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8 Commits

Author SHA1 Message Date
Joseph Doherty
69e0d02c72 task-galaxy-e2e branch — non-FOCAS work-in-progress snapshot 
Catch-all commit for pending work on the task-galaxy-e2e branch that
wasn't part of the FOCAS migration. Grouping by topic so future per-topic
commits can be cherry-picked if needed.

TwinCAT
- src/.../Driver.TwinCAT/AdsTwinCATClient.cs + TwinCATDriverFactoryExtensions.cs:
  factory-registration extensions + ADS client refinements.
- src/.../Driver.TwinCAT.Cli/Commands/BrowseCommand.cs: new browse command
  for the TwinCAT test-client CLI.
- tests/.../Driver.TwinCAT.IntegrationTests/TwinCAT3SmokeTests.cs + TwinCatProject/:
  fixture scaffold with a minimal POU + README pointing at the TCBSD/ESXi
  VM for e2e.
- docs/Driver.TwinCAT.Cli.md + docs/drivers/TwinCAT-Test-Fixture.md:
  documentation for the above.
- docs/v3/twincat-backlog.md: forward-looking backlog seed.

Admin UI + fleet status
- src/.../Admin/Components/Pages/Clusters/DriversTab.razor + Hosts.razor:
  UI refresh for fleet-status rendering.
- src/.../Admin/Hubs/FleetStatusHub.cs + FleetStatusPoller.cs +
  Admin/Program.cs: SignalR hub + poller plumbing for live fleet data.
- tests/.../Admin.Tests/FleetStatusPollerTests.cs: poller coverage.

Server + redundancy runtime (Phase 6.3 follow-ups)
- src/.../Server/Hosting/RedundancyPublisherHostedService.cs: HostedService
  that owns the RedundancyStatePublisher lifecycle + wires peer reachability.
- src/.../Server/Redundancy/ServerRedundancyNodeWriter.cs: OPC UA
  variable-node writer binding ServiceLevel + ServerUriArray to the
  publisher's events.
- src/.../Server/Program.cs + Server.csproj: hosted-service registration.
- tests/.../Server.Tests/ServerRedundancyNodeWriterTests.cs +
  Server.Tests.csproj: coverage for the above.

Configuration
- src/.../Configuration/Validation/DraftValidator.cs +
  tests/.../Configuration.Tests/DraftValidatorTests.cs: draft-validation
  refinements.

E2E scripts (shared infrastructure)
- scripts/e2e/README.md + _common.ps1 + test-all.ps1: shared helpers + the
  all-drivers test-all runner.
- scripts/e2e/test-opcuaclient.ps1: OPC UA Client e2e runner.

Docs
- docs/v2/implementation/phase-6-{1,2,3,4}*.md + exit-gate-phase-{3,7}.md:
  phase-gate + implementation doc updates.
- docs/v2/plan.md: top-level plan refresh.
- docs/v2/redundancy-interop-playbook.md: client interop playbook for the
  Phase 6.3 redundancy-runtime work.

Two orphan FOCAS docs remain on disk but deliberately unstaged —
docs/v2/focas-deployment.md and docs/v2/implementation/focas-simulator-plan.md
describe the now-retired Tier-C topology and should either be rewritten
or deleted in a follow-up.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-24 14:12:19 -04:00
Joseph Doherty
4b0664bd55 FOCAS — retire Tier-C split, inline managed wire client, make read-only 
Migration closes the FOCAS Tier-C architecture. OtOpcUa previously had
`Driver.FOCAS.Host` (NSSM-wrapped Windows service loading Fwlib64.dll via
P/Invoke) + `Driver.FOCAS.Shared` (MessagePack IPC contracts) + a C shim
DLL stand-in for unit tests. All of it is deleted; the driver is now a
single in-process managed assembly talking the FOCAS/2 Ethernet binary
protocol directly on TCP:8193.

Architecture

- Pure-managed `FocasWireClient` inlined at `src/.../Driver.FOCAS/Wire/`
  (owner-imported — see Wire/FocasWireClient.cs for the full surface).
  Opens two TCP sockets, runs the initiate handshake, serialises requests
  on socket 2 through a semaphore, closes cleanly with PDU + socket
  teardown. Both sync `IDisposable` and async `IAsyncDisposable`.
- `WireFocasClient` (same folder) adapts the wire client to OtOpcUa's
  `IFocasClient` surface — fixed-tree reads, PARAM/MACRO/PMC addresses,
  alarms. Writes return `BadNotWritable` by design — OtOpcUa is read-only
  against FOCAS.
- `FocasDriverFactoryExtensions` now accepts `"Backend": "wire"` (default)
  and `"Backend": "unimplemented"`. Legacy `ipc` and `fwlib` backends are
  rejected at startup with a diagnostic pointing at the migration doc.

Deletions

- `src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Host/` — whole project + Ipc/,
  Backend/, Stability/, Program.cs.
- `src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Shared/` — Contracts/, FrameReader,
  FrameWriter, whole project.
- `tests/...Driver.FOCAS.Host.Tests/` + `.Shared.Tests/` — whole projects.
- `src/.../Driver.FOCAS/FwlibNative.cs` + `FwlibFocasClient.cs` — 21
  P/Invokes + 7 `Pack=1` marshalling structs + the Fwlib-backed
  `IFocasClient` implementation.
- `src/.../Driver.FOCAS/Ipc/` + `Supervisor/` — IPC client wrapper +
  Host-process supervisor (backoff, circuit breaker, heartbeat, post-
  mortem reader, process launcher).
- `scripts/install/Install-FocasHost.ps1` — NSSM service installer.
- `tests/.../Driver.FOCAS.Tests/{IpcFocasClientTests, IpcLoopback,
  FwlibNativeHelperTests, PostMortemReaderCompatibilityTests,
  SupervisorTests, FocasDriverFactoryExtensionsTests}.cs` — tests that
  exercised the retired surfaces.
- `tests/.../Driver.FOCAS.IntegrationTests/Shim/` — the zig-built C shim
  DLL that masqueraded as Fwlib64.dll.

Solution changes

- `ZB.MOM.WW.OtOpcUa.slnx` drops the 4 retired project refs.
- `src/.../Driver.FOCAS.csproj` drops the Shared ProjectReference, adds
  `Microsoft.Extensions.Logging.Abstractions` for the optional `ILogger`
  hook in `FocasWireClient`.
- `src/.../Driver.FOCAS.Cli.csproj` drops the six `<Content Include>`
  entries that copied `vendor/fanuc/*.dll` into the CLI bin. CLI now uses
  `WireFocasClient` directly.
- `FocasDriver` default factory flips to `Wire.WireFocasClientFactory`.

Integration tests

- New `tests/.../Driver.FOCAS.IntegrationTests/` project covering fixed-
  tree reads (identity, axes, dynamic, program, operation mode, timers,
  spindle load + max RPM, servo meters), user-authored PARAM / MACRO /
  PMC reads, `DiscoverAsync` emission, `SubscribeAsync` + `OnDataChange`,
  `IAlarmSource` raise/clear transitions, and `ProbeAsync` /
  `OnHostStatusChanged`. 9 e2e tests against the focas-mock fixture
  (Docker container with the vendored Python mock's native FOCAS/2
  Ethernet responder).
- `scripts/integration/run-focas.ps1` orchestrates compose up → tests →
  compose down. Dropped the shim-build stage + DLL-copy step + the split
  testhost workaround (the latter only existed because of native-DLL
  lifecycle bugs the shim tripped).
- Docker compose collapses from 11 per-series services to one `focas-sim`
  service. Tests seed per-series state via `mock_load_profile` at test
  start.
- Vendored focas-mock snapshot refreshed to pick up upstream's native
  FOCAS/2 Ethernet responder (was 660 lines, now 1018) — the
  pre-refresh snapshot only spoke the JSON admin protocol.

Tests

- 145/145 unit tests in `Driver.FOCAS.Tests` pass (was 208 pre-deletion;
  63 removed tests exercised the retired IPC/shim/supervisor/Fwlib
  surfaces).
- 9/9 integration tests pass against the refreshed mock.
- `FocasScaffoldingTests.Unimplemented_factory_throws_on_Create…` updated
  to assert the new diagnostic message pointing at
  `docs/drivers/FOCAS.md` rather than the now-gone `Fwlib64.dll`.

Docs

- `docs/drivers/FOCAS.md` rewritten for the managed wire topology —
  deployment collapses to one `"Backend": "wire"` config block, no
  separate service, no DLL deployment, no pipe ACL.
- `docs/drivers/FOCAS-Test-Fixture.md` updated — single TCP probe skip
  gate instead of TCP + shim probe; fewer moving parts.
- `docs/drivers/README.md` row for FOCAS reflects the Tier-A managed
  topology (previously listed Tier-C + `Fwlib64.dll` P/Invoke).
- `docs/Driver.FOCAS.Cli.md` drops the Tier-C architecture-note section.
- `docs/v2/implementation/focas-isolation-plan.md` marked historical —
  the plan it documents was executed then superseded by the wire client.
- `docs/v2/v2-release-readiness.md` re-audited 2026-04-24. Phase 5
  driver complement closed. FOCAS change-log entry added.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-24 14:10:59 -04:00
Joseph Doherty
5fc596a9a1 E2E test script — Galaxy (MXAccess) driver: read / write / subscribe / alarms / history 
Seven-stage e2e script covering every Galaxy-specific capability surface:
IReadable + IWritable + ISubscribable + IAlarmSource + IHistoryProvider.
Unlike the other drivers there is no per-protocol CLI — Galaxy's proxy
lives in-process with the server + talks to OtOpcUaGalaxyHost over a
named pipe (MXAccess COM is 32-bit-only), so every stage runs through
`otopcua-cli` against the published OPC UA address space.

## Stages

1. Probe                   — otopcua-cli read on the source NodeId
2. Source read             — capture value for downstream comparison
3. Virtual-tag bridge      — Phase 7 VirtualTag (source × 2) through
                             CachedTagUpstreamSource
4. Subscribe-sees-change   — data-change events propagate
5. Reverse bridge          — opc-ua write → Galaxy; soft-passes if the
                             attribute's Galaxy-side ACL forbids writes
                             (`BadUserAccessDenied` / `BadNotWritable`)
6. Alarm fires             — scripted-alarm Condition fires with Active
                             state when source crosses threshold
7. History read            — historyread returns samples from the Aveva
                             Historian → IHistoryProvider path

## Two new helpers in _common.ps1

- `Test-AlarmFiresOnThreshold` — start `otopcua-cli alarms --refresh`
  in the background on a Condition NodeId, drive the source change,
  assert captured stdout contains `ALARM` + `Active`. Uses the same
  Start-Process + temp-file pattern as `Test-SubscribeSeesChange` since
  the alarms command runs until Ctrl+C (no built-in --duration).
- `Test-HistoryHasSamples` — call `otopcua-cli historyread` over a
  configurable lookback window, parse `N values returned.` marker, fail
  if below MinSamples. Works for driver-sourced, virtual, or scripted-
  alarm historized nodes.

## Wiring

- `test-all.ps1` picks up the optional `galaxy` sidecar section and
  runs the script with the configured NodeIds + wait windows.
- `e2e-config.sample.json` adds a `galaxy` section seeded with the
  Phase 7 defaults (`p7-smoke-tag-source` / `-vt-derived` /
  `-al-overtemp`) — matches `scripts/smoke/seed-phase-7-smoke.sql`.
- `scripts/e2e/README.md` expected-matrix gains a Galaxy row.

## Prereqs

- OtOpcUaGalaxyHost running (NSSM-wrapped) with the Galaxy + MXAccess
  runtime available
- `seed-phase-7-smoke.sql` applied with a live Galaxy attribute
  substituted into `dbo.Tag.TagConfig`
- OtOpcUa server running against the `p7-smoke` cluster
- Non-elevated shell (Galaxy.Host pipe ACL denies Admins)

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-21 12:59:06 -04:00
Joseph Doherty
95c7e0b490 Task #222 partial — unblock AB Legacy PCCC via cip-path workaround (5/5 stages) 
Replaced the "ab_server PCCC upstream-broken" skip gate with the actual
root cause: libplctag's ab_server rejects empty CIP routing paths at the
unconnected-send layer before the PCCC dispatcher runs. Real SLC/
MicroLogix/PLC-5 hardware accepts empty paths (no backplane); ab_server
does not. With `/1,0` in place, N (Int16), F (Float32), and L (Int32)
file reads + writes round-trip cleanly across all three compose profiles.

## Fixture changes

- `AbLegacyServerFixture.cs`:
  - Drop `AB_LEGACY_TRUST_WIRE` env var + the reachable-but-untrusted
    skip branch. Fixture now only skips on TCP unreachability.
  - Add `AB_LEGACY_CIP_PATH` env var (default `1,0`) + expose `CipPath`
    property. Set `AB_LEGACY_CIP_PATH=` (empty) against real hardware.
  - Shorter skip messages on the `[AbLegacyFact]` / `[AbLegacyTheory]`
    attributes — one reason: endpoint not reachable.

- `AbLegacyReadSmokeTests.cs`:
  - Device URI built from `sim.CipPath` instead of hardcoded empty path.
  - New `AB_LEGACY_COMPOSE_PROFILE` env var filters the parametric
    theory to the running container's family. Only one container binds
    `:44818` at a time, so cross-family params would otherwise fail.
  - `Slc500_write_then_read_round_trip` skips cleanly when the running
    profile isn't `slc500`.

## E2E + seed + docs

- `scripts/e2e/test-ablegacy.ps1` — drop the `AB_LEGACY_TRUST_WIRE`
  skip gate; synopsis calls out the `/1,0` vs empty cip-path split
  between the Docker fixture and real hardware.
- `scripts/e2e/e2e-config.sample.json` — sample gateway flipped from
  the hardware placeholder (`192.168.1.10`) to the Docker fixture
  (`127.0.0.1/1,0`); comment rewritten.
- `scripts/e2e/README.md` — AB Legacy expected-matrix row goes from
  SKIP to PASS.
- `scripts/smoke/seed-ablegacy-smoke.sql` — default HostAddress points
  at the Docker fixture + header / footer text reflect the new state.
- `tests/.../Docker/README.md` — "Known limitations" section rewritten
  to describe the cip-path gate (not a dispatcher gap); env-var table
  picks up `AB_LEGACY_CIP_PATH` + `AB_LEGACY_COMPOSE_PROFILE`.
- `docs/drivers/AbLegacy-Test-Fixture.md` + `docs/drivers/README.md`
  + `docs/DriverClis.md` — flip status from blocked to functional;
  residual bit-file-write gap (B3:0/5 → 0x803D0000) documented.

## Residual gap

Bit-file writes (`B3:0/5` style) surface `0x803D0000` against
`ab_server --plc=SLC500`; bit reads work. Non-blocking for smoke
coverage — N/F/L round-trip is enough. Real hardware / RSEmulate 500
for bit-write fidelity. Documented in `Docker/README.md` §"Known
limitations" + the `AbLegacy-Test-Fixture.md` follow-ups list.

## Verified

- Full-solution build: 0 errors, 334 pre-existing warnings.
- Integration suite passes per-profile with
  `AB_LEGACY_COMPOSE_PROFILE=<slc500|micrologix|plc5>` + matching
  compose container up.
- All four non-hardware e2e scripts (Modbus / AB CIP / AB Legacy / S7)
  now 5/5 against the respective docker-compose fixtures.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-21 12:38:43 -04:00
Joseph Doherty
2666a598ae Task #253 follow-up — fix test-all.ps1 StrictMode crash on missing JSON keys 
Running `test-all.ps1` end-to-end with a partial sidecar (only modbus/
abcip/s7 populated, no focas/twincat/phase7) crashed:

    [FAIL] modbus runner crashed: The property 'opcUaUrl' cannot be
    found on this object. Verify that the property exists.

Root cause: `_common.ps1` sets `Set-StrictMode -Version 3.0`, which
turns missing-property access on PSCustomObject into a throw. Every
`$config.<driver>.<optional-field> ?? $default` and `if
($config.<missing-section>)` check is therefore unsafe against a
normal JSON where optional fields are omitted.

Fix: switch to `ConvertFrom-Json -AsHashtable` and add a `Get-Or`
helper. Hashtables tolerate `.ContainsKey()` / indexer access even
under StrictMode, so the per-driver sections now read:

    $modbus = Get-Or $config "modbus"
    if ($modbus) {
        ... -OpcUaUrl (Get-Or $modbus "opcUaUrl" $OpcUaUrl) ...
    }

Verified end-to-end with live docker-compose fixtures:
 - Modbus / AB CIP / S7 each run to completion, report 2/5 PASS (the
   driver-only stages) and FAIL the 3 server-bridge stages (expected —
   server-side factory wiring is blocked on #209).
 - The FINAL MATRIX header renders cleanly with SKIP rows for the
   drivers not present in the sidecar + FAIL rows for the present ones.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-21 10:55:15 -04:00
Joseph Doherty
fe981b0b7f Task #253 follow-up — driver-side e2e debug: port fixes + HR[200] scratch register 
Ran the driver CLIs against the live docker-compose fixtures to debug
what actually works. Two real bugs surfaced:

1. `e2e-config.sample.json` pointed at the wrong simulator ports:
     - Modbus: 5502 → **5020** (pymodbus compose binding)
     - S7:      102 → **1102** (python-snap7, non-priv port)
     - AbCip:   no port → now explicit **:44818**
   `test-modbus.ps1` default `-ModbusHost` also shipped with 5502;
   fixed to 5020.

2. Modbus loopback was off-by-2 because pymodbus `standard.json` makes
   HR[100] an auto-increment register (value ticks on every poll).
   Switched `test-modbus.ps1` to **HR[200]** (scratch range in the
   profile) + updated sample config `bridgeNodeId` to match.

Also fixed the AbCip probe: `-t @raw_cpu_type` was rejected by the
driver's TagPath parser ("malformed TagPath"). Probe now uses the
user-supplied `-TagPath` for every family. Works against both
ab_server and real controllers.

Verified driver-side against live containers:
 - Modbus  5020:  probe ✓, HR[200] write+read round-trip ✓
 - AB CIP  44818: probe ✓, TestDINT write+read round-trip ✓
 - S7      1102:  probe ✓, DB1.DBW0 write+read round-trip ✓

## Known blocker (stages 3-5)

README now flags — and the 4 child issues under umbrella #209 track —
that `src/ZB.MOM.WW.OtOpcUa.Server/Program.cs:98-104` only registers
Galaxy + FOCAS driver factories. `DriverInstanceBootstrapper` silently
skips any `DriverType` without a registered factory, so stages 3-5
(anything crossing the OPC UA server) can't work today even with a
perfect Config DB seed. Issues #210-213 scope the factory + seed SQL
work per driver.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-21 10:31:55 -04:00
Joseph Doherty
a9b585ac5b Task #253 follow-up — bidirectional + subscribe-sees-change e2e stages 
The original three-stage design (probe / driver-loopback / forward-
bridge) only proved driver-write → server-read. It missed:

 - OPC UA write → server → driver → PLC (the reverse direction)
 - server-side data-change notifications actually firing (a stale
   subscription can still let a read-after-the-fact return the new
   value and look fine)

Extend _common.ps1 with two helpers:

 - Test-OpcUaWriteBridge: otopcua-cli write the NodeId -> wait 3s ->
   driver CLI read the PLC side, assert equality.
 - Test-SubscribeSeesChange: Start-Process otopcua-cli subscribe in the
   background with --duration N, settle 2s, driver-side write, wait for
   the subscription window to close, assert captured stdout contains
   the new value.

Wire both into test-modbus / test-abcip / test-ablegacy / test-s7 /
test-focas / test-twincat after the existing forward-bridge stage.
Update README to describe the five-stage design + note that the
published NodeId must be writable for stages 4 + 5.

Also prepend UTF-8 BOM to every script in scripts/e2e so Windows
PowerShell 5.1 parsers agree on em-dash byte sequences the way
PowerShell 7 already does. The scripts still #Requires -Version 7.0 —
the BOM is purely defensive for IDE / CI step parsers.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-21 10:08:52 -04:00
Joseph Doherty
8d92e00e38 Task #253 — E2E CLI test scripts + FOCAS test-client CLI 
The driver-layer integration tests confirm the driver sees the PLC, and
the Client.CLI tests confirm the client sees the server. Nothing glued
them end-to-end until this PR.

- scripts/e2e/_common.ps1: shared helpers — CLI invocation (published-
  binary OR `dotnet run` fallback), Test-Probe / Test-DriverLoopback /
  Test-ServerBridge (all return @{Passed;Reason} hashtables).
- scripts/e2e/test-<modbus|abcip|ablegacy|s7|focas|twincat>.ps1: per-
  driver three-stage script (probe → driver-loopback → server-bridge).
  AB Legacy / FOCAS / TwinCAT are gated behind *_TRUST_WIRE env vars
  since they need real hardware (#222) or a licensed runtime (#221).
- scripts/e2e/test-phase7-virtualtags.ps1: writes a Modbus HR, reads
  the server-side VirtualTag (VT = input * 2) back via OPC UA, triggers
  + clears a scripted alarm. Exercises the Phase 7 CachedTagUpstreamSource
  + ScriptedAlarmEngine path.
- scripts/e2e/test-all.ps1: reads e2e-config.json sidecar, runs each
  present driver, prints a FINAL MATRIX (PASS/FAIL/SKIP). Missing
  sections SKIP rather than fail hard.
- scripts/e2e/e2e-config.sample.json: commented sample — each dev's
  NodeIds are local-seed-specific so e2e-config.json is .gitignore-d.
- scripts/e2e/README.md: full walkthrough — prereqs, three-stage design,
  env-var gates, expected matrix, why this is separate from `dotnet test`.

Tasks #249-#251 shipped Modbus/AbCip/AbLegacy/S7/TwinCAT CLIs but left
FOCAS out. Since test-focas.ps1 needs it, the 6th CLI ships here:

- src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Cli: probe/read/write/subscribe
  commands, AssemblyName `otopcua-focas-cli`. WriteCommand.ParseValue
  handles the full FocasDataType enum (Bit/Byte/Int16/Int32/Float32/
  Float64/String — no UInt variants; the FOCAS protocol exposes signed
  PMC + Fanuc-Float only). Default DataType is Int16 to match the PMC
  register convention.

Full-solution build clean (0 errors). FOCAS CLI wired into
ZB.MOM.WW.OtOpcUa.slnx. No .Tests project for the FOCAS CLI yet —
symmetric with how ProbeCommand has no unit-testable pure logic in the
other 5 CLIs either; WriteCommand.ParseValue parity will land in a
follow-up to keep this PR scoped.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-21 09:51:13 -04:00