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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.

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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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190
src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FwlibNative.cs Normal file
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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,
};
}