feat(twincat): native ADS notifications for array tags, decoded from raw bytes
An array tag subscribed natively used to register only its declared scalar (publishing element 0 at Good) and was then refused wholesale with BadTypeMismatch. The driver now hands the authored ArrayLength to the client, which registers the whole array as raw bytes and decodes every notification. - TwinCATTypeGuard.CheckArray plans the layout from the RESOLVED array type: element checked like a scalar notification (width / float kind / string kind); STRING(n)/WSTRING(n) elements stride n+1 / 2(n+1); multi-dim arrays flattened in PLC memory order; an authored ArrayLength shorter than the PLC array reads the leading sub-range, a longer one is refused; struct / pointer / nested-array elements, non-array symbols and VAR_IN_OUT refs are refused. - CheckNotificationSize caps a native array at 128 KiB (largest registration proven on a live TC 2.11 target); above it the tag is refused BadOutOfRange. - TwinCATArrayCodec decodes the bytes into the element-typed CLR array. - The poll read uses the same plan + codec instead of the Beckhoff typed array read, which failed live for most real arrays (exact CLR element type, rank-N for multi-dim, member arrays sliced by the under-reported TC2 symbol size). - TwinCATNotificationRefusedException carries the refusal's status; the type mismatch derives from it and the driver isolates either per tag.
This commit is contained in:
Joseph Doherty
@@ -0,0 +1,125 @@
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using System.Buffers.Binary;
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namespace ZB.MOM.WW.OtOpcUa.Driver.TwinCAT;
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/// <summary>
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/// Decodes a PLC array's raw bytes — laid out by <see cref="TwinCATTypeGuard.CheckArray"/> — into the
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/// element-typed CLR array an array tag publishes (<c>bool[]</c>, <c>short[]</c>, <c>float[]</c>,
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/// <c>string[]</c>, …). Both the poll read and the native notification decode here, so the two paths
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/// publish identical values, element type and length by construction.
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/// </summary>
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/// <remarks>
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/// The driver reads arrays as raw bytes rather than through the Beckhoff typed array read, which a live
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/// TwinCAT 2.11 target showed failing for most real arrays (2026-10-07, Elma cleaner Z33856): the CLR
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/// element type had to match the PLC's exactly (<c>ARRAY OF TIME</c> as <c>uint[]</c> threw), a
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/// multi-dimensional array demanded a rank-N CLR array, and a dotted MEMBER array was sliced by the
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/// under-reported symbol size (<c>ArgumentOutOfRangeException</c>). Elements are little-endian (every
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/// TwinCAT target is x86/x64/ARM-LE); a STRING / WSTRING element is decoded by
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/// <see cref="TwinCATStringCodec"/> within its fixed stride, so each ends at its own first NUL.
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/// </remarks>
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internal static class TwinCATArrayCodec
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{
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/// <summary>Decodes <paramref name="layout"/>.ElementCount elements of <paramref name="declared"/>.</summary>
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/// <param name="declared">The tag's declared element type.</param>
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/// <param name="bytes">The PLC bytes from the array's first element (at least <see cref="TwinCATArrayLayout.ByteLength"/>).</param>
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/// <param name="layout">The planned layout.</param>
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/// <param name="utf8">True when the target reports UTF-8 STRING data (else Windows-1252).</param>
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/// <returns>The element-typed CLR array.</returns>
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/// <exception cref="ArgumentException">The buffer is shorter than the layout.</exception>
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public static Array Decode(TwinCATDataType declared, ReadOnlySpan<byte> bytes, TwinCATArrayLayout layout, bool utf8)
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{
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if (layout.ElementCount < 0 || layout.Stride <= 0 || bytes.Length < layout.ByteLength)
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throw new ArgumentException(
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$"An array buffer of {bytes.Length} B cannot hold {layout.ElementCount} × {layout.Stride} B elements",
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nameof(bytes));
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var n = layout.ElementCount;
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var stride = layout.Stride;
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switch (declared)
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{
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case TwinCATDataType.Bool:
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{
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var a = new bool[n];
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for (var i = 0; i < n; i++) a[i] = bytes[i * stride] != 0;
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return a;
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}
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case TwinCATDataType.SInt:
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{
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var a = new sbyte[n];
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for (var i = 0; i < n; i++) a[i] = unchecked((sbyte)bytes[i * stride]);
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return a;
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}
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case TwinCATDataType.USInt:
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{
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var a = new byte[n];
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for (var i = 0; i < n; i++) a[i] = bytes[i * stride];
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return a;
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}
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case TwinCATDataType.Int:
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{
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var a = new short[n];
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for (var i = 0; i < n; i++) a[i] = BinaryPrimitives.ReadInt16LittleEndian(bytes[(i * stride)..]);
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return a;
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}
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case TwinCATDataType.UInt:
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{
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var a = new ushort[n];
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for (var i = 0; i < n; i++) a[i] = BinaryPrimitives.ReadUInt16LittleEndian(bytes[(i * stride)..]);
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return a;
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}
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case TwinCATDataType.DInt:
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{
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var a = new int[n];
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for (var i = 0; i < n; i++) a[i] = BinaryPrimitives.ReadInt32LittleEndian(bytes[(i * stride)..]);
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return a;
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}
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case TwinCATDataType.UDInt or TwinCATDataType.Time or TwinCATDataType.Date
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or TwinCATDataType.DateTime or TwinCATDataType.TimeOfDay:
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{
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// TIME / DATE / DT / TOD publish their raw 32-bit count — the same CLR shape (uint) a
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// scalar of those types publishes.
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var a = new uint[n];
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for (var i = 0; i < n; i++) a[i] = BinaryPrimitives.ReadUInt32LittleEndian(bytes[(i * stride)..]);
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return a;
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}
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case TwinCATDataType.LInt:
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{
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var a = new long[n];
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for (var i = 0; i < n; i++) a[i] = BinaryPrimitives.ReadInt64LittleEndian(bytes[(i * stride)..]);
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return a;
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}
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case TwinCATDataType.ULInt:
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{
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var a = new ulong[n];
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for (var i = 0; i < n; i++) a[i] = BinaryPrimitives.ReadUInt64LittleEndian(bytes[(i * stride)..]);
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return a;
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}
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case TwinCATDataType.Real:
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{
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var a = new float[n];
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for (var i = 0; i < n; i++) a[i] = BinaryPrimitives.ReadSingleLittleEndian(bytes[(i * stride)..]);
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return a;
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}
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case TwinCATDataType.LReal:
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{
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var a = new double[n];
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for (var i = 0; i < n; i++) a[i] = BinaryPrimitives.ReadDoubleLittleEndian(bytes[(i * stride)..]);
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return a;
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}
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case TwinCATDataType.String:
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{
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var a = new string[n];
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for (var i = 0; i < n; i++) a[i] = TwinCATStringCodec.DecodeString(bytes.Slice(i * stride, stride), utf8);
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return a;
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}
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case TwinCATDataType.WString:
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{
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var a = new string[n];
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for (var i = 0; i < n; i++) a[i] = TwinCATStringCodec.DecodeWString(bytes.Slice(i * stride, stride));
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return a;
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}
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default:
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throw new NotSupportedException($"TwinCATDataType {declared} has no array element decoding");
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}
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}
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}
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