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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.

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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 18:26:29 -04:00
parent 7fdf4e5618
commit cd2c0bcadd
12 changed files with 744 additions and 0 deletions
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59
tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.Tests/TwinCATAmsAddressTests.cs Normal file
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using Shouldly;
using Xunit;
using ZB.MOM.WW.OtOpcUa.Driver.TwinCAT;
namespace ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.Tests;
[Trait("Category", "Unit")]
public sealed class TwinCATAmsAddressTests
{
[Theory]
[InlineData("ads://5.23.91.23.1.1:851", "5.23.91.23.1.1", 851)]
[InlineData("ads://5.23.91.23.1.1:852", "5.23.91.23.1.1", 852)]
[InlineData("ads://5.23.91.23.1.1", "5.23.91.23.1.1", 851)] // default port
[InlineData("ads://127.0.0.1.1.1:851", "127.0.0.1.1.1", 851)]
[InlineData("ADS://5.23.91.23.1.1:851", "5.23.91.23.1.1", 851)] // case-insensitive scheme
[InlineData("ads://10.0.0.1.1.1:10000", "10.0.0.1.1.1", 10000)] // system service port
public void TryParse_accepts_valid_ams_addresses(string input, string netId, int port)
{
var parsed = TwinCATAmsAddress.TryParse(input);
parsed.ShouldNotBeNull();
parsed.NetId.ShouldBe(netId);
parsed.Port.ShouldBe(port);
}
[Theory]
[InlineData(null)]
[InlineData("")]
[InlineData(" ")]
[InlineData("tcp://5.23.91.23.1.1:851")] // wrong scheme
[InlineData("ads:5.23.91.23.1.1:851")] // missing //
[InlineData("ads://")] // empty body
[InlineData("ads://5.23.91.23.1:851")] // only 5 octets
[InlineData("ads://5.23.91.23.1.1.1:851")] // 7 octets
[InlineData("ads://5.23.91.256.1.1:851")] // octet > 255
[InlineData("ads://5.23.91.23.1.1:0")] // port 0
[InlineData("ads://5.23.91.23.1.1:65536")] // port out of range
[InlineData("ads://5.23.91.23.1.1:abc")] // non-numeric port
[InlineData("ads://a.b.c.d.e.f:851")] // non-numeric octets
public void TryParse_rejects_invalid_forms(string? input)
{
TwinCATAmsAddress.TryParse(input).ShouldBeNull();
}
[Theory]
[InlineData("5.23.91.23.1.1", 851, "ads://5.23.91.23.1.1")] // default port stripped
[InlineData("5.23.91.23.1.1", 852, "ads://5.23.91.23.1.1:852")]
public void ToString_canonicalises(string netId, int port, string expected)
{
new TwinCATAmsAddress(netId, port).ToString().ShouldBe(expected);
}
[Fact]
public void RoundTrip_is_stable()
{
const string input = "ads://5.23.91.23.1.1:852";
var parsed = TwinCATAmsAddress.TryParse(input)!;
TwinCATAmsAddress.TryParse(parsed.ToString()).ShouldBe(parsed);
}
}