feat(focas): add cnc_getfigure wire command + focas-mock handler

2026-06-18 12:23:14 -04:00
parent e5b1a5574a
commit f320f323ae
4 changed files with 68 additions and 7 deletions
@@ -385,6 +385,41 @@ public sealed class FocasWireClient : IAsyncDisposable, IDisposable
        return new FocasResult<IReadOnlyList<WireServoMeter>>(rc, result);
    }

+    /// <summary>
+    ///     Read the per-axis position decimal-place figures via <c>cnc_getfigure</c>
+    ///     (command <c>0x00d3</c>). The response payload is a self-delimiting sequence of
+    ///     big-endian <c>short</c> decimal-place counts — one per configured axis — which the
+    ///     driver applies as a <c>10^figure</c> scale on raw position reads.
+    /// </summary>
+    /// <remarks>
+    ///     The <c>0x00d3</c> command id is co-designed with the in-tree <c>focas_mock</c> sim and
+    ///     validated against it; like the rest of this managed wire backend the binary shape is
+    ///     sim-consistent and has not been validated against a real Fanuc CNC (bench-CNC-gated).
+    /// </remarks>
+    /// <param name="cancellationToken">Cancellation token for the read operation.</param>
+    /// <param name="timeout">Optional per-call timeout override.</param>
+    /// <param name="pathId">Optional path ID override; defaults to <see cref="PathId"/>.</param>
+    public async Task<FocasResult<IReadOnlyList<int>>> ReadPositionFiguresAsync(
+        CancellationToken cancellationToken = default,
+        TimeSpan? timeout = null,
+        ushort? pathId = null)
+    {
+        using var callTimeout = CreateCallTimeout(cancellationToken, timeout);
+        var requestPathId = EffectivePathId(pathId);
+        var block = await SendSingleRequestAsync(
+            callTimeout.Token,
+            new RequestBlock(0x00d3, PathId: requestPathId)).ConfigureAwait(false);
+
+        if (block.Rc != 0) return new FocasResult<IReadOnlyList<int>>(block.Rc, null);
+
+        var payload = block.Payload;
+        var figures = new List<int>(payload.Length / 2);
+        for (var offset = 0; offset + 2 <= payload.Length; offset += 2)
+            figures.Add(ReadInt16(payload, offset));
+
+        return new FocasResult<IReadOnlyList<int>>(block.Rc, figures);
+    }
+
    /// <summary>Read per-spindle load percentages via <c>cnc_rdspload</c> (command <c>0x0040</c> with arg1=0).</summary>
    /// <param name="spindleSelector">Spindle selector; -1 selects all spindles.</param>
    /// <param name="cancellationToken">Cancellation token for the read operation.</param>