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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.

Browse Source 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Joseph Doherty
2026-04-19 19:55:37 -04:00
parent c13fe8f587
commit a2c7fda5f5
6 changed files with 1026 additions and 2 deletions
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139
src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FocasDriver.cs
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@@ -15,12 +15,13 @@ namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
/// + the default <see cref="UnimplementedFocasClientFactory"/> makes misconfigured servers
/// fail fast.
/// </remarks>
public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
public sealed class FocasDriver : IDriver, IReadable, IWritable, IDisposable, IAsyncDisposable
{
private readonly FocasDriverOptions _options;
private readonly string _driverInstanceId;
private readonly IFocasClientFactory _clientFactory;
private readonly Dictionary<string, DeviceState> _devices = new(StringComparer.OrdinalIgnoreCase);
private readonly Dictionary<string, FocasTagDefinition> _tagsByName = new(StringComparer.OrdinalIgnoreCase);
private DriverHealth _health = new(DriverState.Unknown, null, null);
public FocasDriver(FocasDriverOptions options, string driverInstanceId,
@@ -29,7 +30,7 @@ public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
ArgumentNullException.ThrowIfNull(options);
_options = options;
_driverInstanceId = driverInstanceId;
_clientFactory = clientFactory ?? new UnimplementedFocasClientFactory();
_clientFactory = clientFactory ?? new FwlibFocasClientFactory();
}
public string DriverInstanceId => _driverInstanceId;
@@ -47,6 +48,7 @@ public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
$"FOCAS device has invalid HostAddress '{device.HostAddress}' — expected 'focas://{{ip}}[:{{port}}]'.");
_devices[device.HostAddress] = new DeviceState(addr, device);
}
foreach (var tag in _options.Tags) _tagsByName[tag.Name] = tag;
_health = new DriverHealth(DriverState.Healthy, DateTime.UtcNow, null);
}
catch (Exception ex)
@@ -65,7 +67,9 @@ public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
public Task ShutdownAsync(CancellationToken cancellationToken)
{
foreach (var state in _devices.Values) state.DisposeClient();
_devices.Clear();
_tagsByName.Clear();
_health = new DriverHealth(DriverState.Unknown, _health.LastSuccessfulRead, null);
return Task.CompletedTask;
}
@@ -78,6 +82,130 @@ public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
internal DeviceState? GetDeviceState(string hostAddress) =>
_devices.TryGetValue(hostAddress, out var s) ? s : null;
// ---- IReadable ----
public async Task<IReadOnlyList<DataValueSnapshot>> ReadAsync(
IReadOnlyList<string> fullReferences, CancellationToken cancellationToken)
{
ArgumentNullException.ThrowIfNull(fullReferences);
var now = DateTime.UtcNow;
var results = new DataValueSnapshot[fullReferences.Count];
for (var i = 0; i < fullReferences.Count; i++)
{
var reference = fullReferences[i];
if (!_tagsByName.TryGetValue(reference, out var def))
{
results[i] = new DataValueSnapshot(null, FocasStatusMapper.BadNodeIdUnknown, null, now);
continue;
}
if (!_devices.TryGetValue(def.DeviceHostAddress, out var device))
{
results[i] = new DataValueSnapshot(null, FocasStatusMapper.BadNodeIdUnknown, null, now);
continue;
}
try
{
var client = await EnsureConnectedAsync(device, cancellationToken).ConfigureAwait(false);
var parsed = FocasAddress.TryParse(def.Address)
?? throw new InvalidOperationException($"FOCAS tag '{def.Name}' has malformed Address '{def.Address}'.");
var (value, status) = await client.ReadAsync(parsed, def.DataType, cancellationToken).ConfigureAwait(false);
results[i] = new DataValueSnapshot(value, status, now, now);
if (status == FocasStatusMapper.Good)
_health = new DriverHealth(DriverState.Healthy, now, null);
else
_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead,
$"FOCAS status 0x{status:X8} reading {reference}");
}
catch (OperationCanceledException) { throw; }
catch (Exception ex)
{
results[i] = new DataValueSnapshot(null, FocasStatusMapper.BadCommunicationError, null, now);
_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ex.Message);
}
}
return results;
}
// ---- IWritable ----
public async Task<IReadOnlyList<WriteResult>> WriteAsync(
IReadOnlyList<WriteRequest> writes, CancellationToken cancellationToken)
{
ArgumentNullException.ThrowIfNull(writes);
var results = new WriteResult[writes.Count];
for (var i = 0; i < writes.Count; i++)
{
var w = writes[i];
if (!_tagsByName.TryGetValue(w.FullReference, out var def))
{
results[i] = new WriteResult(FocasStatusMapper.BadNodeIdUnknown);
continue;
}
if (!def.Writable)
{
results[i] = new WriteResult(FocasStatusMapper.BadNotWritable);
continue;
}
if (!_devices.TryGetValue(def.DeviceHostAddress, out var device))
{
results[i] = new WriteResult(FocasStatusMapper.BadNodeIdUnknown);
continue;
}
try
{
var client = await EnsureConnectedAsync(device, cancellationToken).ConfigureAwait(false);
var parsed = FocasAddress.TryParse(def.Address)
?? throw new InvalidOperationException($"FOCAS tag '{def.Name}' has malformed Address '{def.Address}'.");
var status = await client.WriteAsync(parsed, def.DataType, w.Value, cancellationToken).ConfigureAwait(false);
results[i] = new WriteResult(status);
}
catch (OperationCanceledException) { throw; }
catch (NotSupportedException nse)
{
results[i] = new WriteResult(FocasStatusMapper.BadNotSupported);
_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, nse.Message);
}
catch (Exception ex) when (ex is FormatException or InvalidCastException)
{
results[i] = new WriteResult(FocasStatusMapper.BadTypeMismatch);
}
catch (OverflowException)
{
results[i] = new WriteResult(FocasStatusMapper.BadOutOfRange);
}
catch (Exception ex)
{
results[i] = new WriteResult(FocasStatusMapper.BadCommunicationError);
_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ex.Message);
}
}
return results;
}
private async Task<IFocasClient> EnsureConnectedAsync(DeviceState device, CancellationToken ct)
{
if (device.Client is { IsConnected: true } c) return c;
device.Client ??= _clientFactory.Create();
try
{
await device.Client.ConnectAsync(device.ParsedAddress, _options.Timeout, ct).ConfigureAwait(false);
}
catch
{
device.Client.Dispose();
device.Client = null;
throw;
}
return device.Client;
}
public void Dispose() => DisposeAsync().AsTask().GetAwaiter().GetResult();
public async ValueTask DisposeAsync() => await ShutdownAsync(CancellationToken.None).ConfigureAwait(false);
@@ -85,5 +213,12 @@ public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
{
public FocasHostAddress ParsedAddress { get; } = parsedAddress;
public FocasDeviceOptions Options { get; } = options;
public IFocasClient? Client { get; set; }
public void DisposeClient()
{
Client?.Dispose();
Client = null;
}
}
}