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Author SHA1 Message Date
Joseph Doherty
c95228391d TwinCAT follow-up — Symbol browser via AdsClient + SymbolLoaderFactory. Closes task #188. Adds ITwinCATClient.BrowseSymbolsAsync — IAsyncEnumerable yielding TwinCATDiscoveredSymbol (InstancePath + mapped TwinCATDataType + ReadOnly flag) from the target's flat symbol table. AdsTwinCATClient implementation uses SymbolLoaderFactory.Create(_client, new SymbolLoaderSettings(SymbolsLoadMode.Flat)) + iterates loader.Symbols, maps IEC 61131-3 type names (BOOL/SINT/INT/DINT/LINT/REAL/LREAL/STRING/WSTRING/TIME/DATE/DT/TOD + BYTE/WORD/DWORD/LWORD unsigned-word aliases) through MapSymbolTypeName, checks SymbolAccessRights.Write bit for writable vs read-only. Unsupported types (UDTs / function blocks / arrays / pointers) surface with DataType=null so callers can skip or recurse. TwinCATDriverOptions.EnableControllerBrowse — new bool, default false to preserve the strict-config path. When true, DiscoverAsync iterates each device's BrowseSymbolsAsync, filters via TwinCATSystemSymbolFilter (rejects TwinCAT_*, Constants.*, Mc_*, __*, Global_Version* prefixes + anything empty), skips null-DataType symbols, emits surviving symbols under a per-device Discovered/ sub-folder with InstancePath as both FullName + BrowseName + ReadOnly→ViewOnly/writable→Operate. Pre-declared tags from TwinCATDriverOptions.Tags always emit regardless. Browse failure is non-fatal — exception caught + swallowed, pre-declared tags stay in the address space, operators see the failure in driver health on next read. TwinCATSystemSymbolFilter static class mirrors AbCipSystemTagFilter's shape with TwinCAT-specific prefixes. Fake client updated — BrowseResults list for test setup + FireNotification-style single-invocation on each subscribe, ThrowOnBrowse flag for failure testing. 8 new unit tests — strict path emits only pre-declared when EnableControllerBrowse=false, browse enabled adds Discovered/ folder, filter rejects system prefixes, null-DataType symbols skipped, ReadOnly symbols surface ViewOnly, browse failure leaves pre-declared intact, SystemSymbolFilter theory (10 cases). Total TwinCAT unit tests now 110/110 passing (+17 from the native-notification merge's 93); full solution builds 0 errors; other drivers untouched. 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-19 20:13:33 -04:00
Joseph Doherty
6c5b202910 TwinCAT follow-up — Native ADS notifications for ISubscribable. Closes task #189 — upgrades TwinCATDriver's subscription path from polling (shared PollGroupEngine) to native AdsClient.AddDeviceNotificationExAsync so the PLC pushes changes on its own cycle rather than the driver polling. Strictly better for latency + CPU — TC2 and TC3 runtimes notify on value change with sub-millisecond latency from the PLC cycle. ITwinCATClient gains AddNotificationAsync — takes symbolPath + TwinCATDataType + optional bitIndex + cycleTime + onChange callback + CancellationToken; returns an ITwinCATNotificationHandle whose Dispose tears the notification down on the wire. Bit-within-word reads supported — the parent word value arrives via the notification, driver extracts the bit before invoking the callback (same ExtractBit path as the read surface from PR 2). AdsTwinCATClient — subscribes to AdsClient.AdsNotificationEx in the ctor, maintains a ConcurrentDictionary<uint, NotificationRegistration> keyed on the server-side notification handle. AddDeviceNotificationExAsync returns Task<ResultHandle> with Handle + ErrorCode; non-NoError throws InvalidOperationException so the driver can catch + retry. Notification event args carry Handle + Value + DataType; lookup in _notifications dict routes the value through any bit-extraction + calls the consumer callback. Consumer-side exceptions are swallowed so a misbehaving callback can't crash the ADS notification thread. Dispose unsubscribes from AdsNotificationEx + clears the dict + disposes AdsClient. NotificationRegistration is ITwinCATNotificationHandle — Dispose fires DeleteDeviceNotificationAsync as fire-and-forget with CancellationToken.None (caller has already committed to teardown; blocking would slow shutdown). TwinCATDriverOptions.UseNativeNotifications — new bool, default true. When true the driver uses native notifications; when false it falls through to the shared PollGroupEngine (same semantics as other libplctag-backed drivers, also a safety valve for targets with notification limits). TwinCATDriver.SubscribeAsync dual-path — if UseNativeNotifications false delegate into _poll.Subscribe (unchanged behavior from PR 3). If true, iterate fullReferences, resolve each to its device's client via EnsureConnectedAsync (reuses PR 2's per-device connection cache), parse the SymbolPath via TwinCATSymbolPath (preserves bit-in-word support), call ITwinCATClient.AddNotificationAsync with a closure over the FullReference (not the ADS symbol — OPC UA subscribers addressed the driver-side name). Per-registration callback bridges (_, value) → OnDataChange event with a fresh DataValueSnapshot (Good status, current UtcNow timestamps). Any mid-registration failure triggers a try/catch that disposes every already-registered handle before rethrowing, keeping the driver in a clean never-existed state rather than half-registered. UnsubscribeAsync dispatches on handle type — NativeSubscriptionHandle disposes all its cached ITwinCATNotificationHandles; anything else delegates to _poll.Unsubscribe for the poll fallback. ShutdownAsync tears down native subs first (so AdsClient-level cleanup happens before the client itself disposes), then PollGroupEngine, then per-device probe CTS + client. NativeSubscriptionHandle DiagnosticId prefixes with twincat-native-sub- so Admin UI + logs can distinguish the paths. 9 new unit tests in TwinCATNativeNotificationTests — native subscribe registers one notification per tag, pushed value via FireNotification fires OnDataChange with the right FullReference (driver-side, not ADS symbol), unsubscribe disposes all notifications, unsubscribe halts future notifications, partial-failure cleanup via FailAfterNAddsFake (first succeeds, second throws → first gets torn down + Notifications count returns to 0 + AddCallCount=2 proving the test actually exercised both calls), shutdown disposes subscriptions, poll fallback works when UseNativeNotifications=false (no native handles created + initial-data push still fires), handle DiagnosticId distinguishes native vs poll. Existing poll-mode ISubscribable tests in TwinCATCapabilityTests updated with UseNativeNotifications=false so they continue testing the poll path specifically — both poll + native paths have test coverage now. TwinCATDriverTests got Probe.Enabled=false added because the default factory creates a real AdsClient which was flakily affected by parallel test execution sharing AMS router state. Total TwinCAT unit tests now 93/93 passing (+8 from PR 3's 85 counting the new native tests + 2 existing tests that got options tweaks). Full solution builds 0 errors; Modbus / AbCip / AbLegacy / other drivers untouched. TwinCAT driver is now feature-complete end-to-end — read / write / discover / native-subscribe / probe / host-resolve, with poll-mode as a safety valve. Unblocks closing task #120 for TwinCAT; remaining sub-task: FOCAS + task #188 (symbol-browsing — lower priority than FOCAS since real config flows still use pre-declared tags). 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-19 18:49:48 -04:00
Joseph Doherty
aeb28cc8e7 TwinCAT PR 3 — ITagDiscovery + ISubscribable + IHostConnectivityProbe + IPerCallHostResolver. Completes the TwinCAT driver — 7-interface capability set matching AbCip / AbLegacy (minus IAlarmSource, same deferral). ITagDiscovery emits pre-declared tags under TwinCAT/device-host folder with DeviceName fallback to HostAddress; Writable→Operate / non-writable→ViewOnly. Symbol-browsing via AdsClient.ReadSymbolsAsync / ReadSymbolInfoAsync deferred to a follow-up (same shape as the @tags deferral for AbCip — needs careful traversal of the TwinCAT symbol table + type graph which the ReadSymbolsAsync API does expose but adds enough scope to warrant its own PR). ISubscribable consumes the shared PollGroupEngine — 4th consumer after Modbus + AbCip + AbLegacy. TwinCAT supports native ADS notifications (AddDeviceNotification) which would be strictly superior to polling, but plumbing through OPC UA semantics + the PollGroupEngine abstraction would require a parallel sampling path; poll-first matches the cross-driver pattern + gets the driver shippable. Follow-up task for native-notification upgrade tracked after merge. IHostConnectivityProbe — per-device probe loop using ITwinCATClient.ProbeAsync which wraps AdsClient.ReadStateAsync (cheap handshake that returns the target's AdsState, succeeds when router + target both respond). Success transitions to Running, any exception or probe-false to Stopped. Same lazy-connect + dispose-on-failure pattern as the read/write path — device state reconnects cleanly after a transient. IPerCallHostResolver maps tag full-ref to DeviceHostAddress for Phase 6.1 (DriverInstanceId, ResolvedHostName) bulkhead/breaker keying per plan decision #144; unknown refs fall back to first device, no devices → DriverInstanceId. ShutdownAsync disposes PollGroupEngine + cancels/disposes every probe CTS + disposes every cached client. DeviceState extended with ProbeLock / HostState / HostStateChangedUtc / ProbeCts matching AbCip/AbLegacy shape. 10 new tests in TwinCATCapabilityTests — discovery tag emission with correct SecurityClassification, subscription initial poll raises OnDataChange, shutdown cancels subscriptions, GetHostStatuses entry-per-device, probe Running transition on ProbeResult=true, probe Stopped on ProbeResult=false, probe disabled when Enabled=false, ResolveHost for known/unknown/no-devices paths. Total TwinCAT unit tests now 85/85 passing (+10 from PR 2's 75); full solution builds 0 errors; other drivers untouched. TwinCAT driver complete end-to-end — any TC2/TC3 AMS target reachable through a router is now shippable with read/write/discover/subscribe/probe/host-resolve, feature-parity with AbCip/AbLegacy. 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-19 18:36:55 -04:00
Joseph Doherty
28e3470300 TwinCAT PR 2 — IReadable + IWritable. ITwinCATClient + ITwinCATClientFactory abstraction — one client per AMS target, reused across reads/writes/probes. Shape differs from AbCip/AbLegacy where libplctag handles are per-tag — TwinCAT's AdsClient is a single connection with symbolic reads/writes issued against it, so the abstraction is coarser. AdsTwinCATClient is the default implementation wrapping Beckhoff.TwinCAT.Ads's AdsClient — ConnectAsync calls AdsClient.Connect(AmsNetId.Parse(netId), port) after setting Timeout in ms; ReadValueAsync dispatches TwinCATDataType to the CLR Type via MapToClrType (bool/sbyte/byte/short/ushort/int/uint/long/ulong/float/double/string/uint for time types) and calls AdsClient.ReadValueAsync(symbol, type, ct) which returns ResultAnyValue; unwraps .Value + .ErrorCode and maps non-NoError codes via TwinCATStatusMapper.MapAdsError. BOOL-within-word reads extract the bit after the underlying word read using ExtractBit over short/ushort/int/uint/long/ulong. WriteValueAsync converts the boxed value via ConvertForWrite (Convert.ToXxx per type) then calls AdsClient.WriteValueAsync returning ResultWrite; checks .ErrorCode for status mapping. BOOL-within-word writes throw NotSupportedException with a pointer to task #181 — same RMW gap as Modbus BitInRegister / AbCip BOOL-in-DINT / AbLegacy bit-within-N-file. ProbeAsync calls AdsClient.ReadStateAsync + checks AdsErrorCode.NoError. TwinCATDriver implements IReadable + IWritable — per-device ITwinCATClient cached in DeviceState.Client, lazy-connected on first read/write via EnsureConnectedAsync, connect-failure path disposes + clears the client so next call re-attempts cleanly. ReadAsync ordered-snapshot pattern matching AbCip/AbLegacy: unknown ref → BadNodeIdUnknown, unknown device → BadNodeIdUnknown, OperationCanceledException rethrow, any other exception → BadCommunicationError + Degraded health. WriteAsync similar — non-Writable tag → BadNotWritable upfront, NotSupportedException → BadNotSupported, FormatException/InvalidCastException (guard pattern) → BadTypeMismatch, OverflowException → BadOutOfRange, generic → BadCommunicationError. Symbol name resolution goes through TwinCATSymbolPath.TryParse(def.SymbolPath) with fallback to the raw def.SymbolPath if the path doesn't parse — the Beckhoff AdsClient handles the final validation at wire time. ShutdownAsync disposes each device's client. 14 new unit tests in TwinCATReadWriteTests using FakeTwinCATClient + FakeTwinCATClientFactory — unknown ref → BadNodeIdUnknown, successful DInt read with Good status + captured value + IsConnected=true after EnsureConnectedAsync, repeat reads reuse the connection (one Connect + multiple reads), ADS error code mapping via FakeTwinCATClient.ReadStatuses, read exception → BadCommunicationError + Degraded health, connect exception disposes the client, batched reads preserve order across DInt/Real/String types, non-Writable rejection, successful write logs symbol+type+value+bit for test inspection, write status-code mapping, write exception → BadCommunicationError, batch preserves order across success/non-writable/unknown, cancellation propagation, ShutdownAsync disposes the client. Total TwinCAT unit tests now 75/75 passing (+14 from PR 1's 61); full solution builds 0 errors; Modbus / AbCip / AbLegacy / other drivers untouched. 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-19 18:33:03 -04:00
Joseph Doherty
cd2c0bcadd 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. 
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-19 18:26:29 -04:00