edee47d77fd588318039ca99e07b29ca66f46a40
2 Commits
| Author | SHA1 | Message | Date | |
|---|---|---|---|---|
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>
|
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|
Joseph Doherty
|
a6be2f77b5 |
FOCAS version-matrix stabilization (PR 1 of #220 split) — ship the cheap half of the hardware-free stability gap ahead of the Tier-C out-of-process split. Without any CNC or simulator on the bench, the highest-leverage move is to catch operator config errors at init time instead of at steady-state per-read. Adds FocasCncSeries enum (Unknown/16i/0i-D/0i-F family/30i family/PowerMotion-i) + FocasCapabilityMatrix static class that encodes the per-series documented ranges for macro variables (cnc_rdmacro/wrmacro), parameters (cnc_rdparam/wrparam), and PMC letters + byte ceilings (pmc_rdpmcrng/wrpmcrng) straight from the Fanuc FOCAS Developer Kit. FocasDeviceOptions gains a Series knob (defaults Unknown = permissive so pre-matrix configs don't break on upgrade). FocasDriver.InitializeAsync now calls FocasAddress.TryParse on every tag + runs FocasCapabilityMatrix.Validate against the owning device's declared series, throwing InvalidOperationException with a reason string that names both the series and the documented limit ("Parameter #30000 is outside the documented range [0, 29999] for Thirty_i") so an operator can tell whether the mismatch is in the config or in their declared CNC model. Unknown series skips validation entirely. Ships 46 new theory cases in FocasCapabilityMatrixTests.cs — covering every boundary in the matrix (widen 16i->0i-F: macro ceiling 999->9999, param 9999->14999; widen 0i-F->30i: PMC letters +K+T; PMC-number 16i=999/0i-D=1999/0i-F=9999/30i=59999), permissive Unknown-series behavior, rejection-message content, and case-insensitive PMC-letter matching. Widening a range without updating docs/v2/focas-version-matrix.md fails a test because every InlineData cites the row it reflects. Full FOCAS test suite stays at 165/165 passing (119 existing + 46 new). Also authors docs/v2/focas-version-matrix.md as the authoritative range reference with per-function citations, CNC-series era context, error-surface shape, and the link back to the matrix code; docs/v2/implementation/focas-isolation-plan.md as the multi-PR plan for #220 Tier-C isolation (Shared contracts -> Host skeleton -> move Fwlib32 calls -> Supervisor+respawn -> MMF+ops glue, 2200-3200 LOC across 5 PRs mirroring the Galaxy Tier-C topology); and promotes docs/drivers/FOCAS-Test-Fixture.md from "version-matrix coverage = no" to explicit coverage via the new test file + cross-links to the matrix and isolation-plan docs. Leaves task #220 open since isolation itself (the expensive half) is still ahead.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> |