FOCAS.md: positions scale from each block's own base/exponent and
PositionDecimalPlaces is only the scale-less fallback; cnc_getfigure is gone;
Spindle Load/MotorSpeedPct are Float64 percentages (MaxRpm renamed); program
fields the CNC does not report read BadNoData; the #548 Makino 'AA' duplicates
were a 2-byte name decode (now AA6/AA7). New 'Wire decode corrections (2026-10)'
table lists each before/after with client-visible changes flagged, plus what
was deliberately not ported and why. Troubleshooting rows for BadNoData and
integer-macro BadTypeMismatch. Test-fixture doc follows the mock changes.
A CNC can report duplicate sibling names — the wonder Makino returns two
axes both called AA — which made the Axes/ subtree untrustworthy: the
browser offered two identical folders the commit gate had to refuse, and
the poll loop's name-keyed snapshot cache let the second axis silently
overwrite the first. Spindles and servo loads had the same collision in
their own keying, plus a resolve-to-first-match on the spindle read path.
Scheme: every member of a collision set gets a 1-based occurrence-ordinal
suffix in slot order (AA_1, AA_2); unique names stay bare. Chosen over the
alternatives deliberately:
- Names, not slot numbers, stay the primary identity — the segment map is
re-derived from the live device each session, so a name-keyed path
follows the physical axis across config changes, where a slot-qualified
path would silently rebind on any axis-list shift and rename every axis
on every machine for one pathological CNC.
- The WHOLE collision set is suffixed: bare AA ceases to exist when
ambiguous, so a tag authored against it reads BadNodeIdUnknown rather
than one arbitrary axis's data — the #534/#540 silent-wrongness class.
- Occurrence ordinal, not absolute slot: inserting/removing an unrelated
axis never renames an existing duplicate pair. If the collision-set
membership itself changes, segments change on the next browse and stale
authored segments read Bad, never another axis's data.
One pure helper (FixedTreeNames.Disambiguate, collision-proof against
genuine names by suffix escalation) feeds FocasFixedTreeCache.AxisSegments
/ SpindleSegments, and the emitter, axis snapshot keys, servo-load keys
(cnc_rdsvmeter answers in slot order, so the k-th AA load belongs to the
k-th AA axis) and the spindle read resolution all consume those — they can
no longer disagree. The nameless-spindle S{n} fallback applies before
disambiguation so a fallback name colliding with a real one is handled
like any other duplicate.
Tests are red-first on the pre-fix driver (all five driver-level tests
fail on master's code): browse emits AA_1/AA_2 and no bare AA, each
duplicate reads its own position and servo load, duplicate spindles
resolve per slot, bare AA reads Bad. The wire half runs live against
focas-mock (duplicate names survive the managed wire parse and publish as
suffixed segments); the mock's dynamic store is name-keyed so the
distinct-values half stays with the offline tests. FOCAS 327/327,
integration 11/11, FOCAS.Cli 52, AdminUI 1113, ControlPlane 231.
Closes#548.
Claude-Session: https://claude.ai/code/session_014WNM4vjoVksyyBraTXSZE1
Authoring FOCAS tags through /raw -> Browse device... produced tags the driver
could never read. Every committed tag read BadNodeIdUnknown forever, and the
failure was silent end to end: the AdminUI accepted it, the deploy gate sealed
green, and the driver reported Healthy with 0 errors while ignoring the tags.
Net effect: the whole fixed-tree surface could not be published through any v3
authoring path. Found cutting wonder-app-vd03 over to v3 against a real Makino
Pro 5 / Fanuc 30i, where 0 of 20 committed tags read while two hand-authored
MACRO: tags on the same device read Good.
A captured browse leaf's id IS its DriverAttributeInfo.FullName, and the fixed
tree emitted "{deviceHost}/{path}" there -- an internal cache key, not an
address. Both authoring paths wrote it verbatim into TagConfig.address, and
FocasAddress.TryParse accepts no such form, so the driver skipped the tags at
init.
Fixed at the emitter rather than by stripping the host at commit, which fixes
the browse-commit flow and the manual picker's tree-select together and leaves
one canonical address form:
- FocasAddress gains a fourth kind, FIXED:<path>, and moves to Contracts so the
AdminUI and ControlPlane can parse without referencing the runtime driver
(#526). A FIXED: read is served from the fixed-tree snapshot the poll loop
already maintains -- no area read, no connection. Writes refuse: nothing in
that tree is a writable location on the CNC.
- The address carries no device. A tag's device comes from its Device row, and
a second routing channel for one fact is what created this defect.
- An authored FIXED: tag arms the fixed-tree poll loop by itself. Enabled
defaults false and the browser force-enables it only for a browse, so the
operator would otherwise browse, commit, deploy, and land on a driver whose
loop never starts -- every tag Bad with a correct address.
- Fixed-tree values are now dated from the last answered poll and go
BadCommunicationError once it is stale (8 cadences, floored at 30s). The poll
loop swallows a failed tick by design, so a dead CNC would otherwise serve its
last snapshot as Good indefinitely -- harmless while nothing could bind to the
tree, not harmless now.
Guardrails, so this class cannot recur silently:
- FocasTagConfigModel.Validate() runs the real parser instead of a non-empty
check, and FocasTagDefinitionFactory.Inspect() warns at the deploy gate, which
covers CSV/API config that never touches the modal.
- The manual picker offered axis/spindle/program/status "parameter groups" --
none of which is a FOCAS addressing space -- and its own default value,
axis:5, was unusable. It now composes PMC / PARAM: / MACRO: through
FocasAddress, so what it emits is parseable by construction.
Tests assert addresses ROUND-TRIP through the parser rather than matching an
expected string: the previous FocasAddressBuilderTests pinned "axis:5" exactly,
which is how a green suite coexisted with a picker nobody could use. Verified
red-first against the old emitter. FOCAS 308, AdminUI 1095, ControlPlane 169,
Core 581 -- all pass, 0 warnings.
The remaining half of #540 -- a driver reporting Healthy/0 errors while
skipping tags at init -- is fleet-wide (eight drivers do this) and is filed
separately rather than patched per-driver.
First real FOCAS hardware contact (Makino Pro 5 / 31i-B @ 10.201.31.5). A full
v3 data-PDU capture corrected the initial diagnosis: the v3 block envelope is
identical to v1, so only specific payload structs / request math / one client
robustness gap were wrong — not "framing rewrites".
Fixes (all re-validated live through the fixed driver):
- version gate: accept inbound PDU {1,3}, keep emitting v1 (FocasWireProtocol).
- cnc_rdtimer: 8-byte {minute,msec} payload is little-endian (ParseTimer) — the
only decode with an in-range msec field.
- pmc_rdpmcrng: request range widened to the data-type byte width
(end = start + width - 1) so a Word/Long isn't truncated to 0 values
(was spurious BadOutOfRange); decode extracted to ParsePmcRange.
- cnc_rdsvmeter: per-axis LOADELM is 8 bytes (not 12) and names come from the
0x0089 block — ParseServoMeters fixes the misaligned 655360 garbage. Also the
"hang" was NetworkStream.ReadAsync not aborting a stalled socket: ReadExactlyAsync
now disposes the stream on cancellation so a stalled peer can't wedge a poll loop.
- cnc_rddynamic2: contract guard rejecting axis < 1 (driver poll already 1-based).
- FocasDriverProbe: run a real wire session (initiate + cnc_statinfo) instead of
degrading to Ok=true "TCP reachability only" when FWLIB is absent — a bare TCP
listener no longer reports HEALTHY.
cnc_rdparam (0x000e) is unsupported on this control — EW_FUNC across 14
request-framing variants x 4 known-present params; needs a reference FWLIB trace
or is restricted. Deferred (deployed config uses macros, not parameters).
Tests: FOCAS suite 234 green (+16), full solution builds 0 errors. Raw v3
captures checked in under tests/.../Fixtures/v3/. Capture tools under scripts/focas/.
Docs: docs/plans/2026-06-25-focas-pdu-v3-{30i-b-support,implementation-plan}.md,
docs/drivers/FOCAS.md, docs/v2/focas-version-matrix.md,
docs/deployments/wonder-app-vd03-makino-z-34184.md.
Rewrite src/ and tests/ project paths in docs, CLAUDE.md, README.md, and
test-fixture READMEs to the new module-folder layout (Core/Server/Drivers/
Client/Tooling). References to retired v1 projects (Galaxy.Host/Proxy/Shared,
the legacy monolithic test projects) are left untouched.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
- docs/drivers/FOCAS.md and docs/v2/implementation/focas-wire-protocol.md
pointed at focas-deployment.md and focas-simulator-plan.md, both of
which were untracked drafts that have since been removed. Drop the
refs (the wire-protocol companion now stands on its own; deployment
guidance lives inline in the FOCAS driver doc).
- Link the orphan v2 design docs from docs/README.md (multi-host
dispatch, v2 release readiness, the historical lmx-followups tracker)
and from modbus-test-plan.md (s7.md, mitsubishi.md per-family quirk
catalogs, sibling to dl205.md).
Surfaced by the doc audit; no content changes.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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>
Joseph Doherty