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fix(focas): publish LastStatus after the fixed-tree stamp; test waits on full readiness (#673)

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This commit is contained in:
Joseph Doherty
2026-10-11 08:16:00 -04:00
parent db6a53036b
commit e5d12d391a
2 changed files with 15 additions and 6 deletions
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src/Drivers/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FocasDriver.cs
+11 -3
View File
@@ -1232,13 +1232,16 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, ITagDiscovery,
ProgramInfo: programInfo is not null,
Timers: timer is not null,
Status: statusProbe is not null);
state.LastStatus = statusProbe;
state.FixedTreeCache = new FocasFixedTreeCache(sys, [.. axes], [.. spindles], caps);
// The bootstrap IS an answer from the device, and Identity comes entirely from it —
// so stamp liveness here as well as per tick, or a CNC whose axis poll never
// succeeds would serve a perfectly valid sysinfo as stale.
state.LastFixedPollUtc = DateTime.UtcNow;
// Published LAST (release write): LastStatus is the field callers watch for "the first
// answer is in", and an authored FIXED:Status/* read is only servable once
// FixedTreeCache and LastFixedPollUtc are set (TryReadFixedTreeOnDevice). Publishing it
// first let a reader see a status while the read still returned BadCommunicationError (#673).
state.LastStatus = statusProbe;
}
catch (OperationCanceledException) when (ct.IsCancellationRequested) { return; }
catch (Exception ex)
@@ -1998,7 +2001,12 @@ public sealed class FocasDriver : IDriver, IReadable, IWritable, ITagDiscovery,
/// </summary>
public ConcurrentDictionary<string, byte> CoalesceRejected { get; } = new(StringComparer.Ordinal);
/// <summary>Gets or sets the last <c>cnc_statinfo</c> snapshot (#257); null until the first answer.</summary>
public FocasStatus? LastStatus { get; set; }
public FocasStatus? LastStatus
{
get => Volatile.Read(ref _lastStatus);
set => Volatile.Write(ref _lastStatus, value);
}
private FocasStatus? _lastStatus;
/// <summary>Gets or sets the last program information snapshot.</summary>
public FocasProgramInfo? LastProgramInfo { get; set; }
/// <summary>Gets or sets the cached first-axis dynamic snapshot — feeds Program/Number, /MainNumber, /Sequence.</summary>
tests/Drivers/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests/FocasStatusFlagsTests.cs
+4 -3
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@@ -58,7 +58,7 @@ public sealed class FocasStatusFlagsTests
var client = new FakeFocasClient { Status = new FocasStatus(Auto: 1, Run: 3, Motion: 1, Mstb: 2, Emergency: 0, Alarm: 1, Edit: 0, TmMode: 4) };
var drv = NewDriver(client);
await drv.InitializeAsync("{}", CancellationToken.None);
await WaitAsync(() => drv.GetDeviceState(Host)?.LastStatus is not null);
await WaitAsync(() => drv.GetDeviceState(Host) is { LastFixedPollUtc: not null, FixedTreeCache: not null, LastStatus: not null });
string[] fields = ["Auto", "Run", "Motion", "Mstb", "Emergency", "Alarm", "Edit", "TmMode"];
int[] expected = [1, 3, 1, 2, 0, 1, 0, 4];
@@ -82,7 +82,8 @@ public sealed class FocasStatusFlagsTests
var drv = NewDriver(client,
new FocasTagDefinition("EStop", Host, "FIXED:Status/Emergency", FocasDataType.Int32, Writable: false));
await drv.InitializeAsync("{}", CancellationToken.None);
await WaitAsync(() => drv.GetDeviceState(Host)?.LastStatus is not null);
// Wait for full readiness: an authored FIXED read needs the cache and the poll stamp too (#673).
await WaitAsync(() => drv.GetDeviceState(Host) is { LastFixedPollUtc: not null, FixedTreeCache: not null, LastStatus: not null });
var snap = (await drv.ReadAsync(["EStop"], CancellationToken.None))[0];
snap.StatusCode.ShouldBe(FocasStatusMapper.Good);
@@ -97,7 +98,7 @@ public sealed class FocasStatusFlagsTests
var client = new FakeFocasClient { Status = new FocasStatus(1, 0, 0, 0, 0, 0, 0, 0) };
var drv = NewDriver(client);
await drv.InitializeAsync("{}", CancellationToken.None);
await WaitAsync(() => drv.GetDeviceState(Host)?.LastStatus is not null);
await WaitAsync(() => drv.GetDeviceState(Host) is { LastFixedPollUtc: not null, FixedTreeCache: not null, LastStatus: not null });
client.Status = new FocasStatus(1, 3, 1, 0, 0, 0, 0, 0);
await WaitAsync(() => drv.GetDeviceState(Host)?.LastStatus?.Run == 3);