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
318
src/Drivers/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/AdsTwinCATClient.cs
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318
src/Drivers/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/AdsTwinCATClient.cs
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using System.Collections.Concurrent;
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using System.Runtime.CompilerServices;
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using TwinCAT;
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using TwinCAT.Ads;
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using TwinCAT.Ads.TypeSystem;
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using TwinCAT.TypeSystem;
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namespace ZB.MOM.WW.OtOpcUa.Driver.TwinCAT;
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/// <summary>
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/// Default <see cref="ITwinCATClient"/> backed by Beckhoff's <see cref="AdsClient"/>.
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/// One instance per AMS target; reused across reads / writes / probes.
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/// </summary>
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/// <remarks>
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/// <para>Wire behavior depends on a reachable AMS router — on Windows the router comes
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/// from TwinCAT XAR; elsewhere from the <c>Beckhoff.TwinCAT.Ads.TcpRouter</c> package
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/// hosted by the server process. Neither is built-in here; deployment wires one in.</para>
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///
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/// <para>Error mapping — ADS error codes surface through <see cref="AdsErrorException"/>
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/// and get translated to OPC UA status codes via <see cref="TwinCATStatusMapper.MapAdsError"/>.</para>
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/// </remarks>
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internal sealed class AdsTwinCATClient : ITwinCATClient
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{
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private readonly AdsClient _client = new();
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private readonly ConcurrentDictionary<uint, NotificationRegistration> _notifications = new();
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public AdsTwinCATClient()
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{
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_client.AdsNotificationEx += OnAdsNotificationEx;
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}
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public bool IsConnected => _client.IsConnected;
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public Task ConnectAsync(TwinCATAmsAddress address, TimeSpan timeout, CancellationToken cancellationToken)
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{
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if (_client.IsConnected) return Task.CompletedTask;
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_client.Timeout = (int)Math.Max(1_000, timeout.TotalMilliseconds);
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var netId = AmsNetId.Parse(address.NetId);
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_client.Connect(netId, address.Port);
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return Task.CompletedTask;
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}
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public async Task<(object? value, uint status)> ReadValueAsync(
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string symbolPath,
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TwinCATDataType type,
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int? bitIndex,
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CancellationToken cancellationToken)
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{
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try
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{
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// Bit-indexed BOOL — TwinCAT's symbol table doesn't expose "WordVar.N" as its
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// own symbolic entry (ADS returns DeviceSymbolNotFound), so we read the parent
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// container as its widest unsigned primitive and extract the bit locally. The
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// .N suffix added by TwinCATSymbolPath.ToAdsSymbolName needs to come back off
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// first. uint covers WORD / DWORD containers; BYTE-sized bit containers are
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// rare in real code and promoting to uint is harmless for them.
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if (bitIndex is int bit && type == TwinCATDataType.Bool)
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{
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var parent = StripBitSuffix(symbolPath);
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var parentResult = await _client.ReadValueAsync(parent, typeof(uint), cancellationToken)
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.ConfigureAwait(false);
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if (parentResult.ErrorCode != AdsErrorCode.NoError)
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return (null, TwinCATStatusMapper.MapAdsError((uint)parentResult.ErrorCode));
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return (ExtractBit(parentResult.Value, bit), TwinCATStatusMapper.Good);
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}
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var clrType = MapToClrType(type);
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var result = await _client.ReadValueAsync(symbolPath, clrType, cancellationToken)
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.ConfigureAwait(false);
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if (result.ErrorCode != AdsErrorCode.NoError)
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return (null, TwinCATStatusMapper.MapAdsError((uint)result.ErrorCode));
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return (result.Value, TwinCATStatusMapper.Good);
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}
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catch (AdsErrorException ex)
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{
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return (null, TwinCATStatusMapper.MapAdsError((uint)ex.ErrorCode));
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}
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}
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private static string StripBitSuffix(string symbolPath)
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{
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var lastDot = symbolPath.LastIndexOf('.');
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if (lastDot < 0) return symbolPath;
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return int.TryParse(symbolPath.AsSpan(lastDot + 1), out _)
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? symbolPath[..lastDot]
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: symbolPath;
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}
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public async Task<uint> WriteValueAsync(
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string symbolPath,
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TwinCATDataType type,
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int? bitIndex,
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object? value,
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CancellationToken cancellationToken)
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{
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if (bitIndex is int && type == TwinCATDataType.Bool)
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throw new NotSupportedException(
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"BOOL-within-word writes require read-modify-write; tracked in task #181.");
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try
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{
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var converted = ConvertForWrite(type, value);
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var result = await _client.WriteValueAsync(symbolPath, converted, cancellationToken)
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.ConfigureAwait(false);
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return result.ErrorCode == AdsErrorCode.NoError
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? TwinCATStatusMapper.Good
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: TwinCATStatusMapper.MapAdsError((uint)result.ErrorCode);
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}
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catch (AdsErrorException ex)
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{
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return TwinCATStatusMapper.MapAdsError((uint)ex.ErrorCode);
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}
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}
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public async Task<bool> ProbeAsync(CancellationToken cancellationToken)
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{
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try
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{
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var state = await _client.ReadStateAsync(cancellationToken).ConfigureAwait(false);
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return state.ErrorCode == AdsErrorCode.NoError;
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}
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catch
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{
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return false;
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}
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}
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public async Task<ITwinCATNotificationHandle> AddNotificationAsync(
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string symbolPath,
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TwinCATDataType type,
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int? bitIndex,
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TimeSpan cycleTime,
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Action<string, object?> onChange,
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CancellationToken cancellationToken)
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{
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var clrType = MapToClrType(type);
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// NotificationSettings takes cycle + max-delay in milliseconds (Beckhoff InfoSys
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// tcadsnetref/7313319051 — "The unit is 1ms"). AdsTransMode.OnChange fires when
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// the value differs; OnCycle fires every cycle. OnChange is the right default for
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// OPC UA data-change semantics — the PLC already has the best view of "has this
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// changed" so we let it decide.
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var cycleMs = (int)Math.Max(1, cycleTime.TotalMilliseconds);
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var settings = new NotificationSettings(AdsTransMode.OnChange, cycleMs, 0);
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// AddDeviceNotificationExAsync returns Task<ResultHandle>; AdsNotificationEx fires
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// with the handle as part of the event args so we use the handle as the correlation
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// key into _notifications.
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var result = await _client.AddDeviceNotificationExAsync(
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symbolPath, settings, userData: null, clrType, args: null, cancellationToken)
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.ConfigureAwait(false);
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if (result.ErrorCode != AdsErrorCode.NoError)
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throw new InvalidOperationException(
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$"AddDeviceNotificationExAsync failed with ADS error {result.ErrorCode} for {symbolPath}");
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var reg = new NotificationRegistration(symbolPath, type, bitIndex, onChange, this, result.Handle);
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_notifications[result.Handle] = reg;
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return reg;
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}
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private void OnAdsNotificationEx(object? sender, AdsNotificationExEventArgs args)
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{
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if (!_notifications.TryGetValue(args.Handle, out var reg)) return;
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var value = args.Value;
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if (reg.BitIndex is int bit && reg.Type == TwinCATDataType.Bool && value is not bool)
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value = ExtractBit(value, bit);
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try { reg.OnChange(reg.SymbolPath, value); } catch { /* consumer-side errors don't crash the ADS thread */ }
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}
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internal async Task DeleteNotificationAsync(uint handle, CancellationToken cancellationToken)
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{
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_notifications.TryRemove(handle, out _);
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try { await _client.DeleteDeviceNotificationAsync(handle, cancellationToken).ConfigureAwait(false); }
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catch { /* best-effort tear-down; target may already be gone */ }
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}
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public async IAsyncEnumerable<TwinCATDiscoveredSymbol> BrowseSymbolsAsync(
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[EnumeratorCancellation] CancellationToken cancellationToken)
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{
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// SymbolLoaderFactory downloads the symbol-info blob once then iterates locally — the
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// async surface on this interface is for our callers, not for the underlying call which
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// is effectively sync on top of the already-open AdsClient.
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var settings = new SymbolLoaderSettings(SymbolsLoadMode.Flat);
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var loader = SymbolLoaderFactory.Create(_client, settings);
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await Task.Yield(); // honors the async surface; pragmatic given the loader itself is sync
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foreach (ISymbol symbol in loader.Symbols)
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{
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if (cancellationToken.IsCancellationRequested) yield break;
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var mapped = MapSymbolTypeName(symbol.DataType?.Name);
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var readOnly = !IsSymbolWritable(symbol);
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yield return new TwinCATDiscoveredSymbol(symbol.InstancePath, mapped, readOnly);
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}
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}
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private static TwinCATDataType? MapSymbolTypeName(string? typeName)
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{
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if (typeName is null) return null;
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// SymbolLoader emits STRING(80) / WSTRING(80) with the declared bound baked into
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// the type name — strip the "(...)" suffix so sized strings map onto the bare
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// String/WString atom the driver speaks.
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var paren = typeName.IndexOf('(');
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var bare = paren > 0 ? typeName[..paren] : typeName;
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return bare switch
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{
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"BOOL" or "BIT" => TwinCATDataType.Bool,
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"SINT" or "BYTE" => TwinCATDataType.SInt,
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"USINT" => TwinCATDataType.USInt,
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"INT" or "WORD" => TwinCATDataType.Int,
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"UINT" => TwinCATDataType.UInt,
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"DINT" or "DWORD" => TwinCATDataType.DInt,
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"UDINT" => TwinCATDataType.UDInt,
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"LINT" or "LWORD" => TwinCATDataType.LInt,
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"ULINT" => TwinCATDataType.ULInt,
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"REAL" => TwinCATDataType.Real,
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"LREAL" => TwinCATDataType.LReal,
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"STRING" => TwinCATDataType.String,
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"WSTRING" => TwinCATDataType.WString,
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"TIME" => TwinCATDataType.Time,
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"DATE" => TwinCATDataType.Date,
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"DT" or "DATE_AND_TIME" => TwinCATDataType.DateTime,
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"TOD" or "TIME_OF_DAY" => TwinCATDataType.TimeOfDay,
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_ => null, // UDTs / FB instances / arrays / pointers — out of atomic scope
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};
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}
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private static bool IsSymbolWritable(ISymbol symbol)
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{
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// SymbolAccessRights is a flags enum — the Write bit indicates a writable symbol.
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// When the symbol implementation doesn't surface it, assume writable + let the PLC
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// return AccessDenied at write time.
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if (symbol is Symbol s) return (s.AccessRights & SymbolAccessRights.Write) != 0;
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return true;
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}
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public void Dispose()
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{
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_client.AdsNotificationEx -= OnAdsNotificationEx;
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_notifications.Clear();
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_client.Dispose();
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}
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private sealed class NotificationRegistration(
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string symbolPath,
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TwinCATDataType type,
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int? bitIndex,
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Action<string, object?> onChange,
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AdsTwinCATClient owner,
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uint handle) : ITwinCATNotificationHandle
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{
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public string SymbolPath { get; } = symbolPath;
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public TwinCATDataType Type { get; } = type;
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public int? BitIndex { get; } = bitIndex;
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public Action<string, object?> OnChange { get; } = onChange;
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public void Dispose()
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{
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// Fire-and-forget AMS call — caller has already committed to the tear-down.
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_ = owner.DeleteNotificationAsync(handle, CancellationToken.None);
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}
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}
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private static Type MapToClrType(TwinCATDataType type) => type switch
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{
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TwinCATDataType.Bool => typeof(bool),
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TwinCATDataType.SInt => typeof(sbyte),
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TwinCATDataType.USInt => typeof(byte),
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TwinCATDataType.Int => typeof(short),
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TwinCATDataType.UInt => typeof(ushort),
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TwinCATDataType.DInt => typeof(int),
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TwinCATDataType.UDInt => typeof(uint),
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TwinCATDataType.LInt => typeof(long),
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TwinCATDataType.ULInt => typeof(ulong),
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TwinCATDataType.Real => typeof(float),
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TwinCATDataType.LReal => typeof(double),
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TwinCATDataType.String or TwinCATDataType.WString => typeof(string),
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TwinCATDataType.Time or TwinCATDataType.Date
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or TwinCATDataType.DateTime or TwinCATDataType.TimeOfDay => typeof(uint),
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_ => typeof(int),
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};
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private static object ConvertForWrite(TwinCATDataType type, object? value) => type switch
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{
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TwinCATDataType.Bool => Convert.ToBoolean(value),
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TwinCATDataType.SInt => Convert.ToSByte(value),
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TwinCATDataType.USInt => Convert.ToByte(value),
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TwinCATDataType.Int => Convert.ToInt16(value),
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TwinCATDataType.UInt => Convert.ToUInt16(value),
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TwinCATDataType.DInt => Convert.ToInt32(value),
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TwinCATDataType.UDInt => Convert.ToUInt32(value),
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TwinCATDataType.LInt => Convert.ToInt64(value),
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TwinCATDataType.ULInt => Convert.ToUInt64(value),
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TwinCATDataType.Real => Convert.ToSingle(value),
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TwinCATDataType.LReal => Convert.ToDouble(value),
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TwinCATDataType.String or TwinCATDataType.WString => Convert.ToString(value) ?? string.Empty,
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TwinCATDataType.Time or TwinCATDataType.Date
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or TwinCATDataType.DateTime or TwinCATDataType.TimeOfDay => Convert.ToUInt32(value),
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_ => throw new NotSupportedException($"TwinCATDataType {type} not writable."),
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};
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private static bool ExtractBit(object? rawWord, int bit) => rawWord switch
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{
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short s => (s & (1 << bit)) != 0,
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ushort us => (us & (1 << bit)) != 0,
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int i => (i & (1 << bit)) != 0,
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uint ui => (ui & (1u << bit)) != 0,
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long l => (l & (1L << bit)) != 0,
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ulong ul => (ul & (1UL << bit)) != 0,
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_ => false,
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};
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}
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/// <summary>Default <see cref="ITwinCATClientFactory"/> — one <see cref="AdsTwinCATClient"/> per call.</summary>
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internal sealed class AdsTwinCATClientFactory : ITwinCATClientFactory
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{
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public ITwinCATClient Create() => new AdsTwinCATClient();
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}
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