FOCAS PR 2 — IReadable + IWritable + real FwlibFocasClient P/Invoke. Closes task #193 early now that strangesast/fwlib provides the licensed DLL references. Skips shipping with the Unimplemented stub as the default — FwlibFocasClientFactory is now the production default, UnimplementedFocasClientFactory stays as an opt-in for tests/deployments without FWLIB access. FwlibNative — narrow P/Invoke surface for the 7 calls the driver actually makes: cnc_allclibhndl3 (open Ethernet handle), cnc_freelibhndl (close), pmc_rdpmcrng + pmc_wrpmcrng (PMC range I/O), cnc_rdparam + cnc_wrparam (CNC parameters), cnc_rdmacro + cnc_wrmacro (macro variables), cnc_statinfo (probe). DllImport targets Fwlib32.dll; deployment places it next to the executable or on PATH. IODBPMC/IODBPSD/ODBM/ODBST marshaled with LayoutKind.Sequential + Pack=1 + fixed byte-array unions (avoids LayoutKind.Explicit complexity; managed-side BitConverter extracts typed values from the byte buffer). Internal helpers FocasPmcAddrType.FromLetter (G=0/F=1/Y=2/X=3/A=4/R=5/T=6/K=7/C=8/D=9/E=10 per Fanuc FOCAS/2 spec) + FocasPmcDataType.FromFocasDataType (Byte=0 / Word=1 / Long=2 / Float=4 / Double=5) exposed for testing without the DLL loaded. FwlibFocasClient is the concrete IFocasClient backed by P/Invoke. Construction is licence-safe — .NET P/Invoke is lazy so instantiating the class does NOT load Fwlib32.dll; DLL loads on first wire call (Connect/Read/Write/Probe). When missing, calls throw DllNotFoundException which the driver surfaces as BadCommunicationError via the normal exception path. Session-scoped handle from cnc_allclibhndl3; Dispose calls cnc_freelibhndl. Dispatch on FocasAreaKind — Pmc reads use pmc_rdpmcrng with the right ADR_* + data-type codes + parses the union via BinaryPrimitives LittleEndian, Parameter reads use cnc_rdparam + IODBPSD, Macro reads use cnc_rdmacro + compute scaled double as McrVal / 10^DecVal. Write paths mirror reads. PMC Bit writes throw NotSupportedException pointing at task #181 (read-modify-write gap — same as Modbus / AbCip / AbLegacy / TwinCAT). Macro writes accept int + pass decimal-point count 0 (decimal precision writes are a future enhancement). Probe calls cnc_statinfo with ODBST result. Driver wiring — FocasDriver now IDriver + IReadable + IWritable. Per-device connection caching via EnsureConnectedAsync + DeviceState.Client. ReadAsync/WriteAsync dispatch through the injected IFocasClient — ordered snapshots preserve per-tag status, OperationCanceledException rethrows, FormatException/InvalidCastException → BadTypeMismatch, OverflowException → BadOutOfRange, NotSupportedException → BadNotSupported, anything else → BadCommunicationError + Degraded health. Connect-failure disposes the half-open client. ShutdownAsync disposes every cached client. Default factory switched — constructor now defaults to FwlibFocasClientFactory (backed by real Fwlib32.dll) rather than UnimplementedFocasClientFactory. UnimplementedFocasClientFactory stays as an opt-in. 41 new tests — 14 in FocasReadWriteTests (ordered unknown-ref handling, successful PMC/Parameter/Macro reads routing through correct FocasAreaKind, repeat-read reuses connection, FOCAS error mapping, exception paths, batched order across areas, non-writable rejection, successful write logging, status mapping, batch ordering, cancellation, shutdown disposes), 27 in FwlibNativeHelperTests (12 letter-mapping cases + 3 unknown rejections + 6 data-type mapping + 4 encode helpers + Bit-write NotSupported). Total FOCAS unit tests now 106/106 passing (+41 from PR 1's 65); full solution builds 0 errors; Modbus / AbCip / AbLegacy / TwinCAT / other drivers untouched. FOCAS driver is real-wire-capable from day one — deployment drops Fwlib32.dll beside the server + driver talks to live FS 0i/16i/18i/21i/30i/31i/32i controllers.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Joseph Doherty
@@ -15,12 +15,13 @@ namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
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/// + the default <see cref="UnimplementedFocasClientFactory"/> makes misconfigured servers
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/// fail fast.
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/// </remarks>
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public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
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public sealed class FocasDriver : IDriver, IReadable, IWritable, IDisposable, IAsyncDisposable
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{
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private readonly FocasDriverOptions _options;
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private readonly string _driverInstanceId;
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private readonly IFocasClientFactory _clientFactory;
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private readonly Dictionary<string, DeviceState> _devices = new(StringComparer.OrdinalIgnoreCase);
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private readonly Dictionary<string, FocasTagDefinition> _tagsByName = new(StringComparer.OrdinalIgnoreCase);
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private DriverHealth _health = new(DriverState.Unknown, null, null);
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public FocasDriver(FocasDriverOptions options, string driverInstanceId,
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@@ -29,7 +30,7 @@ public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
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ArgumentNullException.ThrowIfNull(options);
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_options = options;
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_driverInstanceId = driverInstanceId;
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_clientFactory = clientFactory ?? new UnimplementedFocasClientFactory();
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_clientFactory = clientFactory ?? new FwlibFocasClientFactory();
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}
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public string DriverInstanceId => _driverInstanceId;
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@@ -47,6 +48,7 @@ public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
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$"FOCAS device has invalid HostAddress '{device.HostAddress}' — expected 'focas://{{ip}}[:{{port}}]'.");
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_devices[device.HostAddress] = new DeviceState(addr, device);
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}
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foreach (var tag in _options.Tags) _tagsByName[tag.Name] = tag;
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_health = new DriverHealth(DriverState.Healthy, DateTime.UtcNow, null);
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}
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catch (Exception ex)
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@@ -65,7 +67,9 @@ public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
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public Task ShutdownAsync(CancellationToken cancellationToken)
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{
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foreach (var state in _devices.Values) state.DisposeClient();
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_devices.Clear();
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_tagsByName.Clear();
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_health = new DriverHealth(DriverState.Unknown, _health.LastSuccessfulRead, null);
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return Task.CompletedTask;
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}
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@@ -78,6 +82,130 @@ public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
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internal DeviceState? GetDeviceState(string hostAddress) =>
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_devices.TryGetValue(hostAddress, out var s) ? s : null;
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// ---- IReadable ----
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public async Task<IReadOnlyList<DataValueSnapshot>> ReadAsync(
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IReadOnlyList<string> fullReferences, CancellationToken cancellationToken)
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{
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ArgumentNullException.ThrowIfNull(fullReferences);
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var now = DateTime.UtcNow;
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var results = new DataValueSnapshot[fullReferences.Count];
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for (var i = 0; i < fullReferences.Count; i++)
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{
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var reference = fullReferences[i];
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if (!_tagsByName.TryGetValue(reference, out var def))
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{
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results[i] = new DataValueSnapshot(null, FocasStatusMapper.BadNodeIdUnknown, null, now);
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continue;
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}
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if (!_devices.TryGetValue(def.DeviceHostAddress, out var device))
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{
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results[i] = new DataValueSnapshot(null, FocasStatusMapper.BadNodeIdUnknown, null, now);
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continue;
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}
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try
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{
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var client = await EnsureConnectedAsync(device, cancellationToken).ConfigureAwait(false);
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var parsed = FocasAddress.TryParse(def.Address)
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?? throw new InvalidOperationException($"FOCAS tag '{def.Name}' has malformed Address '{def.Address}'.");
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var (value, status) = await client.ReadAsync(parsed, def.DataType, cancellationToken).ConfigureAwait(false);
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results[i] = new DataValueSnapshot(value, status, now, now);
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if (status == FocasStatusMapper.Good)
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_health = new DriverHealth(DriverState.Healthy, now, null);
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else
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_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead,
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$"FOCAS status 0x{status:X8} reading {reference}");
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}
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catch (OperationCanceledException) { throw; }
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catch (Exception ex)
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{
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results[i] = new DataValueSnapshot(null, FocasStatusMapper.BadCommunicationError, null, now);
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_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ex.Message);
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}
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}
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return results;
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}
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// ---- IWritable ----
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public async Task<IReadOnlyList<WriteResult>> WriteAsync(
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IReadOnlyList<WriteRequest> writes, CancellationToken cancellationToken)
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{
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ArgumentNullException.ThrowIfNull(writes);
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var results = new WriteResult[writes.Count];
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for (var i = 0; i < writes.Count; i++)
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{
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var w = writes[i];
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if (!_tagsByName.TryGetValue(w.FullReference, out var def))
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{
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results[i] = new WriteResult(FocasStatusMapper.BadNodeIdUnknown);
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continue;
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}
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if (!def.Writable)
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{
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results[i] = new WriteResult(FocasStatusMapper.BadNotWritable);
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continue;
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}
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if (!_devices.TryGetValue(def.DeviceHostAddress, out var device))
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{
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results[i] = new WriteResult(FocasStatusMapper.BadNodeIdUnknown);
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continue;
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}
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try
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{
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var client = await EnsureConnectedAsync(device, cancellationToken).ConfigureAwait(false);
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var parsed = FocasAddress.TryParse(def.Address)
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?? throw new InvalidOperationException($"FOCAS tag '{def.Name}' has malformed Address '{def.Address}'.");
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var status = await client.WriteAsync(parsed, def.DataType, w.Value, cancellationToken).ConfigureAwait(false);
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results[i] = new WriteResult(status);
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}
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catch (OperationCanceledException) { throw; }
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catch (NotSupportedException nse)
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{
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results[i] = new WriteResult(FocasStatusMapper.BadNotSupported);
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_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, nse.Message);
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}
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catch (Exception ex) when (ex is FormatException or InvalidCastException)
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{
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results[i] = new WriteResult(FocasStatusMapper.BadTypeMismatch);
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}
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catch (OverflowException)
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{
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results[i] = new WriteResult(FocasStatusMapper.BadOutOfRange);
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}
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catch (Exception ex)
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{
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results[i] = new WriteResult(FocasStatusMapper.BadCommunicationError);
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_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ex.Message);
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}
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}
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return results;
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}
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private async Task<IFocasClient> EnsureConnectedAsync(DeviceState device, CancellationToken ct)
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{
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if (device.Client is { IsConnected: true } c) return c;
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device.Client ??= _clientFactory.Create();
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try
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{
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await device.Client.ConnectAsync(device.ParsedAddress, _options.Timeout, ct).ConfigureAwait(false);
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}
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catch
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{
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device.Client.Dispose();
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device.Client = null;
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throw;
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}
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return device.Client;
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}
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public void Dispose() => DisposeAsync().AsTask().GetAwaiter().GetResult();
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public async ValueTask DisposeAsync() => await ShutdownAsync(CancellationToken.None).ConfigureAwait(false);
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@@ -85,5 +213,12 @@ public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
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{
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public FocasHostAddress ParsedAddress { get; } = parsedAddress;
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public FocasDeviceOptions Options { get; } = options;
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public IFocasClient? Client { get; set; }
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public void DisposeClient()
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{
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Client?.Dispose();
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Client = null;
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}
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}
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}
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269
src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FwlibFocasClient.cs
Normal file
269
src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FwlibFocasClient.cs
Normal file
@@ -0,0 +1,269 @@
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using System.Buffers.Binary;
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namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
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/// <summary>
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/// <see cref="IFocasClient"/> implementation backed by Fanuc's licensed
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/// <c>Fwlib32.dll</c> via <see cref="FwlibNative"/> P/Invoke. The DLL is NOT shipped with
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/// OtOpcUa; the deployment places it next to the server executable or on <c>PATH</c>
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/// (per Fanuc licensing — see <c>docs/v2/focas-deployment.md</c>).
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/// </summary>
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/// <remarks>
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/// <para>Construction is licence-safe — .NET P/Invoke is lazy, so instantiating this class
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/// does NOT load <c>Fwlib32.dll</c>. The DLL only loads on the first wire call (Connect /
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/// Read / Write / Probe). When missing, those calls throw <see cref="DllNotFoundException"/>
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/// which the driver surfaces as <c>BadCommunicationError</c> through the normal exception
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/// mapping.</para>
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///
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/// <para>Session-scoped handle — <c>cnc_allclibhndl3</c> opens one FWLIB handle per CNC;
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/// all PMC / parameter / macro reads on that device go through the same handle. Dispose
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/// calls <c>cnc_freelibhndl</c>.</para>
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/// </remarks>
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internal sealed class FwlibFocasClient : IFocasClient
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{
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private ushort _handle;
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private bool _connected;
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public bool IsConnected => _connected;
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public Task ConnectAsync(FocasHostAddress address, TimeSpan timeout, CancellationToken cancellationToken)
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{
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if (_connected) return Task.CompletedTask;
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var timeoutMs = (int)Math.Max(1, timeout.TotalMilliseconds);
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var ret = FwlibNative.AllcLibHndl3(address.Host, (ushort)address.Port, timeoutMs, out var handle);
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if (ret != 0)
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throw new InvalidOperationException(
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$"FWLIB cnc_allclibhndl3 failed with EW_{ret} connecting to {address}.");
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_handle = handle;
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_connected = true;
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return Task.CompletedTask;
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}
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public Task<(object? value, uint status)> ReadAsync(
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FocasAddress address, FocasDataType type, CancellationToken cancellationToken)
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{
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if (!_connected) return Task.FromResult<(object?, uint)>((null, FocasStatusMapper.BadCommunicationError));
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cancellationToken.ThrowIfCancellationRequested();
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return address.Kind switch
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{
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FocasAreaKind.Pmc => Task.FromResult(ReadPmc(address, type)),
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FocasAreaKind.Parameter => Task.FromResult(ReadParameter(address, type)),
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FocasAreaKind.Macro => Task.FromResult(ReadMacro(address)),
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_ => Task.FromResult<(object?, uint)>((null, FocasStatusMapper.BadNotSupported)),
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};
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}
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public Task<uint> WriteAsync(
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FocasAddress address, FocasDataType type, object? value, CancellationToken cancellationToken)
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{
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if (!_connected) return Task.FromResult(FocasStatusMapper.BadCommunicationError);
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cancellationToken.ThrowIfCancellationRequested();
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return address.Kind switch
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{
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FocasAreaKind.Pmc => Task.FromResult(WritePmc(address, type, value)),
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FocasAreaKind.Parameter => Task.FromResult(WriteParameter(address, type, value)),
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FocasAreaKind.Macro => Task.FromResult(WriteMacro(address, value)),
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_ => Task.FromResult(FocasStatusMapper.BadNotSupported),
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};
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}
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public Task<bool> ProbeAsync(CancellationToken cancellationToken)
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{
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if (!_connected) return Task.FromResult(false);
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var buf = new FwlibNative.ODBST();
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var ret = FwlibNative.StatInfo(_handle, ref buf);
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return Task.FromResult(ret == 0);
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}
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// ---- PMC ----
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private (object? value, uint status) ReadPmc(FocasAddress address, FocasDataType type)
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{
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var addrType = FocasPmcAddrType.FromLetter(address.PmcLetter ?? "")
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?? throw new InvalidOperationException($"Unknown PMC letter '{address.PmcLetter}'.");
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var dataType = FocasPmcDataType.FromFocasDataType(type);
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var length = PmcReadLength(type);
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var buf = new FwlibNative.IODBPMC { Data = new byte[40] };
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var ret = FwlibNative.PmcRdPmcRng(
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_handle, addrType, dataType,
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(ushort)address.Number, (ushort)address.Number, (ushort)length, ref buf);
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if (ret != 0) return (null, FocasStatusMapper.MapFocasReturn(ret));
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var value = type switch
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{
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FocasDataType.Bit => ExtractBit(buf.Data[0], address.BitIndex ?? 0),
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FocasDataType.Byte => (object)(sbyte)buf.Data[0],
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FocasDataType.Int16 => (object)BinaryPrimitives.ReadInt16LittleEndian(buf.Data),
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FocasDataType.Int32 => (object)BinaryPrimitives.ReadInt32LittleEndian(buf.Data),
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FocasDataType.Float32 => (object)BinaryPrimitives.ReadSingleLittleEndian(buf.Data),
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FocasDataType.Float64 => (object)BinaryPrimitives.ReadDoubleLittleEndian(buf.Data),
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_ => (object)buf.Data[0],
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};
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return (value, FocasStatusMapper.Good);
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}
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private uint WritePmc(FocasAddress address, FocasDataType type, object? value)
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{
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var addrType = FocasPmcAddrType.FromLetter(address.PmcLetter ?? "") ?? (short)0;
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var dataType = FocasPmcDataType.FromFocasDataType(type);
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var length = PmcWriteLength(type);
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var buf = new FwlibNative.IODBPMC
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{
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TypeA = addrType,
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TypeD = dataType,
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DatanoS = (ushort)address.Number,
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DatanoE = (ushort)address.Number,
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Data = new byte[40],
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};
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EncodePmcValue(buf.Data, type, value, address.BitIndex);
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var ret = FwlibNative.PmcWrPmcRng(_handle, (ushort)length, ref buf);
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return ret == 0 ? FocasStatusMapper.Good : FocasStatusMapper.MapFocasReturn(ret);
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}
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private (object? value, uint status) ReadParameter(FocasAddress address, FocasDataType type)
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{
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var buf = new FwlibNative.IODBPSD { Data = new byte[32] };
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var length = ParamReadLength(type);
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var ret = FwlibNative.RdParam(_handle, (ushort)address.Number, axis: 0, (short)length, ref buf);
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if (ret != 0) return (null, FocasStatusMapper.MapFocasReturn(ret));
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var value = type switch
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{
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FocasDataType.Bit when address.BitIndex is int bit => ExtractBit(buf.Data[0], bit),
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FocasDataType.Byte => (object)(sbyte)buf.Data[0],
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FocasDataType.Int16 => (object)BinaryPrimitives.ReadInt16LittleEndian(buf.Data),
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FocasDataType.Int32 => (object)BinaryPrimitives.ReadInt32LittleEndian(buf.Data),
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_ => (object)BinaryPrimitives.ReadInt32LittleEndian(buf.Data),
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};
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return (value, FocasStatusMapper.Good);
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}
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private uint WriteParameter(FocasAddress address, FocasDataType type, object? value)
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{
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var buf = new FwlibNative.IODBPSD
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{
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Datano = (short)address.Number,
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Type = 0,
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Data = new byte[32],
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};
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var length = ParamReadLength(type);
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EncodeParamValue(buf.Data, type, value);
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var ret = FwlibNative.WrParam(_handle, (short)length, ref buf);
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return ret == 0 ? FocasStatusMapper.Good : FocasStatusMapper.MapFocasReturn(ret);
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}
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private (object? value, uint status) ReadMacro(FocasAddress address)
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{
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var buf = new FwlibNative.ODBM();
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var ret = FwlibNative.RdMacro(_handle, (short)address.Number, length: 8, ref buf);
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if (ret != 0) return (null, FocasStatusMapper.MapFocasReturn(ret));
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||||
// Macro value = mcr_val / 10^dec_val. Convert to double so callers get the correct
|
||||
// scaled value regardless of the decimal-point count the CNC reports.
|
||||
var scaled = buf.McrVal / Math.Pow(10.0, buf.DecVal);
|
||||
return (scaled, FocasStatusMapper.Good);
|
||||
}
|
||||
|
||||
private uint WriteMacro(FocasAddress address, object? value)
|
||||
{
|
||||
// Write as integer + 0 decimal places — callers that need decimal precision can extend
|
||||
// this via a future WriteMacroScaled overload. Consistent with what most HMIs do today.
|
||||
var intValue = Convert.ToInt32(value);
|
||||
var ret = FwlibNative.WrMacro(_handle, (short)address.Number, length: 8, intValue, decimalPointCount: 0);
|
||||
return ret == 0 ? FocasStatusMapper.Good : FocasStatusMapper.MapFocasReturn(ret);
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
if (_connected)
|
||||
{
|
||||
try { FwlibNative.FreeLibHndl(_handle); } catch { }
|
||||
_connected = false;
|
||||
}
|
||||
}
|
||||
|
||||
// ---- helpers ----
|
||||
|
||||
private static int PmcReadLength(FocasDataType type) => type switch
|
||||
{
|
||||
FocasDataType.Bit or FocasDataType.Byte => 8 + 1, // 8-byte header + 1 byte payload
|
||||
FocasDataType.Int16 => 8 + 2,
|
||||
FocasDataType.Int32 => 8 + 4,
|
||||
FocasDataType.Float32 => 8 + 4,
|
||||
FocasDataType.Float64 => 8 + 8,
|
||||
_ => 8 + 1,
|
||||
};
|
||||
|
||||
private static int PmcWriteLength(FocasDataType type) => PmcReadLength(type);
|
||||
private static int ParamReadLength(FocasDataType type) => type switch
|
||||
{
|
||||
FocasDataType.Bit or FocasDataType.Byte => 4 + 1,
|
||||
FocasDataType.Int16 => 4 + 2,
|
||||
FocasDataType.Int32 => 4 + 4,
|
||||
_ => 4 + 4,
|
||||
};
|
||||
|
||||
private static bool ExtractBit(byte word, int bit) => (word & (1 << bit)) != 0;
|
||||
|
||||
internal static void EncodePmcValue(byte[] data, FocasDataType type, object? value, int? bitIndex)
|
||||
{
|
||||
switch (type)
|
||||
{
|
||||
case FocasDataType.Bit:
|
||||
// Bit-in-byte write is a read-modify-write at the PMC level — the underlying
|
||||
// pmc_wrpmcrng takes a byte payload, so caller must set the bit on a byte they
|
||||
// just read. This path is flagged for the follow-up RMW work in task #181.
|
||||
throw new NotSupportedException(
|
||||
"FOCAS Bit writes require read-modify-write; tracked in task #181.");
|
||||
case FocasDataType.Byte:
|
||||
data[0] = (byte)(sbyte)Convert.ToSByte(value);
|
||||
break;
|
||||
case FocasDataType.Int16:
|
||||
BinaryPrimitives.WriteInt16LittleEndian(data, Convert.ToInt16(value));
|
||||
break;
|
||||
case FocasDataType.Int32:
|
||||
BinaryPrimitives.WriteInt32LittleEndian(data, Convert.ToInt32(value));
|
||||
break;
|
||||
case FocasDataType.Float32:
|
||||
BinaryPrimitives.WriteSingleLittleEndian(data, Convert.ToSingle(value));
|
||||
break;
|
||||
case FocasDataType.Float64:
|
||||
BinaryPrimitives.WriteDoubleLittleEndian(data, Convert.ToDouble(value));
|
||||
break;
|
||||
default:
|
||||
throw new NotSupportedException($"FocasDataType {type} not writable via PMC.");
|
||||
}
|
||||
_ = bitIndex; // bit-in-byte handled above
|
||||
}
|
||||
|
||||
internal static void EncodeParamValue(byte[] data, FocasDataType type, object? value)
|
||||
{
|
||||
switch (type)
|
||||
{
|
||||
case FocasDataType.Byte:
|
||||
data[0] = (byte)(sbyte)Convert.ToSByte(value);
|
||||
break;
|
||||
case FocasDataType.Int16:
|
||||
BinaryPrimitives.WriteInt16LittleEndian(data, Convert.ToInt16(value));
|
||||
break;
|
||||
case FocasDataType.Int32:
|
||||
BinaryPrimitives.WriteInt32LittleEndian(data, Convert.ToInt32(value));
|
||||
break;
|
||||
default:
|
||||
BinaryPrimitives.WriteInt32LittleEndian(data, Convert.ToInt32(value));
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>Default <see cref="IFocasClientFactory"/> — produces a fresh <see cref="FwlibFocasClient"/> per device.</summary>
|
||||
public sealed class FwlibFocasClientFactory : IFocasClientFactory
|
||||
{
|
||||
public IFocasClient Create() => new FwlibFocasClient();
|
||||
}
|
||||
190
src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FwlibNative.cs
Normal file
190
src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FwlibNative.cs
Normal file
@@ -0,0 +1,190 @@
|
||||
using System.Runtime.InteropServices;
|
||||
|
||||
namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
|
||||
|
||||
/// <summary>
|
||||
/// P/Invoke surface for Fanuc FWLIB (<c>Fwlib32.dll</c>). Declarations extracted from
|
||||
/// <c>fwlib32.h</c> in the strangesast/fwlib repo; the licensed DLL itself is NOT shipped
|
||||
/// with OtOpcUa — the deployment places <c>Fwlib32.dll</c> next to the server executable
|
||||
/// or on <c>PATH</c>.
|
||||
/// </summary>
|
||||
/// <remarks>
|
||||
/// Deliberately narrow — only the calls <see cref="FwlibFocasClient"/> actually makes.
|
||||
/// FOCAS has 800+ functions in <c>fwlib32.h</c>; pulling in every one would bloat the
|
||||
/// P/Invoke surface + signal more coverage than this driver provides. Expand as capabilities
|
||||
/// are added.
|
||||
/// </remarks>
|
||||
internal static class FwlibNative
|
||||
{
|
||||
private const string Library = "Fwlib32.dll";
|
||||
|
||||
// ---- Handle lifetime ----
|
||||
|
||||
/// <summary>Open an Ethernet FWLIB handle. Returns EW_OK (0) on success; handle written out.</summary>
|
||||
[DllImport(Library, EntryPoint = "cnc_allclibhndl3", CharSet = CharSet.Ansi, ExactSpelling = true)]
|
||||
public static extern short AllcLibHndl3(
|
||||
[MarshalAs(UnmanagedType.LPStr)] string ipaddr,
|
||||
ushort port,
|
||||
int timeout,
|
||||
out ushort handle);
|
||||
|
||||
[DllImport(Library, EntryPoint = "cnc_freelibhndl", ExactSpelling = true)]
|
||||
public static extern short FreeLibHndl(ushort handle);
|
||||
|
||||
// ---- PMC ----
|
||||
|
||||
/// <summary>PMC range read. <paramref name="addrType"/> is the ADR_* enum; <paramref name="dataType"/> is 0 byte / 1 word / 2 long.</summary>
|
||||
[DllImport(Library, EntryPoint = "pmc_rdpmcrng", ExactSpelling = true)]
|
||||
public static extern short PmcRdPmcRng(
|
||||
ushort handle,
|
||||
short addrType,
|
||||
short dataType,
|
||||
ushort startNumber,
|
||||
ushort endNumber,
|
||||
ushort length,
|
||||
ref IODBPMC buffer);
|
||||
|
||||
[DllImport(Library, EntryPoint = "pmc_wrpmcrng", ExactSpelling = true)]
|
||||
public static extern short PmcWrPmcRng(
|
||||
ushort handle,
|
||||
ushort length,
|
||||
ref IODBPMC buffer);
|
||||
|
||||
// ---- Parameters ----
|
||||
|
||||
[DllImport(Library, EntryPoint = "cnc_rdparam", ExactSpelling = true)]
|
||||
public static extern short RdParam(
|
||||
ushort handle,
|
||||
ushort number,
|
||||
short axis,
|
||||
short length,
|
||||
ref IODBPSD buffer);
|
||||
|
||||
[DllImport(Library, EntryPoint = "cnc_wrparam", ExactSpelling = true)]
|
||||
public static extern short WrParam(
|
||||
ushort handle,
|
||||
short length,
|
||||
ref IODBPSD buffer);
|
||||
|
||||
// ---- Macro variables ----
|
||||
|
||||
[DllImport(Library, EntryPoint = "cnc_rdmacro", ExactSpelling = true)]
|
||||
public static extern short RdMacro(
|
||||
ushort handle,
|
||||
short number,
|
||||
short length,
|
||||
ref ODBM buffer);
|
||||
|
||||
[DllImport(Library, EntryPoint = "cnc_wrmacro", ExactSpelling = true)]
|
||||
public static extern short WrMacro(
|
||||
ushort handle,
|
||||
short number,
|
||||
short length,
|
||||
int macroValue,
|
||||
short decimalPointCount);
|
||||
|
||||
// ---- Status ----
|
||||
|
||||
[DllImport(Library, EntryPoint = "cnc_statinfo", ExactSpelling = true)]
|
||||
public static extern short StatInfo(ushort handle, ref ODBST buffer);
|
||||
|
||||
// ---- Structs ----
|
||||
|
||||
/// <summary>
|
||||
/// IODBPMC — PMC range I/O buffer. 8-byte header + 40-byte union. We marshal the union
|
||||
/// as a fixed byte buffer + interpret per <see cref="FocasDataType"/> on the managed side.
|
||||
/// </summary>
|
||||
[StructLayout(LayoutKind.Sequential, Pack = 1)]
|
||||
public struct IODBPMC
|
||||
{
|
||||
public short TypeA;
|
||||
public short TypeD;
|
||||
public ushort DatanoS;
|
||||
public ushort DatanoE;
|
||||
// 40-byte union: cdata[5] / idata[5] / ldata[5] / fdata[5] / dbdata[5] — dbdata is the widest.
|
||||
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 40)]
|
||||
public byte[] Data;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// IODBPSD — CNC parameter I/O buffer. Axis-aware; for non-axis parameters pass axis=0.
|
||||
/// Union payload is bytes / shorts / longs — we marshal 32 bytes as the widest slot.
|
||||
/// </summary>
|
||||
[StructLayout(LayoutKind.Sequential, Pack = 1)]
|
||||
public struct IODBPSD
|
||||
{
|
||||
public short Datano;
|
||||
public short Type; // axis index (0 for non-axis)
|
||||
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 32)]
|
||||
public byte[] Data;
|
||||
}
|
||||
|
||||
/// <summary>ODBM — macro variable read buffer. Value = <c>McrVal / 10^DecVal</c>.</summary>
|
||||
[StructLayout(LayoutKind.Sequential, Pack = 1)]
|
||||
public struct ODBM
|
||||
{
|
||||
public short Datano;
|
||||
public short Dummy;
|
||||
public int McrVal; // long in C; 32-bit signed
|
||||
public short DecVal; // decimal-point count
|
||||
}
|
||||
|
||||
/// <summary>ODBST — CNC status info. Machine state, alarm flags, automatic / edit mode.</summary>
|
||||
[StructLayout(LayoutKind.Sequential, Pack = 1)]
|
||||
public struct ODBST
|
||||
{
|
||||
public short Dummy;
|
||||
public short TmMode;
|
||||
public short Aut;
|
||||
public short Run;
|
||||
public short Motion;
|
||||
public short Mstb;
|
||||
public short Emergency;
|
||||
public short Alarm;
|
||||
public short Edit;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// PMC address-letter → FOCAS <c>ADR_*</c> numeric code. Per Fanuc FOCAS/2 spec the codes
|
||||
/// are: G=0, F=1, Y=2, X=3, A=4, R=5, T=6, K=7, C=8, D=9, E=10. Exposed internally +
|
||||
/// tested so the FwlibFocasClient translation is verifiable without the DLL loaded.
|
||||
/// </summary>
|
||||
internal static class FocasPmcAddrType
|
||||
{
|
||||
public static short? FromLetter(string letter) => letter.ToUpperInvariant() switch
|
||||
{
|
||||
"G" => 0,
|
||||
"F" => 1,
|
||||
"Y" => 2,
|
||||
"X" => 3,
|
||||
"A" => 4,
|
||||
"R" => 5,
|
||||
"T" => 6,
|
||||
"K" => 7,
|
||||
"C" => 8,
|
||||
"D" => 9,
|
||||
"E" => 10,
|
||||
_ => null,
|
||||
};
|
||||
}
|
||||
|
||||
/// <summary>PMC data-type numeric codes per FOCAS/2: 0 = byte, 1 = word, 2 = long, 4 = float, 5 = double.</summary>
|
||||
internal static class FocasPmcDataType
|
||||
{
|
||||
public const short Byte = 0;
|
||||
public const short Word = 1;
|
||||
public const short Long = 2;
|
||||
public const short Float = 4;
|
||||
public const short Double = 5;
|
||||
|
||||
public static short FromFocasDataType(FocasDataType t) => t switch
|
||||
{
|
||||
FocasDataType.Bit or FocasDataType.Byte => Byte,
|
||||
FocasDataType.Int16 => Word,
|
||||
FocasDataType.Int32 => Long,
|
||||
FocasDataType.Float32 => Float,
|
||||
FocasDataType.Float64 => Double,
|
||||
_ => Byte,
|
||||
};
|
||||
}
|
||||
@@ -0,0 +1,69 @@
|
||||
using ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
|
||||
|
||||
namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests;
|
||||
|
||||
internal class FakeFocasClient : IFocasClient
|
||||
{
|
||||
public bool IsConnected { get; private set; }
|
||||
public int ConnectCount { get; private set; }
|
||||
public int DisposeCount { get; private set; }
|
||||
public bool ThrowOnConnect { get; set; }
|
||||
public bool ThrowOnRead { get; set; }
|
||||
public bool ThrowOnWrite { get; set; }
|
||||
public bool ProbeResult { get; set; } = true;
|
||||
public Exception? Exception { get; set; }
|
||||
|
||||
public Dictionary<string, object?> Values { get; } = new(StringComparer.OrdinalIgnoreCase);
|
||||
public Dictionary<string, uint> ReadStatuses { get; } = new(StringComparer.OrdinalIgnoreCase);
|
||||
public Dictionary<string, uint> WriteStatuses { get; } = new(StringComparer.OrdinalIgnoreCase);
|
||||
public List<(FocasAddress addr, FocasDataType type, object? value)> WriteLog { get; } = new();
|
||||
|
||||
public virtual Task ConnectAsync(FocasHostAddress address, TimeSpan timeout, CancellationToken ct)
|
||||
{
|
||||
ConnectCount++;
|
||||
if (ThrowOnConnect) throw Exception ?? new InvalidOperationException();
|
||||
IsConnected = true;
|
||||
return Task.CompletedTask;
|
||||
}
|
||||
|
||||
public virtual Task<(object? value, uint status)> ReadAsync(
|
||||
FocasAddress address, FocasDataType type, CancellationToken ct)
|
||||
{
|
||||
if (ThrowOnRead) throw Exception ?? new InvalidOperationException();
|
||||
var key = address.Canonical;
|
||||
var status = ReadStatuses.TryGetValue(key, out var s) ? s : FocasStatusMapper.Good;
|
||||
var value = Values.TryGetValue(key, out var v) ? v : null;
|
||||
return Task.FromResult((value, status));
|
||||
}
|
||||
|
||||
public virtual Task<uint> WriteAsync(
|
||||
FocasAddress address, FocasDataType type, object? value, CancellationToken ct)
|
||||
{
|
||||
if (ThrowOnWrite) throw Exception ?? new InvalidOperationException();
|
||||
WriteLog.Add((address, type, value));
|
||||
Values[address.Canonical] = value;
|
||||
var status = WriteStatuses.TryGetValue(address.Canonical, out var s) ? s : FocasStatusMapper.Good;
|
||||
return Task.FromResult(status);
|
||||
}
|
||||
|
||||
public virtual Task<bool> ProbeAsync(CancellationToken ct) => Task.FromResult(ProbeResult);
|
||||
|
||||
public virtual void Dispose()
|
||||
{
|
||||
DisposeCount++;
|
||||
IsConnected = false;
|
||||
}
|
||||
}
|
||||
|
||||
internal sealed class FakeFocasClientFactory : IFocasClientFactory
|
||||
{
|
||||
public List<FakeFocasClient> Clients { get; } = new();
|
||||
public Func<FakeFocasClient>? Customise { get; set; }
|
||||
|
||||
public IFocasClient Create()
|
||||
{
|
||||
var c = Customise?.Invoke() ?? new FakeFocasClient();
|
||||
Clients.Add(c);
|
||||
return c;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,261 @@
|
||||
using Shouldly;
|
||||
using Xunit;
|
||||
using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
|
||||
using ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
|
||||
|
||||
namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests;
|
||||
|
||||
[Trait("Category", "Unit")]
|
||||
public sealed class FocasReadWriteTests
|
||||
{
|
||||
private static (FocasDriver drv, FakeFocasClientFactory factory) NewDriver(params FocasTagDefinition[] tags)
|
||||
{
|
||||
var factory = new FakeFocasClientFactory();
|
||||
var drv = new FocasDriver(new FocasDriverOptions
|
||||
{
|
||||
Devices = [new FocasDeviceOptions("focas://10.0.0.5:8193")],
|
||||
Tags = tags,
|
||||
Probe = new FocasProbeOptions { Enabled = false },
|
||||
}, "drv-1", factory);
|
||||
return (drv, factory);
|
||||
}
|
||||
|
||||
// ---- Read ----
|
||||
|
||||
[Fact]
|
||||
public async Task Unknown_reference_maps_to_BadNodeIdUnknown()
|
||||
{
|
||||
var (drv, _) = NewDriver();
|
||||
await drv.InitializeAsync("{}", CancellationToken.None);
|
||||
|
||||
var snapshots = await drv.ReadAsync(["missing"], CancellationToken.None);
|
||||
snapshots.Single().StatusCode.ShouldBe(FocasStatusMapper.BadNodeIdUnknown);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public async Task Successful_PMC_read_returns_Good_value()
|
||||
{
|
||||
var (drv, factory) = NewDriver(
|
||||
new FocasTagDefinition("Run", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte));
|
||||
await drv.InitializeAsync("{}", CancellationToken.None);
|
||||
factory.Customise = () => new FakeFocasClient { Values = { ["R100"] = (sbyte)5 } };
|
||||
|
||||
var snapshots = await drv.ReadAsync(["Run"], CancellationToken.None);
|
||||
snapshots.Single().StatusCode.ShouldBe(FocasStatusMapper.Good);
|
||||
snapshots.Single().Value.ShouldBe((sbyte)5);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public async Task Parameter_read_routes_through_FocasAddress_Parameter_kind()
|
||||
{
|
||||
var (drv, factory) = NewDriver(
|
||||
new FocasTagDefinition("Accel", "focas://10.0.0.5:8193", "PARAM:1820", FocasDataType.Int32));
|
||||
await drv.InitializeAsync("{}", CancellationToken.None);
|
||||
factory.Customise = () => new FakeFocasClient { Values = { ["PARAM:1820"] = 1500 } };
|
||||
|
||||
var snapshots = await drv.ReadAsync(["Accel"], CancellationToken.None);
|
||||
snapshots.Single().StatusCode.ShouldBe(FocasStatusMapper.Good);
|
||||
snapshots.Single().Value.ShouldBe(1500);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public async Task Macro_read_routes_through_FocasAddress_Macro_kind()
|
||||
{
|
||||
var (drv, factory) = NewDriver(
|
||||
new FocasTagDefinition("CustomVar", "focas://10.0.0.5:8193", "MACRO:500", FocasDataType.Float64));
|
||||
await drv.InitializeAsync("{}", CancellationToken.None);
|
||||
factory.Customise = () => new FakeFocasClient { Values = { ["MACRO:500"] = 3.14159 } };
|
||||
|
||||
var snapshots = await drv.ReadAsync(["CustomVar"], CancellationToken.None);
|
||||
snapshots.Single().Value.ShouldBe(3.14159);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public async Task Repeat_read_reuses_connection()
|
||||
{
|
||||
var (drv, factory) = NewDriver(
|
||||
new FocasTagDefinition("X", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte));
|
||||
await drv.InitializeAsync("{}", CancellationToken.None);
|
||||
factory.Customise = () => new FakeFocasClient { Values = { ["R100"] = (sbyte)1 } };
|
||||
|
||||
await drv.ReadAsync(["X"], CancellationToken.None);
|
||||
await drv.ReadAsync(["X"], CancellationToken.None);
|
||||
|
||||
factory.Clients.Count.ShouldBe(1);
|
||||
factory.Clients[0].ConnectCount.ShouldBe(1);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public async Task FOCAS_error_status_maps_via_status_mapper()
|
||||
{
|
||||
var (drv, factory) = NewDriver(
|
||||
new FocasTagDefinition("Ghost", "focas://10.0.0.5:8193", "R999", FocasDataType.Byte));
|
||||
await drv.InitializeAsync("{}", CancellationToken.None);
|
||||
factory.Customise = () =>
|
||||
{
|
||||
var c = new FakeFocasClient();
|
||||
c.ReadStatuses["R999"] = FocasStatusMapper.BadNodeIdUnknown;
|
||||
return c;
|
||||
};
|
||||
|
||||
var snapshots = await drv.ReadAsync(["Ghost"], CancellationToken.None);
|
||||
snapshots.Single().StatusCode.ShouldBe(FocasStatusMapper.BadNodeIdUnknown);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public async Task Read_exception_surfaces_BadCommunicationError()
|
||||
{
|
||||
var (drv, factory) = NewDriver(
|
||||
new FocasTagDefinition("X", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte));
|
||||
await drv.InitializeAsync("{}", CancellationToken.None);
|
||||
factory.Customise = () => new FakeFocasClient { ThrowOnRead = true };
|
||||
|
||||
var snapshots = await drv.ReadAsync(["X"], CancellationToken.None);
|
||||
snapshots.Single().StatusCode.ShouldBe(FocasStatusMapper.BadCommunicationError);
|
||||
drv.GetHealth().State.ShouldBe(DriverState.Degraded);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public async Task Connect_failure_disposes_client_and_surfaces_BadCommunicationError()
|
||||
{
|
||||
var (drv, factory) = NewDriver(
|
||||
new FocasTagDefinition("X", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte));
|
||||
await drv.InitializeAsync("{}", CancellationToken.None);
|
||||
factory.Customise = () => new FakeFocasClient { ThrowOnConnect = true };
|
||||
|
||||
var snapshots = await drv.ReadAsync(["X"], CancellationToken.None);
|
||||
snapshots.Single().StatusCode.ShouldBe(FocasStatusMapper.BadCommunicationError);
|
||||
factory.Clients[0].DisposeCount.ShouldBe(1);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public async Task Batched_reads_preserve_order_across_areas()
|
||||
{
|
||||
var (drv, factory) = NewDriver(
|
||||
new FocasTagDefinition("A", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte),
|
||||
new FocasTagDefinition("B", "focas://10.0.0.5:8193", "PARAM:1820", FocasDataType.Int32),
|
||||
new FocasTagDefinition("C", "focas://10.0.0.5:8193", "MACRO:500", FocasDataType.Float64));
|
||||
await drv.InitializeAsync("{}", CancellationToken.None);
|
||||
factory.Customise = () => new FakeFocasClient
|
||||
{
|
||||
Values =
|
||||
{
|
||||
["R100"] = (sbyte)5,
|
||||
["PARAM:1820"] = 1500,
|
||||
["MACRO:500"] = 2.718,
|
||||
},
|
||||
};
|
||||
|
||||
var snapshots = await drv.ReadAsync(["A", "B", "C"], CancellationToken.None);
|
||||
snapshots[0].Value.ShouldBe((sbyte)5);
|
||||
snapshots[1].Value.ShouldBe(1500);
|
||||
snapshots[2].Value.ShouldBe(2.718);
|
||||
}
|
||||
|
||||
// ---- Write ----
|
||||
|
||||
[Fact]
|
||||
public async Task Non_writable_tag_rejected_with_BadNotWritable()
|
||||
{
|
||||
var (drv, _) = NewDriver(
|
||||
new FocasTagDefinition("RO", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte, Writable: false));
|
||||
await drv.InitializeAsync("{}", CancellationToken.None);
|
||||
|
||||
var results = await drv.WriteAsync(
|
||||
[new WriteRequest("RO", 1)], CancellationToken.None);
|
||||
results.Single().StatusCode.ShouldBe(FocasStatusMapper.BadNotWritable);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public async Task Successful_write_logs_address_type_value()
|
||||
{
|
||||
var (drv, factory) = NewDriver(
|
||||
new FocasTagDefinition("Speed", "focas://10.0.0.5:8193", "R100", FocasDataType.Int16));
|
||||
await drv.InitializeAsync("{}", CancellationToken.None);
|
||||
|
||||
var results = await drv.WriteAsync(
|
||||
[new WriteRequest("Speed", (short)1800)], CancellationToken.None);
|
||||
|
||||
results.Single().StatusCode.ShouldBe(FocasStatusMapper.Good);
|
||||
var write = factory.Clients[0].WriteLog.Single();
|
||||
write.addr.Canonical.ShouldBe("R100");
|
||||
write.type.ShouldBe(FocasDataType.Int16);
|
||||
write.value.ShouldBe((short)1800);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public async Task Write_status_code_maps_via_FocasStatusMapper()
|
||||
{
|
||||
var (drv, factory) = NewDriver(
|
||||
new FocasTagDefinition("Protected", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte));
|
||||
await drv.InitializeAsync("{}", CancellationToken.None);
|
||||
factory.Customise = () =>
|
||||
{
|
||||
var c = new FakeFocasClient();
|
||||
c.WriteStatuses["R100"] = FocasStatusMapper.BadNotWritable;
|
||||
return c;
|
||||
};
|
||||
|
||||
var results = await drv.WriteAsync(
|
||||
[new WriteRequest("Protected", (sbyte)1)], CancellationToken.None);
|
||||
results.Single().StatusCode.ShouldBe(FocasStatusMapper.BadNotWritable);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public async Task Batch_write_preserves_order_across_outcomes()
|
||||
{
|
||||
var factory = new FakeFocasClientFactory();
|
||||
var drv = new FocasDriver(new FocasDriverOptions
|
||||
{
|
||||
Devices = [new FocasDeviceOptions("focas://10.0.0.5:8193")],
|
||||
Tags =
|
||||
[
|
||||
new FocasTagDefinition("A", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte),
|
||||
new FocasTagDefinition("B", "focas://10.0.0.5:8193", "R101", FocasDataType.Byte, Writable: false),
|
||||
],
|
||||
Probe = new FocasProbeOptions { Enabled = false },
|
||||
}, "drv-1", factory);
|
||||
await drv.InitializeAsync("{}", CancellationToken.None);
|
||||
|
||||
var results = await drv.WriteAsync(
|
||||
[
|
||||
new WriteRequest("A", (sbyte)1),
|
||||
new WriteRequest("B", (sbyte)2),
|
||||
new WriteRequest("Unknown", (sbyte)3),
|
||||
], CancellationToken.None);
|
||||
|
||||
results[0].StatusCode.ShouldBe(FocasStatusMapper.Good);
|
||||
results[1].StatusCode.ShouldBe(FocasStatusMapper.BadNotWritable);
|
||||
results[2].StatusCode.ShouldBe(FocasStatusMapper.BadNodeIdUnknown);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public async Task Cancellation_propagates()
|
||||
{
|
||||
var (drv, factory) = NewDriver(
|
||||
new FocasTagDefinition("X", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte));
|
||||
await drv.InitializeAsync("{}", CancellationToken.None);
|
||||
factory.Customise = () => new FakeFocasClient
|
||||
{
|
||||
ThrowOnRead = true,
|
||||
Exception = new OperationCanceledException(),
|
||||
};
|
||||
|
||||
await Should.ThrowAsync<OperationCanceledException>(
|
||||
() => drv.ReadAsync(["X"], CancellationToken.None));
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public async Task ShutdownAsync_disposes_client()
|
||||
{
|
||||
var (drv, factory) = NewDriver(
|
||||
new FocasTagDefinition("X", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte));
|
||||
await drv.InitializeAsync("{}", CancellationToken.None);
|
||||
factory.Customise = () => new FakeFocasClient { Values = { ["R100"] = (sbyte)1 } };
|
||||
|
||||
await drv.ReadAsync(["X"], CancellationToken.None);
|
||||
await drv.ShutdownAsync(CancellationToken.None);
|
||||
|
||||
factory.Clients[0].DisposeCount.ShouldBe(1);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,100 @@
|
||||
using Shouldly;
|
||||
using Xunit;
|
||||
using ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
|
||||
|
||||
namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests;
|
||||
|
||||
/// <summary>
|
||||
/// Tests for the managed helpers inside FwlibNative + FwlibFocasClient that don't require the
|
||||
/// licensed Fwlib32.dll — letter→ADR_* mapping, FocasDataType→data-type mapping, byte encoding.
|
||||
/// The actual P/Invoke calls can only run where the DLL is present; field testing covers those.
|
||||
/// </summary>
|
||||
[Trait("Category", "Unit")]
|
||||
public sealed class FwlibNativeHelperTests
|
||||
{
|
||||
[Theory]
|
||||
[InlineData("G", 0)]
|
||||
[InlineData("F", 1)]
|
||||
[InlineData("Y", 2)]
|
||||
[InlineData("X", 3)]
|
||||
[InlineData("A", 4)]
|
||||
[InlineData("R", 5)]
|
||||
[InlineData("T", 6)]
|
||||
[InlineData("K", 7)]
|
||||
[InlineData("C", 8)]
|
||||
[InlineData("D", 9)]
|
||||
[InlineData("E", 10)]
|
||||
[InlineData("g", 0)] // case-insensitive
|
||||
public void PmcAddrType_maps_every_valid_letter(string letter, short expected)
|
||||
{
|
||||
FocasPmcAddrType.FromLetter(letter).ShouldBe(expected);
|
||||
}
|
||||
|
||||
[Theory]
|
||||
[InlineData("Z")]
|
||||
[InlineData("")]
|
||||
[InlineData("XX")]
|
||||
public void PmcAddrType_rejects_unknown_letters(string letter)
|
||||
{
|
||||
FocasPmcAddrType.FromLetter(letter).ShouldBeNull();
|
||||
}
|
||||
|
||||
[Theory]
|
||||
[InlineData(FocasDataType.Bit, 0)] // byte
|
||||
[InlineData(FocasDataType.Byte, 0)]
|
||||
[InlineData(FocasDataType.Int16, 1)] // word
|
||||
[InlineData(FocasDataType.Int32, 2)] // long
|
||||
[InlineData(FocasDataType.Float32, 4)]
|
||||
[InlineData(FocasDataType.Float64, 5)]
|
||||
public void PmcDataType_maps_FocasDataType_to_FOCAS_code(FocasDataType input, short expected)
|
||||
{
|
||||
FocasPmcDataType.FromFocasDataType(input).ShouldBe(expected);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void EncodePmcValue_Byte_writes_signed_byte_at_offset_0()
|
||||
{
|
||||
var buf = new byte[40];
|
||||
FwlibFocasClient.EncodePmcValue(buf, FocasDataType.Byte, (sbyte)-5, bitIndex: null);
|
||||
((sbyte)buf[0]).ShouldBe((sbyte)-5);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void EncodePmcValue_Int16_writes_little_endian()
|
||||
{
|
||||
var buf = new byte[40];
|
||||
FwlibFocasClient.EncodePmcValue(buf, FocasDataType.Int16, (short)0x1234, bitIndex: null);
|
||||
buf[0].ShouldBe((byte)0x34);
|
||||
buf[1].ShouldBe((byte)0x12);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void EncodePmcValue_Int32_writes_little_endian()
|
||||
{
|
||||
var buf = new byte[40];
|
||||
FwlibFocasClient.EncodePmcValue(buf, FocasDataType.Int32, 0x12345678, bitIndex: null);
|
||||
buf[0].ShouldBe((byte)0x78);
|
||||
buf[1].ShouldBe((byte)0x56);
|
||||
buf[2].ShouldBe((byte)0x34);
|
||||
buf[3].ShouldBe((byte)0x12);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void EncodePmcValue_Bit_throws_NotSupported_for_RMW_gap()
|
||||
{
|
||||
var buf = new byte[40];
|
||||
Should.Throw<NotSupportedException>(() =>
|
||||
FwlibFocasClient.EncodePmcValue(buf, FocasDataType.Bit, true, bitIndex: 3));
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void EncodeParamValue_Int32_writes_little_endian()
|
||||
{
|
||||
var buf = new byte[32];
|
||||
FwlibFocasClient.EncodeParamValue(buf, FocasDataType.Int32, 0x0A0B0C0D);
|
||||
buf[0].ShouldBe((byte)0x0D);
|
||||
buf[1].ShouldBe((byte)0x0C);
|
||||
buf[2].ShouldBe((byte)0x0B);
|
||||
buf[3].ShouldBe((byte)0x0A);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user