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TwinCAT PR 1 — Scaffolding + Core (TwinCATDriver + AMS address + symbolic path). New Driver.TwinCAT project referencing Beckhoff.TwinCAT.Ads 7.0.172 (the official Beckhoff .NET client — 1.6M+ downloads, actively maintained by Beckhoff + community). Package compiles without a local AMS router; wire calls need a running router (TwinCAT XAR on dev Windows, or the standalone Beckhoff.TwinCAT.Ads.TcpRouter embedded package for headless/CI). Same Core.Abstractions-only project shape as Modbus / AbCip / AbLegacy. TwinCATAmsAddress parses ads://{netId}:{port} canonical form — NetId is 6 dot-separated octets (NOT an IP; AMS router translates), port defaults to 851 (TC3 PLC runtime 1). Validates octet range 0-255 and port 1-65535. Case-insensitive scheme. Default-port stripping in canonical form for roundtrip stability. Rejects wrong scheme, missing //, 5-or-7-octet NetId, out-of-range octets/ports, non-numeric fragments. TwinCATSymbolPath handles IEC 61131-3 symbolic names — single-segment (Counter), POU.variable (MAIN.bStart), GVL.variable (GVL.Counter), structured member access (Motor1.Status.Running), array subscripts (Data[5]), multi-dim arrays (Matrix[1,2]), bit-access (Flags.3, GVL.Status.7), combined scope/member/subscript/bit (MAIN.Motors[0].Status.5). Roundtrip-safe ToAdsSymbolName produces the exact string AdsClient.ReadValue consumes. Rejects leading/trailing dots, space in idents, digit-prefix idents, empty/negative/non-numeric subscripts, unbalanced brackets. Underscore-prefix idents accepted per IEC. TwinCATDataType — BOOL / SINT / USINT / INT / UINT / DINT / UDINT / LINT / ULINT / REAL / LREAL / STRING / WSTRING (UTF-16) / TIME / DATE / DateTime (DT) / TimeOfDay (TOD) / Structure. Wider than Logix's surface — IEC adds WSTRING + TIME/DATE/DT/TOD variants. ToDriverDataType widens unsigned + 64-bit to Int32 matching the Modbus/AbCip/AbLegacy Int64-gap convention. TwinCATStatusMapper — Good / BadInternalError / BadNodeIdUnknown / BadNotWritable / BadOutOfRange / BadNotSupported / BadDeviceFailure / BadCommunicationError / BadTimeout / BadTypeMismatch. MapAdsError covers the ADS error codes a driver actually encounters — 6/7 port unreachable, 1792 service not supported, 1793/1794 invalid index group/offset, 1798 symbol not found (→ BadNodeIdUnknown), 1807 invalid state, 1808 access denied (→ BadNotWritable), 1811/1812 size mismatch (→ BadOutOfRange), 1861 sync timeout, unknown → BadCommunicationError. TwinCATDriverOptions + TwinCATDeviceOptions + TwinCATTagDefinition + TwinCATProbeOptions — one instance supports N AMS targets, Tags cross-key by HostAddress, Probe defaults to 5s interval (unlike AbLegacy there's no default probe address — ADS probe reads AmsRouterState not a user tag, so probe address is implicit). TwinCATDriver IDriver skeleton — InitializeAsync parses each device HostAddress + fails fast on malformed strings → Faulted. 61 new unit tests across 3 files — TwinCATAmsAddressTests (6 valid shapes + 12 invalid shapes + 2 ToString canonicalisation + roundtrip stability), TwinCATSymbolPathTests (9 valid shapes + 12 invalid shapes + underscore prefix + 8-case roundtrip), TwinCATDriverTests (DriverType + multi-device init + malformed-address fault + shutdown + reinit + data-type mapping theory + ADS error-code theory). Total project count 30 src + 19 tests; full solution builds 0 errors; Modbus / AbCip / AbLegacy / other drivers untouched.

Browse Source 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Joseph Doherty
2026-04-19 18:26:29 -04:00
parent 7fdf4e5618
commit cd2c0bcadd
12 changed files with 744 additions and 0 deletions
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64
src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATAmsAddress.cs Normal file
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namespace ZB.MOM.WW.OtOpcUa.Driver.TwinCAT;
/// <summary>
/// Parsed TwinCAT AMS address — six-octet AMS Net ID + port. Canonical form
/// <c>ads://{netId}:{port}</c> where <c>netId</c> is five-dot-separated octets (six of them)
/// and <c>port</c> is the AMS service port (851 = TC3 PLC runtime 1, 852 = runtime 2, 801 /
/// 811 / 821 = TC2 PLC runtimes, 10000 = system service, etc.).
/// </summary>
/// <remarks>
/// Format examples:
/// <list type="bullet">
/// <item><c>ads://5.23.91.23.1.1:851</c> — remote TC3 runtime</item>
/// <item><c>ads://5.23.91.23.1.1</c> — defaults to port 851 (TC3 PLC runtime 1)</item>
/// <item><c>ads://127.0.0.1.1.1:851</c> — local loopback (when the router is local)</item>
/// </list>
/// <para>AMS Net ID is NOT an IP — it's a Beckhoff-specific identifier that the router
/// translates to an IP route. Typically the first four octets match the host's IPv4 and
/// the last two are <c>.1.1</c>, but the router can be configured otherwise.</para>
/// </remarks>
public sealed record TwinCATAmsAddress(string NetId, int Port)
{
/// <summary>Default AMS port — TC3 PLC runtime 1.</summary>
public const int DefaultPlcPort = 851;
public override string ToString() => Port == DefaultPlcPort
? $"ads://{NetId}"
: $"ads://{NetId}:{Port}";
public static TwinCATAmsAddress? TryParse(string? value)
{
if (string.IsNullOrWhiteSpace(value)) return null;
const string prefix = "ads://";
if (!value.StartsWith(prefix, StringComparison.OrdinalIgnoreCase)) return null;
var body = value[prefix.Length..];
if (string.IsNullOrEmpty(body)) return null;
var colonIdx = body.LastIndexOf(':');
string netId;
var port = DefaultPlcPort;
if (colonIdx >= 0)
{
netId = body[..colonIdx];
if (!int.TryParse(body[(colonIdx + 1)..], out port) || port is <= 0 or > 65535)
return null;
}
else
{
netId = body;
}
if (!IsValidNetId(netId)) return null;
return new TwinCATAmsAddress(netId, port);
}
private static bool IsValidNetId(string netId)
{
var parts = netId.Split('.');
if (parts.Length != 6) return false;
foreach (var p in parts)
if (!byte.TryParse(p, out _)) return false;
return true;
}
}

49
src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATDataType.cs Normal file
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using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
namespace ZB.MOM.WW.OtOpcUa.Driver.TwinCAT;
/// <summary>
/// TwinCAT / IEC 61131-3 atomic data types. Wider type surface than Logix because IEC adds
/// <c>WSTRING</c> (UTF-16) and <c>TIME</c>/<c>DATE</c>/<c>DT</c>/<c>TOD</c> variants.
/// </summary>
public enum TwinCATDataType
{
Bool,
SInt, // signed 8-bit
USInt, // unsigned 8-bit
Int, // signed 16-bit
UInt, // unsigned 16-bit
DInt, // signed 32-bit
UDInt, // unsigned 32-bit
LInt, // signed 64-bit
ULInt, // unsigned 64-bit
Real, // 32-bit IEEE-754
LReal, // 64-bit IEEE-754
String, // ASCII string
WString,// UTF-16 string
Time, // TIME — ms since epoch of day, stored as UDINT
Date, // DATE — days since 1970-01-01, stored as UDINT
DateTime, // DT — seconds since 1970-01-01, stored as UDINT
TimeOfDay,// TOD — ms since midnight, stored as UDINT
/// <summary>UDT / FB instance. Resolved per member at discovery time.</summary>
Structure,
}
public static class TwinCATDataTypeExtensions
{
public static DriverDataType ToDriverDataType(this TwinCATDataType t) => t switch
{
TwinCATDataType.Bool => DriverDataType.Boolean,
TwinCATDataType.SInt or TwinCATDataType.USInt
or TwinCATDataType.Int or TwinCATDataType.UInt
or TwinCATDataType.DInt or TwinCATDataType.UDInt => DriverDataType.Int32,
TwinCATDataType.LInt or TwinCATDataType.ULInt => DriverDataType.Int32, // matches Int64 gap
TwinCATDataType.Real => DriverDataType.Float32,
TwinCATDataType.LReal => DriverDataType.Float64,
TwinCATDataType.String or TwinCATDataType.WString => DriverDataType.String,
TwinCATDataType.Time or TwinCATDataType.Date
or TwinCATDataType.DateTime or TwinCATDataType.TimeOfDay => DriverDataType.Int32,
TwinCATDataType.Structure => DriverDataType.String,
_ => DriverDataType.Int32,
};
}

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src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATDriver.cs Normal file
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using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
namespace ZB.MOM.WW.OtOpcUa.Driver.TwinCAT;
/// <summary>
/// TwinCAT ADS driver — talks to Beckhoff PLC runtimes (TC2 + TC3) via AMS / ADS. PR 1 ships
/// the <see cref="IDriver"/> skeleton; read / write / discover / subscribe / probe / host-
/// resolver land in PRs 2 and 3.
/// </summary>
public sealed class TwinCATDriver : IDriver, IDisposable, IAsyncDisposable
{
private readonly TwinCATDriverOptions _options;
private readonly string _driverInstanceId;
private readonly Dictionary<string, DeviceState> _devices = new(StringComparer.OrdinalIgnoreCase);
private DriverHealth _health = new(DriverState.Unknown, null, null);
public TwinCATDriver(TwinCATDriverOptions options, string driverInstanceId)
{
ArgumentNullException.ThrowIfNull(options);
_options = options;
_driverInstanceId = driverInstanceId;
}
public string DriverInstanceId => _driverInstanceId;
public string DriverType => "TwinCAT";
public Task InitializeAsync(string driverConfigJson, CancellationToken cancellationToken)
{
_health = new DriverHealth(DriverState.Initializing, null, null);
try
{
foreach (var device in _options.Devices)
{
var addr = TwinCATAmsAddress.TryParse(device.HostAddress)
?? throw new InvalidOperationException(
$"TwinCAT device has invalid HostAddress '{device.HostAddress}' — expected 'ads://{{netId}}:{{port}}'.");
_devices[device.HostAddress] = new DeviceState(addr, device);
}
_health = new DriverHealth(DriverState.Healthy, DateTime.UtcNow, null);
}
catch (Exception ex)
{
_health = new DriverHealth(DriverState.Faulted, null, ex.Message);
throw;
}
return Task.CompletedTask;
}
public async Task ReinitializeAsync(string driverConfigJson, CancellationToken cancellationToken)
{
await ShutdownAsync(cancellationToken).ConfigureAwait(false);
await InitializeAsync(driverConfigJson, cancellationToken).ConfigureAwait(false);
}
public Task ShutdownAsync(CancellationToken cancellationToken)
{
_devices.Clear();
_health = new DriverHealth(DriverState.Unknown, _health.LastSuccessfulRead, null);
return Task.CompletedTask;
}
public DriverHealth GetHealth() => _health;
public long GetMemoryFootprint() => 0;
public Task FlushOptionalCachesAsync(CancellationToken cancellationToken) => Task.CompletedTask;
internal int DeviceCount => _devices.Count;
internal DeviceState? GetDeviceState(string hostAddress) =>
_devices.TryGetValue(hostAddress, out var s) ? s : null;
public void Dispose() => DisposeAsync().AsTask().GetAwaiter().GetResult();
public async ValueTask DisposeAsync() => await ShutdownAsync(CancellationToken.None).ConfigureAwait(false);
internal sealed class DeviceState(TwinCATAmsAddress parsedAddress, TwinCATDeviceOptions options)
{
public TwinCATAmsAddress ParsedAddress { get; } = parsedAddress;
public TwinCATDeviceOptions Options { get; } = options;
}
}

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src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATDriverOptions.cs Normal file
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namespace ZB.MOM.WW.OtOpcUa.Driver.TwinCAT;
/// <summary>
/// TwinCAT ADS driver configuration. One instance supports N targets (each identified by
/// an AMS Net ID + port). Compiles + runs without a local AMS router but every wire call
/// fails with <c>BadCommunicationError</c> until a router is reachable.
/// </summary>
public sealed class TwinCATDriverOptions
{
public IReadOnlyList<TwinCATDeviceOptions> Devices { get; init; } = [];
public IReadOnlyList<TwinCATTagDefinition> Tags { get; init; } = [];
public TwinCATProbeOptions Probe { get; init; } = new();
public TimeSpan Timeout { get; init; } = TimeSpan.FromSeconds(2);
}
/// <summary>
/// One TwinCAT target. <paramref name="HostAddress"/> must parse via
/// <see cref="TwinCATAmsAddress.TryParse"/>; misconfigured devices fail driver initialisation.
/// </summary>
public sealed record TwinCATDeviceOptions(
string HostAddress,
string? DeviceName = null);
/// <summary>
/// One TwinCAT-backed OPC UA variable. <paramref name="SymbolPath"/> is the full TwinCAT
/// symbolic name (e.g. <c>MAIN.bStart</c>, <c>GVL.Counter</c>, <c>Motor1.Status.Running</c>).
/// </summary>
public sealed record TwinCATTagDefinition(
string Name,
string DeviceHostAddress,
string SymbolPath,
TwinCATDataType DataType,
bool Writable = true,
bool WriteIdempotent = false);
public sealed class TwinCATProbeOptions
{
public bool Enabled { get; init; } = true;
public TimeSpan Interval { get; init; } = TimeSpan.FromSeconds(5);
public TimeSpan Timeout { get; init; } = TimeSpan.FromSeconds(2);
}

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src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATStatusMapper.cs Normal file
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namespace ZB.MOM.WW.OtOpcUa.Driver.TwinCAT;
/// <summary>
/// Maps AMS / ADS error codes to OPC UA StatusCodes. ADS error codes are defined in
/// <c>AdsErrorCode</c> from <c>Beckhoff.TwinCAT.Ads</c> — this mapper covers the ones a
/// driver actually encounters during normal operation (symbol-not-found, access-denied,
/// timeout, router-not-initialized, invalid-group/offset, etc.).
/// </summary>
public static class TwinCATStatusMapper
{
public const uint Good = 0u;
public const uint BadInternalError = 0x80020000u;
public const uint BadNodeIdUnknown = 0x80340000u;
public const uint BadNotWritable = 0x803B0000u;
public const uint BadOutOfRange = 0x803C0000u;
public const uint BadNotSupported = 0x803D0000u;
public const uint BadDeviceFailure = 0x80550000u;
public const uint BadCommunicationError = 0x80050000u;
public const uint BadTimeout = 0x800A0000u;
public const uint BadTypeMismatch = 0x80730000u;
/// <summary>
/// Map an AMS / ADS error code (uint from AdsErrorCode enum). 0 = success; non-zero
/// codes follow Beckhoff's AMS error table (7 = target port not found, 1792 =
/// ADSERR_DEVICE_SRVNOTSUPP, 1793 = ADSERR_DEVICE_INVALIDGRP, 1794 =
/// ADSERR_DEVICE_INVALIDOFFSET, 1798 = ADSERR_DEVICE_SYMBOLNOTFOUND, 1808 =
/// ADSERR_DEVICE_ACCESSDENIED, 1861 = ADSERR_CLIENT_SYNCTIMEOUT).
/// </summary>
public static uint MapAdsError(uint adsError) => adsError switch
{
0 => Good,
6 or 7 => BadCommunicationError, // target port unreachable
1792 => BadNotSupported, // service not supported
1793 => BadOutOfRange, // invalid index group
1794 => BadOutOfRange, // invalid index offset
1798 => BadNodeIdUnknown, // symbol not found
1807 => BadDeviceFailure, // device in invalid state
1808 => BadNotWritable, // access denied
1811 or 1812 => BadOutOfRange, // size mismatch
1861 => BadTimeout, // sync timeout
_ => BadCommunicationError,
};
}

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src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/TwinCATSymbolPath.cs Normal file
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namespace ZB.MOM.WW.OtOpcUa.Driver.TwinCAT;
/// <summary>
/// Parsed TwinCAT symbolic tag path. Handles global-variable-list (<c>GVL.Counter</c>),
/// program-variable (<c>MAIN.bStart</c>), structured member access
/// (<c>Motor1.Status.Running</c>), array subscripts (<c>Data[5]</c>), multi-dim arrays
/// (<c>Matrix[1,2]</c>), and bit-access (<c>Flags.0</c>).
/// </summary>
/// <remarks>
/// <para>TwinCAT's symbolic syntax mirrors IEC 61131-3 structured-text identifiers — so the
/// grammar maps cleanly onto the AbCip Logix path parser, but without Logix's
/// <c>Program:</c> scope prefix. The leading segment is the namespace (POU name /
/// GVL name) and subsequent segments walk into struct/array members.</para>
/// </remarks>
public sealed record TwinCATSymbolPath(
IReadOnlyList<TwinCATSymbolSegment> Segments,
int? BitIndex)
{
public string ToAdsSymbolName()
{
var buf = new System.Text.StringBuilder();
for (var i = 0; i < Segments.Count; i++)
{
if (i > 0) buf.Append('.');
var seg = Segments[i];
buf.Append(seg.Name);
if (seg.Subscripts.Count > 0)
buf.Append('[').Append(string.Join(",", seg.Subscripts)).Append(']');
}
if (BitIndex is not null) buf.Append('.').Append(BitIndex.Value);
return buf.ToString();
}
public static TwinCATSymbolPath? TryParse(string? value)
{
if (string.IsNullOrWhiteSpace(value)) return null;
var src = value.Trim();
var parts = new List<string>();
var depth = 0;
var start = 0;
for (var i = 0; i < src.Length; i++)
{
var c = src[i];
if (c == '[') depth++;
else if (c == ']') depth--;
else if (c == '.' && depth == 0)
{
parts.Add(src[start..i]);
start = i + 1;
}
}
parts.Add(src[start..]);
if (depth != 0 || parts.Any(string.IsNullOrEmpty)) return null;
int? bitIndex = null;
if (parts.Count >= 2 && int.TryParse(parts[^1], out var maybeBit)
&& maybeBit is >= 0 and <= 31
&& !parts[^1].Contains('['))
{
bitIndex = maybeBit;
parts.RemoveAt(parts.Count - 1);
}
var segments = new List<TwinCATSymbolSegment>(parts.Count);
foreach (var part in parts)
{
var bracketIdx = part.IndexOf('[');
if (bracketIdx < 0)
{
if (!IsValidIdent(part)) return null;
segments.Add(new TwinCATSymbolSegment(part, []));
continue;
}
if (!part.EndsWith(']')) return null;
var name = part[..bracketIdx];
if (!IsValidIdent(name)) return null;
var inner = part[(bracketIdx + 1)..^1];
var subs = new List<int>();
foreach (var tok in inner.Split(','))
{
if (!int.TryParse(tok, out var n) || n < 0) return null;
subs.Add(n);
}
if (subs.Count == 0) return null;
segments.Add(new TwinCATSymbolSegment(name, subs));
}
if (segments.Count == 0) return null;
return new TwinCATSymbolPath(segments, bitIndex);
}
private static bool IsValidIdent(string s)
{
if (string.IsNullOrEmpty(s)) return false;
if (!char.IsLetter(s[0]) && s[0] != '_') return false;
for (var i = 1; i < s.Length; i++)
if (!char.IsLetterOrDigit(s[i]) && s[i] != '_') return false;
return true;
}
}
public sealed record TwinCATSymbolSegment(string Name, IReadOnlyList<int> Subscripts);

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src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.csproj Normal file
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<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<TargetFramework>net10.0</TargetFramework>
<Nullable>enable</Nullable>
<ImplicitUsings>enable</ImplicitUsings>
<LangVersion>latest</LangVersion>
<TreatWarningsAsErrors>true</TreatWarningsAsErrors>
<GenerateDocumentationFile>true</GenerateDocumentationFile>
<NoWarn>$(NoWarn);CS1591</NoWarn>
<RootNamespace>ZB.MOM.WW.OtOpcUa.Driver.TwinCAT</RootNamespace>
<AssemblyName>ZB.MOM.WW.OtOpcUa.Driver.TwinCAT</AssemblyName>
</PropertyGroup>
<ItemGroup>
<ProjectReference Include="..\ZB.MOM.WW.OtOpcUa.Core.Abstractions\ZB.MOM.WW.OtOpcUa.Core.Abstractions.csproj"/>
</ItemGroup>
<ItemGroup>
<!-- Official Beckhoff ADS client. Requires a running AMS router (TwinCAT XAR, TwinCAT HMI
Server, or the standalone Beckhoff.TwinCAT.Ads.TcpRouter package) to reach remote
systems. The router is a runtime concern, not a build concern — the library compiles
+ runs fine without one; ADS calls just fail with transport errors. -->
<PackageReference Include="Beckhoff.TwinCAT.Ads" Version="7.0.172"/>
</ItemGroup>
<ItemGroup>
<InternalsVisibleTo Include="ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.Tests"/>
</ItemGroup>
</Project>