);
|
||||
|
||||
/// <summary>One cumulative timer reading from <c>cnc_rdtimer</c> (minutes + fractional milliseconds).</summary>
|
||||
public sealed record WireTimer(
|
||||
short Type,
|
||||
int Minutes,
|
||||
int Milliseconds);
|
||||
@@ -0,0 +1,250 @@
|
||||
using System.Buffers.Binary;
|
||||
using System.Net.Sockets;
|
||||
using System.Text;
|
||||
|
||||
namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Wire;
|
||||
|
||||
/// <summary>
|
||||
/// Framing primitives for the FOCAS/2 Ethernet wire protocol — magic-prefixed PDU
|
||||
/// header + request/response block envelopes. Read-only subset: every call OtOpcUa
|
||||
/// issues maps to one of the command IDs documented in
|
||||
/// <c>docs/v2/implementation/focas-wire-protocol.md</c>.
|
||||
/// </summary>
|
||||
/// <remarks>
|
||||
/// <para>All multi-byte integer fields are big-endian on the wire. The 10-byte header is
|
||||
/// <c>a0 a0 a0 a0</c> magic + 2-byte version + type byte + direction byte + 2-byte body
|
||||
/// length. Version 1 is the only version this implementation supports.</para>
|
||||
/// <para>Type <c>0x01</c> is the initiate handshake, <c>0x02</c> is the session close,
|
||||
/// <c>0x21</c> is a request/response data PDU carrying one or more request blocks.</para>
|
||||
/// </remarks>
|
||||
internal static class FocasWireProtocol
|
||||
{
|
||||
public const ushort Version = 1;
|
||||
public const byte DirectionRequest = 0x01;
|
||||
public const byte DirectionResponse = 0x02;
|
||||
public const byte TypeInitiate = 0x01;
|
||||
public const byte TypeClose = 0x02;
|
||||
public const byte TypeData = 0x21;
|
||||
|
||||
private static readonly byte[] Magic = [0xa0, 0xa0, 0xa0, 0xa0];
|
||||
|
||||
/// <summary>Assemble a full PDU (10-byte header + body) for transmission.</summary>
|
||||
public static byte[] BuildPdu(byte type, byte direction, ReadOnlySpan<byte> body)
|
||||
{
|
||||
if (body.Length > ushort.MaxValue)
|
||||
throw new ArgumentOutOfRangeException(nameof(body), "FOCAS PDU body is limited to 65535 bytes.");
|
||||
|
||||
var bytes = new byte[10 + body.Length];
|
||||
Magic.CopyTo(bytes, 0);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(bytes.AsSpan(4, 2), Version);
|
||||
bytes[6] = type;
|
||||
bytes[7] = direction;
|
||||
BinaryPrimitives.WriteUInt16BigEndian(bytes.AsSpan(8, 2), (ushort)body.Length);
|
||||
body.CopyTo(bytes.AsSpan(10));
|
||||
return bytes;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Initiate-body shape — just the 2-byte socket index (1 or 2). <c>cnc_allclibhndl3</c>
|
||||
/// opens two TCP sockets in sequence and each sends its own initiate PDU carrying its
|
||||
/// index.
|
||||
/// </summary>
|
||||
public static byte[] BuildInitiateBody(ushort socketIndex)
|
||||
{
|
||||
var body = new byte[2];
|
||||
BinaryPrimitives.WriteUInt16BigEndian(body, socketIndex);
|
||||
return body;
|
||||
}
|
||||
|
||||
/// <summary>Assemble a type-<c>0x21</c> body carrying one or more request blocks.</summary>
|
||||
public static byte[] BuildRequestBody(IReadOnlyList<RequestBlock> blocks)
|
||||
{
|
||||
if (blocks.Count > ushort.MaxValue)
|
||||
throw new ArgumentOutOfRangeException(nameof(blocks), "Too many request blocks.");
|
||||
|
||||
var blockBytes = blocks.Select(BuildRequestBlock).ToArray();
|
||||
var bodyLength = 2 + blockBytes.Sum(block => block.Length);
|
||||
if (bodyLength > ushort.MaxValue)
|
||||
throw new ArgumentOutOfRangeException(nameof(blocks), "FOCAS request body is too large.");
|
||||
|
||||
var body = new byte[bodyLength];
|
||||
BinaryPrimitives.WriteUInt16BigEndian(body.AsSpan(0, 2), (ushort)blocks.Count);
|
||||
var offset = 2;
|
||||
foreach (var block in blockBytes)
|
||||
{
|
||||
block.CopyTo(body.AsSpan(offset));
|
||||
offset += block.Length;
|
||||
}
|
||||
return body;
|
||||
}
|
||||
|
||||
/// <summary>Async read of one full PDU off a stream. Throws <see cref="FocasWireException"/> on invalid magic / version / truncation.</summary>
|
||||
public static async Task<Pdu> ReadPduAsync(NetworkStream stream, CancellationToken cancellationToken)
|
||||
{
|
||||
var header = new byte[10];
|
||||
await ReadExactlyAsync(stream, header, cancellationToken).ConfigureAwait(false);
|
||||
|
||||
if (!header.AsSpan(0, 4).SequenceEqual(Magic))
|
||||
throw new FocasWireException("Invalid FOCAS PDU magic.");
|
||||
|
||||
var version = BinaryPrimitives.ReadUInt16BigEndian(header.AsSpan(4, 2));
|
||||
if (version != Version)
|
||||
throw new FocasWireException($"Unsupported FOCAS PDU version {version}.");
|
||||
|
||||
var bodyLength = BinaryPrimitives.ReadUInt16BigEndian(header.AsSpan(8, 2));
|
||||
var body = new byte[bodyLength];
|
||||
if (bodyLength > 0)
|
||||
await ReadExactlyAsync(stream, body, cancellationToken).ConfigureAwait(false);
|
||||
|
||||
return new Pdu(header[6], header[7], body);
|
||||
}
|
||||
|
||||
/// <summary>Synchronous counterpart to <see cref="ReadPduAsync"/> — used by <see cref="FocasWireClient"/>'s sync dispose.</summary>
|
||||
public static Pdu ReadPdu(NetworkStream stream)
|
||||
{
|
||||
var header = new byte[10];
|
||||
ReadExactly(stream, header);
|
||||
|
||||
if (!header.AsSpan(0, 4).SequenceEqual(Magic))
|
||||
throw new FocasWireException("Invalid FOCAS PDU magic.");
|
||||
|
||||
var version = BinaryPrimitives.ReadUInt16BigEndian(header.AsSpan(4, 2));
|
||||
if (version != Version)
|
||||
throw new FocasWireException($"Unsupported FOCAS PDU version {version}.");
|
||||
|
||||
var bodyLength = BinaryPrimitives.ReadUInt16BigEndian(header.AsSpan(8, 2));
|
||||
var body = new byte[bodyLength];
|
||||
if (bodyLength > 0)
|
||||
ReadExactly(stream, body);
|
||||
|
||||
return new Pdu(header[6], header[7], body);
|
||||
}
|
||||
|
||||
private static async Task ReadExactlyAsync(NetworkStream stream, byte[] buffer, CancellationToken cancellationToken)
|
||||
{
|
||||
var offset = 0;
|
||||
while (offset < buffer.Length)
|
||||
{
|
||||
var read = await stream.ReadAsync(buffer, offset, buffer.Length - offset, cancellationToken).ConfigureAwait(false);
|
||||
if (read == 0)
|
||||
throw new EndOfStreamException("FOCAS socket closed before the expected number of bytes were read.");
|
||||
offset += read;
|
||||
}
|
||||
}
|
||||
|
||||
private static void ReadExactly(NetworkStream stream, byte[] buffer)
|
||||
{
|
||||
var offset = 0;
|
||||
while (offset < buffer.Length)
|
||||
{
|
||||
var read = stream.Read(buffer, offset, buffer.Length - offset);
|
||||
if (read == 0)
|
||||
throw new EndOfStreamException("FOCAS socket closed before the expected number of bytes were read.");
|
||||
offset += read;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Unpack a type-<c>0x21</c> response body into its constituent response blocks. Each
|
||||
/// block carries the command ID, the FOCAS <c>EW_*</c> return code, and the payload
|
||||
/// bytes.
|
||||
/// </summary>
|
||||
public static IReadOnlyList<ResponseBlock> ParseResponseBlocks(ReadOnlySpan<byte> body)
|
||||
{
|
||||
if (body.Length < 2)
|
||||
return Array.Empty<ResponseBlock>();
|
||||
|
||||
var count = BinaryPrimitives.ReadUInt16BigEndian(body.Slice(0, 2));
|
||||
var blocks = new List<ResponseBlock>(count);
|
||||
var offset = 2;
|
||||
for (var index = 0; index < count; index++)
|
||||
{
|
||||
if (offset + 2 > body.Length)
|
||||
throw new FocasWireException("Truncated FOCAS response block length.");
|
||||
|
||||
var blockLength = BinaryPrimitives.ReadUInt16BigEndian(body.Slice(offset, 2));
|
||||
if (blockLength < 0x10 || offset + blockLength > body.Length)
|
||||
throw new FocasWireException($"Invalid FOCAS response block length {blockLength}.");
|
||||
|
||||
var block = body.Slice(offset, blockLength);
|
||||
var command = BinaryPrimitives.ReadUInt16BigEndian(block.Slice(6, 2));
|
||||
var payloadLength = BinaryPrimitives.ReadUInt16BigEndian(block.Slice(14, 2));
|
||||
if (0x10 + payloadLength > blockLength)
|
||||
throw new FocasWireException("Invalid FOCAS response payload length.");
|
||||
|
||||
var rc = BinaryPrimitives.ReadInt16BigEndian(block.Slice(8, 2));
|
||||
blocks.Add(new ResponseBlock(command, rc, block.Slice(16, payloadLength).ToArray()));
|
||||
offset += blockLength;
|
||||
}
|
||||
|
||||
return blocks;
|
||||
}
|
||||
|
||||
/// <summary>Read an ASCII string out of a payload span, stopping at the first NUL and trimming trailing spaces.</summary>
|
||||
public static string ReadAscii(ReadOnlySpan<byte> bytes)
|
||||
{
|
||||
var end = bytes.IndexOf((byte)0);
|
||||
if (end >= 0) bytes = bytes.Slice(0, end);
|
||||
return Encoding.ASCII.GetString(bytes.ToArray()).TrimEnd(' ', '\0');
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Read an axis/spindle name record — the first 2 bytes of a 2-byte (axis) or 4-byte
|
||||
/// (spindle) slot. Trailing spaces and NULs are stripped so <c>"X "</c> becomes
|
||||
/// <c>"X"</c>.
|
||||
/// </summary>
|
||||
public static string ReadNameRecord(ReadOnlySpan<byte> bytes)
|
||||
{
|
||||
if (bytes.Length < 2) return string.Empty;
|
||||
var buffer = bytes.Slice(0, Math.Min(2, bytes.Length)).ToArray();
|
||||
return Encoding.ASCII.GetString(buffer).TrimEnd(' ', '\0');
|
||||
}
|
||||
|
||||
private static byte[] BuildRequestBlock(RequestBlock request)
|
||||
{
|
||||
var extra = request.ExtraPayload ?? Array.Empty<byte>();
|
||||
if (extra.Length > ushort.MaxValue)
|
||||
throw new ArgumentOutOfRangeException(nameof(request), "FOCAS request extra payload is too large.");
|
||||
|
||||
var blockLength = 0x1c + extra.Length;
|
||||
if (blockLength > ushort.MaxValue)
|
||||
throw new ArgumentOutOfRangeException(nameof(request), "FOCAS request block is too large.");
|
||||
|
||||
var block = new byte[blockLength];
|
||||
BinaryPrimitives.WriteUInt16BigEndian(block.AsSpan(0, 2), (ushort)blockLength);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(block.AsSpan(2, 2), request.RequestClass);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(block.AsSpan(4, 2), request.PathId);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(block.AsSpan(6, 2), request.Command);
|
||||
BinaryPrimitives.WriteInt32BigEndian(block.AsSpan(8, 4), request.Arg1);
|
||||
BinaryPrimitives.WriteInt32BigEndian(block.AsSpan(12, 4), request.Arg2);
|
||||
BinaryPrimitives.WriteInt32BigEndian(block.AsSpan(16, 4), request.Arg3);
|
||||
BinaryPrimitives.WriteInt32BigEndian(block.AsSpan(20, 4), request.Arg4);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(block.AsSpan(24, 2), request.Arg5);
|
||||
BinaryPrimitives.WriteUInt16BigEndian(block.AsSpan(26, 2), (ushort)extra.Length);
|
||||
extra.CopyTo(block.AsSpan(28));
|
||||
return block;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>One raw PDU off the wire — header bytes plus the body.</summary>
|
||||
internal sealed record Pdu(byte Type, byte Direction, byte[] Body);
|
||||
|
||||
/// <summary>
|
||||
/// One request block within a type-<c>0x21</c> PDU body. <see cref="Command"/> is the
|
||||
/// FOCAS command ID (e.g. <c>0x0018</c> for sysinfo); <see cref="Arg1"/>..<see cref="Arg5"/>
|
||||
/// are the command-specific scalar arguments; <see cref="ExtraPayload"/> carries the
|
||||
/// optional extra bytes for writes.
|
||||
/// </summary>
|
||||
internal sealed record RequestBlock(
|
||||
ushort Command,
|
||||
int Arg1 = 0,
|
||||
int Arg2 = 0,
|
||||
int Arg3 = 0,
|
||||
int Arg4 = 0,
|
||||
ushort Arg5 = 0,
|
||||
ushort RequestClass = 1,
|
||||
ushort PathId = 1,
|
||||
byte[]? ExtraPayload = null);
|
||||
|
||||
/// <summary>One response block — command ID + FOCAS return code + payload bytes.</summary>
|
||||
internal sealed record ResponseBlock(ushort Command, short Rc, byte[] Payload);
|
||||
@@ -0,0 +1,333 @@
|
||||
namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Wire;
|
||||
|
||||
/// <summary>
|
||||
/// <see cref="IFocasClient"/> implementation backed by the in-tree managed
|
||||
/// <see cref="FocasWireClient"/>. No P/Invoke, no <c>Fwlib64.dll</c>, no out-of-process
|
||||
/// Host — the wire client dials the CNC on TCP:8193 directly and speaks the FOCAS/2
|
||||
/// Ethernet binary protocol.
|
||||
/// </summary>
|
||||
/// <remarks>
|
||||
/// OtOpcUa is read-only against FOCAS. <see cref="WriteAsync"/> returns
|
||||
/// <see cref="FocasStatusMapper.BadNotWritable"/> for every address — the managed wire
|
||||
/// client intentionally does not expose <c>cnc_wrparam</c> / <c>pmc_wrpmcrng</c> /
|
||||
/// <c>cnc_wrmacro</c>.
|
||||
/// </remarks>
|
||||
public sealed class WireFocasClient : IFocasClient
|
||||
{
|
||||
private readonly FocasWireClient _wire = new();
|
||||
private FocasHostAddress? _address;
|
||||
|
||||
public bool IsConnected => _wire.IsConnected;
|
||||
|
||||
public async Task ConnectAsync(FocasHostAddress address, TimeSpan timeout, CancellationToken cancellationToken)
|
||||
{
|
||||
if (_wire.IsConnected) return;
|
||||
_address = address;
|
||||
// FocasWireClient.ConnectAsync interprets TimeSpan.Zero as "no timeout" — clamp the
|
||||
// driver's default TimeSpan to at least 1s so a caller passing TimeSpan.Zero gets a
|
||||
// sane fail-fast instead of hanging indefinitely.
|
||||
var effective = timeout <= TimeSpan.Zero ? TimeSpan.FromSeconds(1) : timeout;
|
||||
await _wire.ConnectAsync(address.Host, address.Port, effective, cancellationToken).ConfigureAwait(false);
|
||||
}
|
||||
|
||||
public async Task<(object? value, uint status)> ReadAsync(
|
||||
FocasAddress address, FocasDataType type, CancellationToken cancellationToken)
|
||||
{
|
||||
if (!_wire.IsConnected) return (null, FocasStatusMapper.BadCommunicationError);
|
||||
cancellationToken.ThrowIfCancellationRequested();
|
||||
|
||||
return address.Kind switch
|
||||
{
|
||||
FocasAreaKind.Pmc => await ReadPmcAsync(address, type, cancellationToken).ConfigureAwait(false),
|
||||
FocasAreaKind.Parameter => await ReadParameterAsync(address, type, cancellationToken).ConfigureAwait(false),
|
||||
FocasAreaKind.Macro => await ReadMacroAsync(address, cancellationToken).ConfigureAwait(false),
|
||||
_ => (null, FocasStatusMapper.BadNotSupported),
|
||||
};
|
||||
}
|
||||
|
||||
public Task<uint> WriteAsync(
|
||||
FocasAddress address, FocasDataType type, object? value, CancellationToken cancellationToken)
|
||||
=> Task.FromResult(FocasStatusMapper.BadNotWritable);
|
||||
|
||||
public async Task<bool> ProbeAsync(CancellationToken cancellationToken)
|
||||
{
|
||||
if (!_wire.IsConnected) return false;
|
||||
try
|
||||
{
|
||||
var result = await _wire.ReadStatusAsync(cancellationToken).ConfigureAwait(false);
|
||||
return result.IsOk;
|
||||
}
|
||||
catch (FocasWireException)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
public async Task<IReadOnlyList<FocasActiveAlarm>> ReadAlarmsAsync(CancellationToken cancellationToken)
|
||||
{
|
||||
if (!_wire.IsConnected) return [];
|
||||
try
|
||||
{
|
||||
var result = await _wire.ReadAlarmsAsync(FocasAlarmType.All, 32, cancellationToken).ConfigureAwait(false);
|
||||
if (!result.IsOk || result.Value is null) return [];
|
||||
return result.Value.Select(Map).ToList();
|
||||
}
|
||||
catch (FocasWireException)
|
||||
{
|
||||
return [];
|
||||
}
|
||||
|
||||
static FocasActiveAlarm Map(WireAlarm a) => new(
|
||||
AlarmNumber: a.AlarmNumber,
|
||||
Type: a.Type,
|
||||
Axis: a.Axis,
|
||||
Message: a.Message ?? string.Empty);
|
||||
}
|
||||
|
||||
public async Task<FocasSysInfo> GetSysInfoAsync(CancellationToken cancellationToken)
|
||||
{
|
||||
RequireConnected();
|
||||
var result = await _wire.ReadSysInfoAsync(cancellationToken).ConfigureAwait(false);
|
||||
ThrowIfRcNonZero(result.Rc, "cnc_sysinfo", result.IsOk);
|
||||
var info = result.Value!;
|
||||
// Fanuc right-pads the ASCII axis count with spaces; fall back to MaxAxis if the
|
||||
// text field isn't interpretable as an integer.
|
||||
var axesCount = int.TryParse(info.Axes?.Trim(), out var parsed) ? parsed : info.MaxAxis;
|
||||
return new FocasSysInfo(
|
||||
AddInfo: info.AddInfo,
|
||||
MaxAxis: info.MaxAxis,
|
||||
CncType: info.CncType ?? string.Empty,
|
||||
MtType: info.MachineType ?? string.Empty,
|
||||
Series: info.Series ?? string.Empty,
|
||||
Version: info.Version ?? string.Empty,
|
||||
AxesCount: axesCount);
|
||||
}
|
||||
|
||||
public async Task<IReadOnlyList<FocasAxisName>> GetAxisNamesAsync(CancellationToken cancellationToken)
|
||||
{
|
||||
if (!_wire.IsConnected) return [];
|
||||
var result = await _wire.ReadAxisNamesAsync(32, cancellationToken).ConfigureAwait(false);
|
||||
if (!result.IsOk || result.Value is null) return [];
|
||||
return result.Value.Select(SplitAxis).Where(n => n.Name.Length > 0).ToList();
|
||||
|
||||
// FocasWireClient returns axis records as a single Name string (e.g. "X" or "X1").
|
||||
// IFocasClient wants Name + Suffix split — the first char is the axis letter, the
|
||||
// rest is the multi-channel suffix.
|
||||
static FocasAxisName SplitAxis(WireAxisRecord r)
|
||||
{
|
||||
var n = r.Name ?? string.Empty;
|
||||
return n.Length == 0
|
||||
? new FocasAxisName(string.Empty, string.Empty)
|
||||
: new FocasAxisName(n[..1], n.Length > 1 ? n[1..] : string.Empty);
|
||||
}
|
||||
}
|
||||
|
||||
public async Task<IReadOnlyList<FocasSpindleName>> GetSpindleNamesAsync(CancellationToken cancellationToken)
|
||||
{
|
||||
if (!_wire.IsConnected) return [];
|
||||
var result = await _wire.ReadSpindleNamesAsync(8, cancellationToken).ConfigureAwait(false);
|
||||
if (!result.IsOk || result.Value is null) return [];
|
||||
return result.Value.Select(SplitSpindle).Where(n => n.Name.Length > 0).ToList();
|
||||
|
||||
static FocasSpindleName SplitSpindle(WireSpindleRecord r)
|
||||
{
|
||||
var n = r.Name ?? string.Empty;
|
||||
return new FocasSpindleName(
|
||||
Name: n.Length > 0 ? n[..1] : string.Empty,
|
||||
Suffix1: n.Length > 1 ? n[1..2] : string.Empty,
|
||||
Suffix2: n.Length > 2 ? n[2..3] : string.Empty,
|
||||
Suffix3: n.Length > 3 ? n[3..4] : string.Empty);
|
||||
}
|
||||
}
|
||||
|
||||
public async Task<FocasDynamicSnapshot> ReadDynamicAsync(int axisIndex, CancellationToken cancellationToken)
|
||||
{
|
||||
RequireConnected();
|
||||
var result = await _wire.ReadDynamic2Async((short)axisIndex, cancellationToken).ConfigureAwait(false);
|
||||
ThrowIfRcNonZero(result.Rc, "cnc_rddynamic2", result.IsOk);
|
||||
var d = result.Value!;
|
||||
var pos = d.Axis ?? new WireAxisPosition(0, 0, 0, 0);
|
||||
return new FocasDynamicSnapshot(
|
||||
AxisIndex: axisIndex,
|
||||
AlarmFlags: d.Alarm,
|
||||
ProgramNumber: d.ProgramNumber,
|
||||
MainProgramNumber: d.MainProgramNumber,
|
||||
SequenceNumber: d.SequenceNumber,
|
||||
ActualFeedRate: d.FeedRate,
|
||||
ActualSpindleSpeed: d.SpindleSpeed,
|
||||
AbsolutePosition: pos.Absolute,
|
||||
MachinePosition: pos.Machine,
|
||||
RelativePosition: pos.Relative,
|
||||
DistanceToGo: pos.Distance);
|
||||
}
|
||||
|
||||
public async Task<FocasProgramInfo> GetProgramInfoAsync(CancellationToken cancellationToken)
|
||||
{
|
||||
RequireConnected();
|
||||
var nameResult = await _wire.ReadExecutingProgramNameAsync(cancellationToken).ConfigureAwait(false);
|
||||
var blkResult = await _wire.ReadBlockCountAsync(cancellationToken).ConfigureAwait(false);
|
||||
// Use the raw short variant — FocasProgramInfo.Mode stores the integer code so the
|
||||
// managed ToText path in FocasOpMode can map it for display.
|
||||
var modeResult = await _wire.ReadOperationModeCodeAsync(cancellationToken).ConfigureAwait(false);
|
||||
|
||||
var wireName = nameResult.Value;
|
||||
return new FocasProgramInfo(
|
||||
Name: wireName?.Name ?? string.Empty,
|
||||
ONumber: wireName?.ONumber ?? 0,
|
||||
BlockCount: blkResult.IsOk ? blkResult.Value : 0,
|
||||
Mode: modeResult.IsOk ? modeResult.Value : 0);
|
||||
}
|
||||
|
||||
public async Task<FocasTimer> GetTimerAsync(FocasTimerKind kind, CancellationToken cancellationToken)
|
||||
{
|
||||
RequireConnected();
|
||||
var result = await _wire.ReadTimerAsync((short)kind, cancellationToken).ConfigureAwait(false);
|
||||
ThrowIfRcNonZero(result.Rc, $"cnc_rdtimer kind={kind}", result.IsOk);
|
||||
var t = result.Value!;
|
||||
return new FocasTimer(kind, t.Minutes, t.Milliseconds);
|
||||
}
|
||||
|
||||
public async Task<IReadOnlyList<FocasServoLoad>> GetServoLoadsAsync(CancellationToken cancellationToken)
|
||||
{
|
||||
if (!_wire.IsConnected) return [];
|
||||
var result = await _wire.ReadServoMeterAsync(32, cancellationToken).ConfigureAwait(false);
|
||||
if (!result.IsOk || result.Value is null) return [];
|
||||
return result.Value
|
||||
.Select(m => new FocasServoLoad(m.Name ?? string.Empty, m.Value / Math.Pow(10.0, m.Decimal)))
|
||||
.Where(s => s.AxisName.Length > 0)
|
||||
.ToList();
|
||||
}
|
||||
|
||||
public Task<IReadOnlyList<int>> GetSpindleLoadsAsync(CancellationToken cancellationToken) =>
|
||||
ReadSpindleMetricAsync((sel, ct) => _wire.ReadSpindleLoadAsync(sel, ct), cancellationToken);
|
||||
|
||||
public Task<IReadOnlyList<int>> GetSpindleMaxRpmsAsync(CancellationToken cancellationToken) =>
|
||||
ReadSpindleMetricAsync((sel, ct) => _wire.ReadSpindleMaxRpmAsync(sel, ct), cancellationToken);
|
||||
|
||||
private static async Task<IReadOnlyList<int>> ReadSpindleMetricAsync(
|
||||
Func<short, CancellationToken, Task<FocasResult<IReadOnlyList<WireSpindleMetric>>>> call,
|
||||
CancellationToken cancellationToken)
|
||||
{
|
||||
var result = await call(-1, cancellationToken).ConfigureAwait(false);
|
||||
if (!result.IsOk || result.Value is null) return [];
|
||||
var list = new List<int>();
|
||||
foreach (var m in result.Value)
|
||||
{
|
||||
// Fanuc pads unused spindle slots with 0 — stop at the first trailing zero so the
|
||||
// list length matches the configured spindle count.
|
||||
if (m.Value == 0 && list.Count > 0) break;
|
||||
list.Add(m.Value);
|
||||
}
|
||||
return list;
|
||||
}
|
||||
|
||||
public void Dispose() => _wire.Dispose();
|
||||
|
||||
// ---- PMC / Parameter / Macro read paths ------------------------------------------
|
||||
|
||||
private async Task<(object? value, uint status)> ReadPmcAsync(
|
||||
FocasAddress address, FocasDataType type, CancellationToken cancellationToken)
|
||||
{
|
||||
var area = FocasPmcAreaLookup.FromLetter(address.PmcLetter ?? string.Empty);
|
||||
if (area is null) return (null, FocasStatusMapper.BadNodeIdUnknown);
|
||||
var dataType = FocasPmcDataTypeLookup.FromFocasDataType(type);
|
||||
var start = (ushort)address.Number;
|
||||
var end = start;
|
||||
|
||||
try
|
||||
{
|
||||
var result = await _wire.ReadPmcRangeAsync(area.Value, dataType, start, end, cancellationToken)
|
||||
.ConfigureAwait(false);
|
||||
if (!result.IsOk || result.Value is null)
|
||||
return (null, FocasStatusMapper.MapFocasReturn(result.Rc));
|
||||
var values = result.Value.Values;
|
||||
if (values.Count == 0) return (null, FocasStatusMapper.BadOutOfRange);
|
||||
var raw = values[0];
|
||||
var mapped = type switch
|
||||
{
|
||||
FocasDataType.Bit => (object)(((long)raw >> (address.BitIndex ?? 0) & 1L) != 0),
|
||||
FocasDataType.Byte => (object)(sbyte)(raw & 0xFFL),
|
||||
FocasDataType.Int16 => (object)(short)raw,
|
||||
FocasDataType.Int32 => (object)(int)raw,
|
||||
FocasDataType.Float32 => (object)BitConverter.Int32BitsToSingle((int)raw),
|
||||
FocasDataType.Float64 => (object)BitConverter.Int64BitsToDouble(raw),
|
||||
_ => (object)raw,
|
||||
};
|
||||
return (mapped, FocasStatusMapper.Good);
|
||||
}
|
||||
catch (FocasWireException ex)
|
||||
{
|
||||
return (null, ex.Rc is short rc ? FocasStatusMapper.MapFocasReturn(rc) : FocasStatusMapper.BadCommunicationError);
|
||||
}
|
||||
}
|
||||
|
||||
private async Task<(object? value, uint status)> ReadParameterAsync(
|
||||
FocasAddress address, FocasDataType type, CancellationToken cancellationToken)
|
||||
{
|
||||
try
|
||||
{
|
||||
switch (type)
|
||||
{
|
||||
case FocasDataType.Byte:
|
||||
var b = await _wire.ReadParameterByteAsync((short)address.Number, 0, cancellationToken).ConfigureAwait(false);
|
||||
return b.IsOk ? ((object)(sbyte)b.Value, FocasStatusMapper.Good) : (null, FocasStatusMapper.MapFocasReturn(b.Rc));
|
||||
case FocasDataType.Int16:
|
||||
var s = await _wire.ReadParameterInt16Async((short)address.Number, 0, cancellationToken).ConfigureAwait(false);
|
||||
return s.IsOk ? ((object)s.Value, FocasStatusMapper.Good) : (null, FocasStatusMapper.MapFocasReturn(s.Rc));
|
||||
case FocasDataType.Float32:
|
||||
var f = await _wire.ReadParameterFloat32Async((short)address.Number, 0, cancellationToken).ConfigureAwait(false);
|
||||
return f.IsOk ? ((object)f.Value, FocasStatusMapper.Good) : (null, FocasStatusMapper.MapFocasReturn(f.Rc));
|
||||
case FocasDataType.Float64:
|
||||
var d = await _wire.ReadParameterFloat64Async((short)address.Number, 0, cancellationToken).ConfigureAwait(false);
|
||||
return d.IsOk ? ((object)d.Value, FocasStatusMapper.Good) : (null, FocasStatusMapper.MapFocasReturn(d.Rc));
|
||||
case FocasDataType.Bit when address.BitIndex is int bit:
|
||||
var bi = await _wire.ReadParameterInt32Async((short)address.Number, 0, cancellationToken).ConfigureAwait(false);
|
||||
if (!bi.IsOk) return (null, FocasStatusMapper.MapFocasReturn(bi.Rc));
|
||||
return ((object)((bi.Value >> bit & 1) != 0), FocasStatusMapper.Good);
|
||||
default:
|
||||
var i = await _wire.ReadParameterInt32Async((short)address.Number, 0, cancellationToken).ConfigureAwait(false);
|
||||
return i.IsOk ? ((object)i.Value, FocasStatusMapper.Good) : (null, FocasStatusMapper.MapFocasReturn(i.Rc));
|
||||
}
|
||||
}
|
||||
catch (FocasWireException ex)
|
||||
{
|
||||
return (null, ex.Rc is short rc ? FocasStatusMapper.MapFocasReturn(rc) : FocasStatusMapper.BadCommunicationError);
|
||||
}
|
||||
}
|
||||
|
||||
private async Task<(object? value, uint status)> ReadMacroAsync(
|
||||
FocasAddress address, CancellationToken cancellationToken)
|
||||
{
|
||||
try
|
||||
{
|
||||
var result = await _wire.ReadMacroAsync((short)address.Number, cancellationToken).ConfigureAwait(false);
|
||||
if (!result.IsOk || result.Value is null)
|
||||
return (null, FocasStatusMapper.MapFocasReturn(result.Rc));
|
||||
var m = result.Value;
|
||||
// Macro value is scaled-decimal: the real value is Value / 10^Decimal.
|
||||
var scaled = m.Value / Math.Pow(10.0, m.Decimal);
|
||||
return ((object)scaled, FocasStatusMapper.Good);
|
||||
}
|
||||
catch (FocasWireException ex)
|
||||
{
|
||||
return (null, ex.Rc is short rc ? FocasStatusMapper.MapFocasReturn(rc) : FocasStatusMapper.BadCommunicationError);
|
||||
}
|
||||
}
|
||||
|
||||
private void RequireConnected()
|
||||
{
|
||||
if (!_wire.IsConnected)
|
||||
throw new InvalidOperationException("FOCAS wire session not connected.");
|
||||
}
|
||||
|
||||
private static void ThrowIfRcNonZero(short rc, string call, bool isOk)
|
||||
{
|
||||
if (!isOk) throw new InvalidOperationException($"{call} failed EW_{rc}.");
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>Factory producing <see cref="WireFocasClient"/> instances — one per configured device.</summary>
|
||||
public sealed class WireFocasClientFactory : IFocasClientFactory
|
||||
{
|
||||
public IFocasClient Create() => new WireFocasClient();
|
||||
}
|
||||
Reference in New Issue
Block a user