fix(twincat): update BrowseSymbolsAsync doc + cache adapter fields + Flat-mode note (review)

- ITwinCATClient.BrowseSymbolsAsync XML doc updated: states the implementation now
  expands struct/UDT/FB symbols into atomic member leaves via TwinCATSymbolExpander;
  callers receive only atomic/array leaves with full InstancePaths, never struct containers.
- AdsSymbolNode: cache IsStruct, Mapped, Children, ReadOnly as readonly fields computed
  once in the ctor so repeated property access during recursive expansion doesn't
  re-materialize or re-invoke MapSymbolType/IsSymbolWritable.
- BrowseSymbolsAsync: add operator-gated live risk note next to SymbolsLoadMode.Flat
  warning that a real TC3 target may not populate SubSymbols in Flat mode, with
  guidance to switch to VirtualTree if members don't surface — do not change mode now.
- TwinCATSymbolExpanderTests: simplify confusing `new string('.', 0)` no-op to `""`.

src/Drivers/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/AdsTwinCATClient.cs

@@ -322,6 +322,14 @@ internal sealed class AdsTwinCATClient : ITwinCATClient
         // SymbolLoaderFactory downloads the symbol-info blob once then iterates locally — the
         // async surface on this interface is for our callers, not for the underlying call which
         // is effectively sync on top of the already-open AdsClient.
+        //
+        // LIVE RISK (operator-gated, not yet verified against a real TC3 target): Flat mode
+        // may not populate ISymbol.SubSymbols on struct/UDT/FB symbols on some TC3 firmware
+        // versions — in that case TwinCATSymbolExpander sees no children and drops those
+        // symbols silently. If struct members don't surface on a real target, switch to
+        // SymbolsLoadMode.VirtualTree which is documented to always populate SubSymbols via
+        // the hierarchy. Do NOT change the mode here until confirmed against live ADS — Flat is
+        // required for Phase 4c array discovery to work correctly.
         var settings = new SymbolLoaderSettings(SymbolsLoadMode.Flat);
         var loader = SymbolLoaderFactory.Create(_client, settings);
         await Task.Yield(); // honors the async surface; pragmatic given the loader itself is sync
@@ -350,20 +358,36 @@ internal sealed class AdsTwinCATClient : ITwinCATClient
     ///     a local operation). Reuses the existing <see cref="MapSymbolType"/> + <see cref="IsSymbolWritable"/>
     ///     so atomic-type mapping and access-rights handling stay identical to the pre-expansion path.
     /// </summary>
-    private sealed class AdsSymbolNode(ISymbol symbol) : ITwinCATSymbolNode
+    private sealed class AdsSymbolNode : ITwinCATSymbolNode
     {
-        public string InstancePath => symbol.InstancePath;
+        // Computed once in the ctor so repeated property access during recursive expansion
+        // doesn't re-materialize Children or re-invoke MapSymbolType / IsSymbolWritable.
+        private readonly ISymbol _symbol;
+        private readonly bool _isStruct;
+        private readonly (TwinCATDataType? Type, int? ArrayLength) _mapped;
+        private readonly IReadOnlyList<ITwinCATSymbolNode> _children;
+        private readonly bool _readOnly;
 
-        public bool IsStruct => symbol.DataType?.Category == DataTypeCategory.Struct;
+        public AdsSymbolNode(ISymbol symbol)
-
+        {
-        public (TwinCATDataType? Type, int? ArrayLength) Mapped => MapSymbolType(symbol.DataType);
+            _symbol = symbol;
-
+            _isStruct = symbol.DataType?.Category == DataTypeCategory.Struct;
-        public IReadOnlyList<ITwinCATSymbolNode> Children =>
+            _mapped = MapSymbolType(symbol.DataType);
-            symbol.SubSymbols is { } subs
+            _children = symbol.SubSymbols is { } subs
                 ? subs.Select(s => (ITwinCATSymbolNode)new AdsSymbolNode(s)).ToList()
                 : [];
+            _readOnly = !IsSymbolWritable(symbol);
+        }
 
-        public bool ReadOnly => !IsSymbolWritable(symbol);
+        public string InstancePath => _symbol.InstancePath;
+
+        public bool IsStruct => _isStruct;
+
+        public (TwinCATDataType? Type, int? ArrayLength) Mapped => _mapped;
+
+        public IReadOnlyList<ITwinCATSymbolNode> Children => _children;
+
+        public bool ReadOnly => _readOnly;
     }
 
     /// <summary>

src/Drivers/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/ITwinCATClient.cs

@@ -99,11 +99,14 @@ public interface ITwinCATClient : IDisposable
         CancellationToken cancellationToken);
 
     /// <summary>
-    ///     Walk the target's symbol table via the TwinCAT <c>SymbolLoaderFactory</c> (flat mode).
+    ///     Walk the target's symbol table via the TwinCAT <c>SymbolLoaderFactory</c> (flat mode)
-    ///     Yields each top-level symbol the PLC exposes — global variables, program-scope locals,
+    ///     and expand all struct / UDT / function-block symbols to their atomic member leaves.
-    ///     function-block instance fields. Filters for our atomic type surface; structured /
+    ///     The implementation uses <see cref="TwinCATSymbolExpander.ExpandLeaves"/> to recursively
-    ///     UDT / function-block typed symbols surface with <c>DataType = null</c> so callers can
+    ///     descend each struct/UDT/FB-instance symbol into its addressable atomic members,
-    ///     decide whether to drill in via their own walker.
+    ///     yielding only atomic leaves (scalars or 1-D arrays with a non-null
+    ///     <see cref="TwinCATDiscoveredSymbol.DataType"/>) and dropping struct/UDT/FB containers.
+    ///     Callers receive fully-qualified <c>InstancePath</c>s (e.g. <c>MAIN.Motor1.Speed</c>)
+    ///     and never see struct-typed entries — expansion is performed here, not in the caller.
     /// </summary>
     /// <param name="cancellationToken">Cancellation token for the enumeration operation.</param>
     IAsyncEnumerable<TwinCATDiscoveredSymbol> BrowseSymbolsAsync(CancellationToken cancellationToken);

tests/Drivers/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.Tests/TwinCATSymbolExpanderTests.cs

@@ -104,7 +104,7 @@ public sealed class TwinCATSymbolExpanderTests
         // atomic leaf at the very bottom. The leaf sits at depth == number-of-struct-levels.
         // Place the leaf at depth MaxDepth (== one past the deepest descended level) so it is dropped,
         // and a sibling leaf at a shallow depth so we prove the walk itself still works.
-        ITwinCATSymbolNode deep = Atomic("Root" + new string('.', 0) + "Leaf.Deep", TwinCATDataType.DInt);
+        ITwinCATSymbolNode deep = Atomic("RootLeaf.Deep", TwinCATDataType.DInt);
         // Wrap the atomic in MaxDepth struct levels so the atomic ends up at depth == MaxDepth.
         for (var i = 0; i < TwinCATSymbolExpander.MaxDepth; i++)
             deep = Struct($"Level{i}", deep);