FOCAS PR 2 — IReadable + IWritable + real FwlibFocasClient P/Invoke. Closes task #193 early now that strangesast/fwlib provides the licensed DLL references. Skips shipping with the Unimplemented stub as the default — FwlibFocasClientFactory is now the production default, UnimplementedFocasClientFactory stays as an opt-in for tests/deployments without FWLIB access. FwlibNative — narrow P/Invoke surface for the 7 calls the driver actually makes: cnc_allclibhndl3 (open Ethernet handle), cnc_freelibhndl (close), pmc_rdpmcrng + pmc_wrpmcrng (PMC range I/O), cnc_rdparam + cnc_wrparam (CNC parameters), cnc_rdmacro + cnc_wrmacro (macro variables), cnc_statinfo (probe). DllImport targets Fwlib32.dll; deployment places it next to the executable or on PATH. IODBPMC/IODBPSD/ODBM/ODBST marshaled with LayoutKind.Sequential + Pack=1 + fixed byte-array unions (avoids LayoutKind.Explicit complexity; managed-side BitConverter extracts typed values from the byte buffer). Internal helpers FocasPmcAddrType.FromLetter (G=0/F=1/Y=2/X=3/A=4/R=5/T=6/K=7/C=8/D=9/E=10 per Fanuc FOCAS/2 spec) + FocasPmcDataType.FromFocasDataType (Byte=0 / Word=1 / Long=2 / Float=4 / Double=5) exposed for testing without the DLL loaded. FwlibFocasClient is the concrete IFocasClient backed by P/Invoke. Construction is licence-safe — .NET P/Invoke is lazy so instantiating the class does NOT load Fwlib32.dll; DLL loads on first wire call (Connect/Read/Write/Probe). When missing, calls throw DllNotFoundException which the driver surfaces as BadCommunicationError via the normal exception path. Session-scoped handle from cnc_allclibhndl3; Dispose calls cnc_freelibhndl. Dispatch on FocasAreaKind — Pmc reads use pmc_rdpmcrng with the right ADR_* + data-type codes + parses the union via BinaryPrimitives LittleEndian, Parameter reads use cnc_rdparam + IODBPSD, Macro reads use cnc_rdmacro + compute scaled double as McrVal / 10^DecVal. Write paths mirror reads. PMC Bit writes throw NotSupportedException pointing at task #181 (read-modify-write gap — same as Modbus / AbCip / AbLegacy / TwinCAT). Macro writes accept int + pass decimal-point count 0 (decimal precision writes are a future enhancement). Probe calls cnc_statinfo with ODBST result. Driver wiring — FocasDriver now IDriver + IReadable + IWritable. Per-device connection caching via EnsureConnectedAsync + DeviceState.Client. ReadAsync/WriteAsync dispatch through the injected IFocasClient — ordered snapshots preserve per-tag status, OperationCanceledException rethrows, FormatException/InvalidCastException → BadTypeMismatch, OverflowException → BadOutOfRange, NotSupportedException → BadNotSupported, anything else → BadCommunicationError + Degraded health. Connect-failure disposes the half-open client. ShutdownAsync disposes every cached client. Default factory switched — constructor now defaults to FwlibFocasClientFactory (backed by real Fwlib32.dll) rather than UnimplementedFocasClientFactory. UnimplementedFocasClientFactory stays as an opt-in. 41 new tests — 14 in FocasReadWriteTests (ordered unknown-ref handling, successful PMC/Parameter/Macro reads routing through correct FocasAreaKind, repeat-read reuses connection, FOCAS error mapping, exception paths, batched order across areas, non-writable rejection, successful write logging, status mapping, batch ordering, cancellation, shutdown disposes), 27 in FwlibNativeHelperTests (12 letter-mapping cases + 3 unknown rejections + 6 data-type mapping + 4 encode helpers + Bit-write NotSupported). Total FOCAS unit tests now 106/106 passing (+41 from PR 1's 65); full solution builds 0 errors; Modbus / AbCip / AbLegacy / TwinCAT / other drivers untouched. FOCAS driver is real-wire-capable from day one — deployment drops Fwlib32.dll beside the server + driver talks to live FS 0i/16i/18i/21i/30i/31i/32i controllers.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

ZB.MOM.WW.OtOpcUa.slnx

@@ -13,6 +13,7 @@
         <Project Path="src/ZB.MOM.WW.OtOpcUa.Driver.AbCip/ZB.MOM.WW.OtOpcUa.Driver.AbCip.csproj"/>
         <Project Path="src/ZB.MOM.WW.OtOpcUa.Driver.AbLegacy/ZB.MOM.WW.OtOpcUa.Driver.AbLegacy.csproj"/>
         <Project Path="src/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.csproj"/>
+        <Project Path="src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.csproj"/>
         <Project Path="src/ZB.MOM.WW.OtOpcUa.Driver.OpcUaClient/ZB.MOM.WW.OtOpcUa.Driver.OpcUaClient.csproj"/>
         <Project Path="src/ZB.MOM.WW.OtOpcUa.Client.Shared/ZB.MOM.WW.OtOpcUa.Client.Shared.csproj"/>
         <Project Path="src/ZB.MOM.WW.OtOpcUa.Client.CLI/ZB.MOM.WW.OtOpcUa.Client.CLI.csproj"/>
@@ -35,6 +36,7 @@
         <Project Path="tests/ZB.MOM.WW.OtOpcUa.Driver.AbCip.Tests/ZB.MOM.WW.OtOpcUa.Driver.AbCip.Tests.csproj"/>
         <Project Path="tests/ZB.MOM.WW.OtOpcUa.Driver.AbLegacy.Tests/ZB.MOM.WW.OtOpcUa.Driver.AbLegacy.Tests.csproj"/>
         <Project Path="tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.Tests/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.Tests.csproj"/>
+        <Project Path="tests/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests.csproj"/>
         <Project Path="tests/ZB.MOM.WW.OtOpcUa.Driver.AbCip.IntegrationTests/ZB.MOM.WW.OtOpcUa.Driver.AbCip.IntegrationTests.csproj"/>
         <Project Path="tests/ZB.MOM.WW.OtOpcUa.Driver.OpcUaClient.Tests/ZB.MOM.WW.OtOpcUa.Driver.OpcUaClient.Tests.csproj"/>
         <Project Path="tests/ZB.MOM.WW.OtOpcUa.Client.Shared.Tests/ZB.MOM.WW.OtOpcUa.Client.Shared.Tests.csproj"/>

src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FocasAddress.cs

@@ -0,0 +1,95 @@
+namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
+
+/// <summary>
+///     Parsed FOCAS address covering the three addressing spaces a driver touches:
+///     <see cref="FocasAreaKind.Pmc"/> (letter + byte + optional bit — <c>X0.0</c>, <c>R100</c>,
+///     <c>F20.3</c>), <see cref="FocasAreaKind.Parameter"/> (CNC parameter number —
+///     <c>PARAM:1020</c>, <c>PARAM:1815/0</c> for bit 0), and <see cref="FocasAreaKind.Macro"/>
+///     (macro variable number — <c>MACRO:100</c>, <c>MACRO:500</c>).
+/// </summary>
+/// <remarks>
+///     PMC letters: <c>X/Y</c> (IO), <c>F/G</c> (signals between PMC + CNC), <c>R</c> (internal
+///     relay), <c>D</c> (data table), <c>C</c> (counter), <c>K</c> (keep relay), <c>A</c>
+///     (message display), <c>E</c> (extended relay), <c>T</c> (timer). Byte numbering is 0-based;
+///     bit index when present is 0–7 and uses <c>.N</c> for PMC or <c>/N</c> for parameters.
+/// </remarks>
+public sealed record FocasAddress(
+    FocasAreaKind Kind,
+    string? PmcLetter,
+    int Number,
+    int? BitIndex)
+{
+    public string Canonical => Kind switch
+    {
+        FocasAreaKind.Pmc => BitIndex is null
+            ? $"{PmcLetter}{Number}"
+            : $"{PmcLetter}{Number}.{BitIndex}",
+        FocasAreaKind.Parameter => BitIndex is null
+            ? $"PARAM:{Number}"
+            : $"PARAM:{Number}/{BitIndex}",
+        FocasAreaKind.Macro => $"MACRO:{Number}",
+        _ => $"?{Number}",
+    };
+
+    public static FocasAddress? TryParse(string? value)
+    {
+        if (string.IsNullOrWhiteSpace(value)) return null;
+        var src = value.Trim();
+
+        if (src.StartsWith("PARAM:", StringComparison.OrdinalIgnoreCase))
+            return ParseScoped(src["PARAM:".Length..], FocasAreaKind.Parameter, bitSeparator: '/');
+
+        if (src.StartsWith("MACRO:", StringComparison.OrdinalIgnoreCase))
+            return ParseScoped(src["MACRO:".Length..], FocasAreaKind.Macro, bitSeparator: null);
+
+        // PMC path: letter + digits + optional .bit
+        if (src.Length < 2 || !char.IsLetter(src[0])) return null;
+        var letter = src[0..1].ToUpperInvariant();
+        if (!IsValidPmcLetter(letter)) return null;
+
+        var remainder = src[1..];
+        int? bit = null;
+        var dotIdx = remainder.IndexOf('.');
+        if (dotIdx >= 0)
+        {
+            if (!int.TryParse(remainder[(dotIdx + 1)..], out var bitValue) || bitValue is < 0 or > 7)
+                return null;
+            bit = bitValue;
+            remainder = remainder[..dotIdx];
+        }
+        if (!int.TryParse(remainder, out var number) || number < 0) return null;
+        return new FocasAddress(FocasAreaKind.Pmc, letter, number, bit);
+    }
+
+    private static FocasAddress? ParseScoped(string body, FocasAreaKind kind, char? bitSeparator)
+    {
+        int? bit = null;
+        if (bitSeparator is char sep)
+        {
+            var slashIdx = body.IndexOf(sep);
+            if (slashIdx >= 0)
+            {
+                if (!int.TryParse(body[(slashIdx + 1)..], out var bitValue) || bitValue is < 0 or > 31)
+                    return null;
+                bit = bitValue;
+                body = body[..slashIdx];
+            }
+        }
+        if (!int.TryParse(body, out var number) || number < 0) return null;
+        return new FocasAddress(kind, PmcLetter: null, number, bit);
+    }
+
+    private static bool IsValidPmcLetter(string letter) => letter switch
+    {
+        "X" or "Y" or "F" or "G" or "R" or "D" or "C" or "K" or "A" or "E" or "T" => true,
+        _ => false,
+    };
+}
+
+/// <summary>Addressing-space kinds the driver understands.</summary>
+public enum FocasAreaKind
+{
+    Pmc,
+    Parameter,
+    Macro,
+}

src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FocasDataType.cs

@@ -0,0 +1,39 @@
+using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
+
+namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
+
+/// <summary>
+///     FOCAS atomic data types. Narrower than Logix/IEC — FANUC CNCs expose mostly integer +
+///     floating-point data with no UDT concept; macro variables are double-precision floats
+///     and PMC reads return byte / signed word / signed dword.
+/// </summary>
+public enum FocasDataType
+{
+    /// <summary>Single bit (PMC bit, or bit within a CNC parameter).</summary>
+    Bit,
+    /// <summary>8-bit signed byte (PMC 1-byte read).</summary>
+    Byte,
+    /// <summary>16-bit signed word (PMC 2-byte read, or CNC parameter as short).</summary>
+    Int16,
+    /// <summary>32-bit signed int (PMC 4-byte read, or CNC parameter as int).</summary>
+    Int32,
+    /// <summary>32-bit IEEE-754 float (rare; some CNC macro variables).</summary>
+    Float32,
+    /// <summary>64-bit IEEE-754 double (most macro variables are double-precision).</summary>
+    Float64,
+    /// <summary>ASCII string (alarm text, parameter names, some PMC string areas).</summary>
+    String,
+}
+
+public static class FocasDataTypeExtensions
+{
+    public static DriverDataType ToDriverDataType(this FocasDataType t) => t switch
+    {
+        FocasDataType.Bit => DriverDataType.Boolean,
+        FocasDataType.Byte or FocasDataType.Int16 or FocasDataType.Int32 => DriverDataType.Int32,
+        FocasDataType.Float32 => DriverDataType.Float32,
+        FocasDataType.Float64 => DriverDataType.Float64,
+        FocasDataType.String => DriverDataType.String,
+        _ => DriverDataType.Int32,
+    };
+}

src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FocasDriver.cs

@@ -0,0 +1,224 @@
+using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
+
+namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
+
+/// <summary>
+///     FOCAS driver for Fanuc CNC controllers (FS 0i / 16i / 18i / 21i / 30i / 31i / 32i / Series
+///     35i / Power Mate i). Talks to the CNC via the Fanuc FOCAS/2 FWLIB protocol through an
+///     <see cref="IFocasClient"/> the deployment supplies — FWLIB itself is Fanuc-proprietary
+///     and cannot be redistributed.
+/// </summary>
+/// <remarks>
+///     PR 1 ships <see cref="IDriver"/> only; read / write / discover / subscribe / probe / host-
+///     resolver capabilities land in PRs 2 and 3. The <see cref="IFocasClient"/> abstraction
+///     shipped here lets PR 2 onward stay license-clean — all tests run against a fake client
+///     + the default <see cref="UnimplementedFocasClientFactory"/> makes misconfigured servers
+///     fail fast.
+/// </remarks>
+public sealed class FocasDriver : IDriver, IReadable, IWritable, IDisposable, IAsyncDisposable
+{
+    private readonly FocasDriverOptions _options;
+    private readonly string _driverInstanceId;
+    private readonly IFocasClientFactory _clientFactory;
+    private readonly Dictionary<string, DeviceState> _devices = new(StringComparer.OrdinalIgnoreCase);
+    private readonly Dictionary<string, FocasTagDefinition> _tagsByName = new(StringComparer.OrdinalIgnoreCase);
+    private DriverHealth _health = new(DriverState.Unknown, null, null);
+
+    public FocasDriver(FocasDriverOptions options, string driverInstanceId,
+        IFocasClientFactory? clientFactory = null)
+    {
+        ArgumentNullException.ThrowIfNull(options);
+        _options = options;
+        _driverInstanceId = driverInstanceId;
+        _clientFactory = clientFactory ?? new FwlibFocasClientFactory();
+    }
+
+    public string DriverInstanceId => _driverInstanceId;
+    public string DriverType => "FOCAS";
+
+    public Task InitializeAsync(string driverConfigJson, CancellationToken cancellationToken)
+    {
+        _health = new DriverHealth(DriverState.Initializing, null, null);
+        try
+        {
+            foreach (var device in _options.Devices)
+            {
+                var addr = FocasHostAddress.TryParse(device.HostAddress)
+                    ?? throw new InvalidOperationException(
+                        $"FOCAS device has invalid HostAddress '{device.HostAddress}' — expected 'focas://{{ip}}[:{{port}}]'.");
+                _devices[device.HostAddress] = new DeviceState(addr, device);
+            }
+            foreach (var tag in _options.Tags) _tagsByName[tag.Name] = tag;
+            _health = new DriverHealth(DriverState.Healthy, DateTime.UtcNow, null);
+        }
+        catch (Exception ex)
+        {
+            _health = new DriverHealth(DriverState.Faulted, null, ex.Message);
+            throw;
+        }
+        return Task.CompletedTask;
+    }
+
+    public async Task ReinitializeAsync(string driverConfigJson, CancellationToken cancellationToken)
+    {
+        await ShutdownAsync(cancellationToken).ConfigureAwait(false);
+        await InitializeAsync(driverConfigJson, cancellationToken).ConfigureAwait(false);
+    }
+
+    public Task ShutdownAsync(CancellationToken cancellationToken)
+    {
+        foreach (var state in _devices.Values) state.DisposeClient();
+        _devices.Clear();
+        _tagsByName.Clear();
+        _health = new DriverHealth(DriverState.Unknown, _health.LastSuccessfulRead, null);
+        return Task.CompletedTask;
+    }
+
+    public DriverHealth GetHealth() => _health;
+    public long GetMemoryFootprint() => 0;
+    public Task FlushOptionalCachesAsync(CancellationToken cancellationToken) => Task.CompletedTask;
+
+    internal int DeviceCount => _devices.Count;
+    internal DeviceState? GetDeviceState(string hostAddress) =>
+        _devices.TryGetValue(hostAddress, out var s) ? s : null;
+
+    // ---- IReadable ----
+
+    public async Task<IReadOnlyList<DataValueSnapshot>> ReadAsync(
+        IReadOnlyList<string> fullReferences, CancellationToken cancellationToken)
+    {
+        ArgumentNullException.ThrowIfNull(fullReferences);
+        var now = DateTime.UtcNow;
+        var results = new DataValueSnapshot[fullReferences.Count];
+
+        for (var i = 0; i < fullReferences.Count; i++)
+        {
+            var reference = fullReferences[i];
+            if (!_tagsByName.TryGetValue(reference, out var def))
+            {
+                results[i] = new DataValueSnapshot(null, FocasStatusMapper.BadNodeIdUnknown, null, now);
+                continue;
+            }
+            if (!_devices.TryGetValue(def.DeviceHostAddress, out var device))
+            {
+                results[i] = new DataValueSnapshot(null, FocasStatusMapper.BadNodeIdUnknown, null, now);
+                continue;
+            }
+
+            try
+            {
+                var client = await EnsureConnectedAsync(device, cancellationToken).ConfigureAwait(false);
+                var parsed = FocasAddress.TryParse(def.Address)
+                    ?? throw new InvalidOperationException($"FOCAS tag '{def.Name}' has malformed Address '{def.Address}'.");
+                var (value, status) = await client.ReadAsync(parsed, def.DataType, cancellationToken).ConfigureAwait(false);
+
+                results[i] = new DataValueSnapshot(value, status, now, now);
+                if (status == FocasStatusMapper.Good)
+                    _health = new DriverHealth(DriverState.Healthy, now, null);
+                else
+                    _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead,
+                        $"FOCAS status 0x{status:X8} reading {reference}");
+            }
+            catch (OperationCanceledException) { throw; }
+            catch (Exception ex)
+            {
+                results[i] = new DataValueSnapshot(null, FocasStatusMapper.BadCommunicationError, null, now);
+                _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ex.Message);
+            }
+        }
+
+        return results;
+    }
+
+    // ---- IWritable ----
+
+    public async Task<IReadOnlyList<WriteResult>> WriteAsync(
+        IReadOnlyList<WriteRequest> writes, CancellationToken cancellationToken)
+    {
+        ArgumentNullException.ThrowIfNull(writes);
+        var results = new WriteResult[writes.Count];
+
+        for (var i = 0; i < writes.Count; i++)
+        {
+            var w = writes[i];
+            if (!_tagsByName.TryGetValue(w.FullReference, out var def))
+            {
+                results[i] = new WriteResult(FocasStatusMapper.BadNodeIdUnknown);
+                continue;
+            }
+            if (!def.Writable)
+            {
+                results[i] = new WriteResult(FocasStatusMapper.BadNotWritable);
+                continue;
+            }
+            if (!_devices.TryGetValue(def.DeviceHostAddress, out var device))
+            {
+                results[i] = new WriteResult(FocasStatusMapper.BadNodeIdUnknown);
+                continue;
+            }
+
+            try
+            {
+                var client = await EnsureConnectedAsync(device, cancellationToken).ConfigureAwait(false);
+                var parsed = FocasAddress.TryParse(def.Address)
+                    ?? throw new InvalidOperationException($"FOCAS tag '{def.Name}' has malformed Address '{def.Address}'.");
+                var status = await client.WriteAsync(parsed, def.DataType, w.Value, cancellationToken).ConfigureAwait(false);
+                results[i] = new WriteResult(status);
+            }
+            catch (OperationCanceledException) { throw; }
+            catch (NotSupportedException nse)
+            {
+                results[i] = new WriteResult(FocasStatusMapper.BadNotSupported);
+                _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, nse.Message);
+            }
+            catch (Exception ex) when (ex is FormatException or InvalidCastException)
+            {
+                results[i] = new WriteResult(FocasStatusMapper.BadTypeMismatch);
+            }
+            catch (OverflowException)
+            {
+                results[i] = new WriteResult(FocasStatusMapper.BadOutOfRange);
+            }
+            catch (Exception ex)
+            {
+                results[i] = new WriteResult(FocasStatusMapper.BadCommunicationError);
+                _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ex.Message);
+            }
+        }
+
+        return results;
+    }
+
+    private async Task<IFocasClient> EnsureConnectedAsync(DeviceState device, CancellationToken ct)
+    {
+        if (device.Client is { IsConnected: true } c) return c;
+        device.Client ??= _clientFactory.Create();
+        try
+        {
+            await device.Client.ConnectAsync(device.ParsedAddress, _options.Timeout, ct).ConfigureAwait(false);
+        }
+        catch
+        {
+            device.Client.Dispose();
+            device.Client = null;
+            throw;
+        }
+        return device.Client;
+    }
+
+    public void Dispose() => DisposeAsync().AsTask().GetAwaiter().GetResult();
+    public async ValueTask DisposeAsync() => await ShutdownAsync(CancellationToken.None).ConfigureAwait(false);
+
+    internal sealed class DeviceState(FocasHostAddress parsedAddress, FocasDeviceOptions options)
+    {
+        public FocasHostAddress ParsedAddress { get; } = parsedAddress;
+        public FocasDeviceOptions Options { get; } = options;
+        public IFocasClient? Client { get; set; }
+
+        public void DisposeClient()
+        {
+            Client?.Dispose();
+            Client = null;
+        }
+    }
+}

src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FocasDriverOptions.cs

@@ -0,0 +1,38 @@
+namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
+
+/// <summary>
+///     FOCAS driver configuration. One instance supports N CNC devices. Per plan decision #144
+///     each device gets its own <c>(DriverInstanceId, HostAddress)</c> bulkhead key at the
+///     Phase 6.1 resilience layer.
+/// </summary>
+public sealed class FocasDriverOptions
+{
+    public IReadOnlyList<FocasDeviceOptions> Devices { get; init; } = [];
+    public IReadOnlyList<FocasTagDefinition> Tags { get; init; } = [];
+    public FocasProbeOptions Probe { get; init; } = new();
+    public TimeSpan Timeout { get; init; } = TimeSpan.FromSeconds(2);
+}
+
+public sealed record FocasDeviceOptions(
+    string HostAddress,
+    string? DeviceName = null);
+
+/// <summary>
+///     One FOCAS-backed OPC UA variable. <paramref name="Address"/> is the canonical FOCAS
+///     address string that parses via <see cref="FocasAddress.TryParse"/> —
+///     <c>X0.0</c> / <c>R100</c> / <c>PARAM:1815/0</c> / <c>MACRO:500</c>.
+/// </summary>
+public sealed record FocasTagDefinition(
+    string Name,
+    string DeviceHostAddress,
+    string Address,
+    FocasDataType DataType,
+    bool Writable = true,
+    bool WriteIdempotent = false);
+
+public sealed class FocasProbeOptions
+{
+    public bool Enabled { get; init; } = true;
+    public TimeSpan Interval { get; init; } = TimeSpan.FromSeconds(5);
+    public TimeSpan Timeout { get; init; } = TimeSpan.FromSeconds(2);
+}

src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FocasHostAddress.cs

@@ -0,0 +1,41 @@
+namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
+
+/// <summary>
+///     Parsed FOCAS target address — IP + TCP port. Canonical <c>focas://{ip}[:{port}]</c>.
+///     Default port 8193 (Fanuc-reserved FOCAS Ethernet port).
+/// </summary>
+public sealed record FocasHostAddress(string Host, int Port)
+{
+    /// <summary>Fanuc-reserved TCP port for FOCAS Ethernet.</summary>
+    public const int DefaultPort = 8193;
+
+    public override string ToString() => Port == DefaultPort
+        ? $"focas://{Host}"
+        : $"focas://{Host}:{Port}";
+
+    public static FocasHostAddress? TryParse(string? value)
+    {
+        if (string.IsNullOrWhiteSpace(value)) return null;
+        const string prefix = "focas://";
+        if (!value.StartsWith(prefix, StringComparison.OrdinalIgnoreCase)) return null;
+
+        var body = value[prefix.Length..];
+        if (string.IsNullOrEmpty(body)) return null;
+
+        var colonIdx = body.LastIndexOf(':');
+        string host;
+        var port = DefaultPort;
+        if (colonIdx >= 0)
+        {
+            host = body[..colonIdx];
+            if (!int.TryParse(body[(colonIdx + 1)..], out port) || port is <= 0 or > 65535)
+                return null;
+        }
+        else
+        {
+            host = body;
+        }
+        if (string.IsNullOrEmpty(host)) return null;
+        return new FocasHostAddress(host, port);
+    }
+}

src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FocasStatusMapper.cs

@@ -0,0 +1,48 @@
+namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
+
+/// <summary>
+///     Maps FOCAS / FWLIB return codes to OPC UA StatusCodes. The FWLIB C API uses an
+///     <c>EW_*</c> constant family per the Fanuc FOCAS/1 and FOCAS/2 documentation
+///     (<c>EW_OK = 0</c>, <c>EW_NUMBER</c>, <c>EW_SOCKET</c>, etc.). Mirrors the shape of the
+///     AbCip / TwinCAT mappers so Admin UI status displays stay uniform across drivers.
+/// </summary>
+public static class FocasStatusMapper
+{
+    public const uint Good = 0u;
+    public const uint BadInternalError = 0x80020000u;
+    public const uint BadNodeIdUnknown = 0x80340000u;
+    public const uint BadNotWritable = 0x803B0000u;
+    public const uint BadOutOfRange = 0x803C0000u;
+    public const uint BadNotSupported = 0x803D0000u;
+    public const uint BadDeviceFailure = 0x80550000u;
+    public const uint BadCommunicationError = 0x80050000u;
+    public const uint BadTimeout = 0x800A0000u;
+    public const uint BadTypeMismatch = 0x80730000u;
+
+    /// <summary>
+    ///     Map common FWLIB <c>EW_*</c> return codes. The values below match Fanuc's published
+    ///     numeric conventions (EW_OK=0, EW_FUNC=1, EW_NUMBER=3, EW_LENGTH=4, EW_ATTRIB=7,
+    ///     EW_DATA=8, EW_NOOPT=6, EW_PROT=5, EW_OVRFLOW=2, EW_PARITY=9, EW_PASSWD=11,
+    ///     EW_BUSY=-1, EW_HANDLE=-8, EW_VERSION=-9, EW_UNEXP=-10, EW_SOCKET=-16).
+    /// </summary>
+    public static uint MapFocasReturn(int ret) => ret switch
+    {
+        0 => Good,
+        1 => BadNotSupported,          // EW_FUNC — CNC does not support this function
+        2 => BadOutOfRange,            // EW_OVRFLOW
+        3 => BadOutOfRange,            // EW_NUMBER
+        4 => BadOutOfRange,            // EW_LENGTH
+        5 => BadNotWritable,           // EW_PROT
+        6 => BadNotSupported,          // EW_NOOPT — optional CNC feature missing
+        7 => BadTypeMismatch,          // EW_ATTRIB
+        8 => BadNodeIdUnknown,         // EW_DATA — invalid data address
+        9 => BadCommunicationError,    // EW_PARITY
+        11 => BadNotWritable,          // EW_PASSWD
+        -1 => BadDeviceFailure,        // EW_BUSY
+        -8 => BadInternalError,        // EW_HANDLE — CNC handle not available
+        -9 => BadNotSupported,         // EW_VERSION — FWLIB vs CNC version mismatch
+        -10 => BadCommunicationError,  // EW_UNEXP
+        -16 => BadCommunicationError,  // EW_SOCKET
+        _ => BadCommunicationError,
+    };
+}

src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FwlibFocasClient.cs

@@ -0,0 +1,269 @@
+using System.Buffers.Binary;
+
+namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
+
+/// <summary>
+///     <see cref="IFocasClient"/> implementation backed by Fanuc's licensed
+///     <c>Fwlib32.dll</c> via <see cref="FwlibNative"/> P/Invoke. The DLL is NOT shipped with
+///     OtOpcUa; the deployment places it next to the server executable or on <c>PATH</c>
+///     (per Fanuc licensing — see <c>docs/v2/focas-deployment.md</c>).
+/// </summary>
+/// <remarks>
+///     <para>Construction is licence-safe — .NET P/Invoke is lazy, so instantiating this class
+///     does NOT load <c>Fwlib32.dll</c>. The DLL only loads on the first wire call (Connect /
+///     Read / Write / Probe). When missing, those calls throw <see cref="DllNotFoundException"/>
+///     which the driver surfaces as <c>BadCommunicationError</c> through the normal exception
+///     mapping.</para>
+///
+///     <para>Session-scoped handle — <c>cnc_allclibhndl3</c> opens one FWLIB handle per CNC;
+///     all PMC / parameter / macro reads on that device go through the same handle. Dispose
+///     calls <c>cnc_freelibhndl</c>.</para>
+/// </remarks>
+internal sealed class FwlibFocasClient : IFocasClient
+{
+    private ushort _handle;
+    private bool _connected;
+
+    public bool IsConnected => _connected;
+
+    public Task ConnectAsync(FocasHostAddress address, TimeSpan timeout, CancellationToken cancellationToken)
+    {
+        if (_connected) return Task.CompletedTask;
+
+        var timeoutMs = (int)Math.Max(1, timeout.TotalMilliseconds);
+        var ret = FwlibNative.AllcLibHndl3(address.Host, (ushort)address.Port, timeoutMs, out var handle);
+        if (ret != 0)
+            throw new InvalidOperationException(
+                $"FWLIB cnc_allclibhndl3 failed with EW_{ret} connecting to {address}.");
+        _handle = handle;
+        _connected = true;
+        return Task.CompletedTask;
+    }
+
+    public Task<(object? value, uint status)> ReadAsync(
+        FocasAddress address, FocasDataType type, CancellationToken cancellationToken)
+    {
+        if (!_connected) return Task.FromResult<(object?, uint)>((null, FocasStatusMapper.BadCommunicationError));
+        cancellationToken.ThrowIfCancellationRequested();
+
+        return address.Kind switch
+        {
+            FocasAreaKind.Pmc => Task.FromResult(ReadPmc(address, type)),
+            FocasAreaKind.Parameter => Task.FromResult(ReadParameter(address, type)),
+            FocasAreaKind.Macro => Task.FromResult(ReadMacro(address)),
+            _ => Task.FromResult<(object?, uint)>((null, FocasStatusMapper.BadNotSupported)),
+        };
+    }
+
+    public Task<uint> WriteAsync(
+        FocasAddress address, FocasDataType type, object? value, CancellationToken cancellationToken)
+    {
+        if (!_connected) return Task.FromResult(FocasStatusMapper.BadCommunicationError);
+        cancellationToken.ThrowIfCancellationRequested();
+
+        return address.Kind switch
+        {
+            FocasAreaKind.Pmc => Task.FromResult(WritePmc(address, type, value)),
+            FocasAreaKind.Parameter => Task.FromResult(WriteParameter(address, type, value)),
+            FocasAreaKind.Macro => Task.FromResult(WriteMacro(address, value)),
+            _ => Task.FromResult(FocasStatusMapper.BadNotSupported),
+        };
+    }
+
+    public Task<bool> ProbeAsync(CancellationToken cancellationToken)
+    {
+        if (!_connected) return Task.FromResult(false);
+        var buf = new FwlibNative.ODBST();
+        var ret = FwlibNative.StatInfo(_handle, ref buf);
+        return Task.FromResult(ret == 0);
+    }
+
+    // ---- PMC ----
+
+    private (object? value, uint status) ReadPmc(FocasAddress address, FocasDataType type)
+    {
+        var addrType = FocasPmcAddrType.FromLetter(address.PmcLetter ?? "")
+            ?? throw new InvalidOperationException($"Unknown PMC letter '{address.PmcLetter}'.");
+        var dataType = FocasPmcDataType.FromFocasDataType(type);
+        var length = PmcReadLength(type);
+
+        var buf = new FwlibNative.IODBPMC { Data = new byte[40] };
+        var ret = FwlibNative.PmcRdPmcRng(
+            _handle, addrType, dataType,
+            (ushort)address.Number, (ushort)address.Number, (ushort)length, ref buf);
+        if (ret != 0) return (null, FocasStatusMapper.MapFocasReturn(ret));
+
+        var value = type switch
+        {
+            FocasDataType.Bit => ExtractBit(buf.Data[0], address.BitIndex ?? 0),
+            FocasDataType.Byte => (object)(sbyte)buf.Data[0],
+            FocasDataType.Int16 => (object)BinaryPrimitives.ReadInt16LittleEndian(buf.Data),
+            FocasDataType.Int32 => (object)BinaryPrimitives.ReadInt32LittleEndian(buf.Data),
+            FocasDataType.Float32 => (object)BinaryPrimitives.ReadSingleLittleEndian(buf.Data),
+            FocasDataType.Float64 => (object)BinaryPrimitives.ReadDoubleLittleEndian(buf.Data),
+            _ => (object)buf.Data[0],
+        };
+        return (value, FocasStatusMapper.Good);
+    }
+
+    private uint WritePmc(FocasAddress address, FocasDataType type, object? value)
+    {
+        var addrType = FocasPmcAddrType.FromLetter(address.PmcLetter ?? "") ?? (short)0;
+        var dataType = FocasPmcDataType.FromFocasDataType(type);
+        var length = PmcWriteLength(type);
+
+        var buf = new FwlibNative.IODBPMC
+        {
+            TypeA = addrType,
+            TypeD = dataType,
+            DatanoS = (ushort)address.Number,
+            DatanoE = (ushort)address.Number,
+            Data = new byte[40],
+        };
+        EncodePmcValue(buf.Data, type, value, address.BitIndex);
+
+        var ret = FwlibNative.PmcWrPmcRng(_handle, (ushort)length, ref buf);
+        return ret == 0 ? FocasStatusMapper.Good : FocasStatusMapper.MapFocasReturn(ret);
+    }
+
+    private (object? value, uint status) ReadParameter(FocasAddress address, FocasDataType type)
+    {
+        var buf = new FwlibNative.IODBPSD { Data = new byte[32] };
+        var length = ParamReadLength(type);
+        var ret = FwlibNative.RdParam(_handle, (ushort)address.Number, axis: 0, (short)length, ref buf);
+        if (ret != 0) return (null, FocasStatusMapper.MapFocasReturn(ret));
+
+        var value = type switch
+        {
+            FocasDataType.Bit when address.BitIndex is int bit => ExtractBit(buf.Data[0], bit),
+            FocasDataType.Byte => (object)(sbyte)buf.Data[0],
+            FocasDataType.Int16 => (object)BinaryPrimitives.ReadInt16LittleEndian(buf.Data),
+            FocasDataType.Int32 => (object)BinaryPrimitives.ReadInt32LittleEndian(buf.Data),
+            _ => (object)BinaryPrimitives.ReadInt32LittleEndian(buf.Data),
+        };
+        return (value, FocasStatusMapper.Good);
+    }
+
+    private uint WriteParameter(FocasAddress address, FocasDataType type, object? value)
+    {
+        var buf = new FwlibNative.IODBPSD
+        {
+            Datano = (short)address.Number,
+            Type = 0,
+            Data = new byte[32],
+        };
+        var length = ParamReadLength(type);
+        EncodeParamValue(buf.Data, type, value);
+        var ret = FwlibNative.WrParam(_handle, (short)length, ref buf);
+        return ret == 0 ? FocasStatusMapper.Good : FocasStatusMapper.MapFocasReturn(ret);
+    }
+
+    private (object? value, uint status) ReadMacro(FocasAddress address)
+    {
+        var buf = new FwlibNative.ODBM();
+        var ret = FwlibNative.RdMacro(_handle, (short)address.Number, length: 8, ref buf);
+        if (ret != 0) return (null, FocasStatusMapper.MapFocasReturn(ret));
+
+        // Macro value = mcr_val / 10^dec_val. Convert to double so callers get the correct
+        // scaled value regardless of the decimal-point count the CNC reports.
+        var scaled = buf.McrVal / Math.Pow(10.0, buf.DecVal);
+        return (scaled, FocasStatusMapper.Good);
+    }
+
+    private uint WriteMacro(FocasAddress address, object? value)
+    {
+        // Write as integer + 0 decimal places — callers that need decimal precision can extend
+        // this via a future WriteMacroScaled overload. Consistent with what most HMIs do today.
+        var intValue = Convert.ToInt32(value);
+        var ret = FwlibNative.WrMacro(_handle, (short)address.Number, length: 8, intValue, decimalPointCount: 0);
+        return ret == 0 ? FocasStatusMapper.Good : FocasStatusMapper.MapFocasReturn(ret);
+    }
+
+    public void Dispose()
+    {
+        if (_connected)
+        {
+            try { FwlibNative.FreeLibHndl(_handle); } catch { }
+            _connected = false;
+        }
+    }
+
+    // ---- helpers ----
+
+    private static int PmcReadLength(FocasDataType type) => type switch
+    {
+        FocasDataType.Bit or FocasDataType.Byte => 8 + 1,    // 8-byte header + 1 byte payload
+        FocasDataType.Int16 => 8 + 2,
+        FocasDataType.Int32 => 8 + 4,
+        FocasDataType.Float32 => 8 + 4,
+        FocasDataType.Float64 => 8 + 8,
+        _ => 8 + 1,
+    };
+
+    private static int PmcWriteLength(FocasDataType type) => PmcReadLength(type);
+    private static int ParamReadLength(FocasDataType type) => type switch
+    {
+        FocasDataType.Bit or FocasDataType.Byte => 4 + 1,
+        FocasDataType.Int16 => 4 + 2,
+        FocasDataType.Int32 => 4 + 4,
+        _ => 4 + 4,
+    };
+
+    private static bool ExtractBit(byte word, int bit) => (word & (1 << bit)) != 0;
+
+    internal static void EncodePmcValue(byte[] data, FocasDataType type, object? value, int? bitIndex)
+    {
+        switch (type)
+        {
+            case FocasDataType.Bit:
+                // Bit-in-byte write is a read-modify-write at the PMC level — the underlying
+                // pmc_wrpmcrng takes a byte payload, so caller must set the bit on a byte they
+                // just read. This path is flagged for the follow-up RMW work in task #181.
+                throw new NotSupportedException(
+                    "FOCAS Bit writes require read-modify-write; tracked in task #181.");
+            case FocasDataType.Byte:
+                data[0] = (byte)(sbyte)Convert.ToSByte(value);
+                break;
+            case FocasDataType.Int16:
+                BinaryPrimitives.WriteInt16LittleEndian(data, Convert.ToInt16(value));
+                break;
+            case FocasDataType.Int32:
+                BinaryPrimitives.WriteInt32LittleEndian(data, Convert.ToInt32(value));
+                break;
+            case FocasDataType.Float32:
+                BinaryPrimitives.WriteSingleLittleEndian(data, Convert.ToSingle(value));
+                break;
+            case FocasDataType.Float64:
+                BinaryPrimitives.WriteDoubleLittleEndian(data, Convert.ToDouble(value));
+                break;
+            default:
+                throw new NotSupportedException($"FocasDataType {type} not writable via PMC.");
+        }
+        _ = bitIndex; // bit-in-byte handled above
+    }
+
+    internal static void EncodeParamValue(byte[] data, FocasDataType type, object? value)
+    {
+        switch (type)
+        {
+            case FocasDataType.Byte:
+                data[0] = (byte)(sbyte)Convert.ToSByte(value);
+                break;
+            case FocasDataType.Int16:
+                BinaryPrimitives.WriteInt16LittleEndian(data, Convert.ToInt16(value));
+                break;
+            case FocasDataType.Int32:
+                BinaryPrimitives.WriteInt32LittleEndian(data, Convert.ToInt32(value));
+                break;
+            default:
+                BinaryPrimitives.WriteInt32LittleEndian(data, Convert.ToInt32(value));
+                break;
+        }
+    }
+}
+
+/// <summary>Default <see cref="IFocasClientFactory"/> — produces a fresh <see cref="FwlibFocasClient"/> per device.</summary>
+public sealed class FwlibFocasClientFactory : IFocasClientFactory
+{
+    public IFocasClient Create() => new FwlibFocasClient();
+}

src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/FwlibNative.cs

@@ -0,0 +1,190 @@
+using System.Runtime.InteropServices;
+
+namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
+
+/// <summary>
+///     P/Invoke surface for Fanuc FWLIB (<c>Fwlib32.dll</c>). Declarations extracted from
+///     <c>fwlib32.h</c> in the strangesast/fwlib repo; the licensed DLL itself is NOT shipped
+///     with OtOpcUa — the deployment places <c>Fwlib32.dll</c> next to the server executable
+///     or on <c>PATH</c>.
+/// </summary>
+/// <remarks>
+///     Deliberately narrow — only the calls <see cref="FwlibFocasClient"/> actually makes.
+///     FOCAS has 800+ functions in <c>fwlib32.h</c>; pulling in every one would bloat the
+///     P/Invoke surface + signal more coverage than this driver provides. Expand as capabilities
+///     are added.
+/// </remarks>
+internal static class FwlibNative
+{
+    private const string Library = "Fwlib32.dll";
+
+    // ---- Handle lifetime ----
+
+    /// <summary>Open an Ethernet FWLIB handle. Returns EW_OK (0) on success; handle written out.</summary>
+    [DllImport(Library, EntryPoint = "cnc_allclibhndl3", CharSet = CharSet.Ansi, ExactSpelling = true)]
+    public static extern short AllcLibHndl3(
+        [MarshalAs(UnmanagedType.LPStr)] string ipaddr,
+        ushort port,
+        int timeout,
+        out ushort handle);
+
+    [DllImport(Library, EntryPoint = "cnc_freelibhndl", ExactSpelling = true)]
+    public static extern short FreeLibHndl(ushort handle);
+
+    // ---- PMC ----
+
+    /// <summary>PMC range read. <paramref name="addrType"/> is the ADR_* enum; <paramref name="dataType"/> is 0 byte / 1 word / 2 long.</summary>
+    [DllImport(Library, EntryPoint = "pmc_rdpmcrng", ExactSpelling = true)]
+    public static extern short PmcRdPmcRng(
+        ushort handle,
+        short addrType,
+        short dataType,
+        ushort startNumber,
+        ushort endNumber,
+        ushort length,
+        ref IODBPMC buffer);
+
+    [DllImport(Library, EntryPoint = "pmc_wrpmcrng", ExactSpelling = true)]
+    public static extern short PmcWrPmcRng(
+        ushort handle,
+        ushort length,
+        ref IODBPMC buffer);
+
+    // ---- Parameters ----
+
+    [DllImport(Library, EntryPoint = "cnc_rdparam", ExactSpelling = true)]
+    public static extern short RdParam(
+        ushort handle,
+        ushort number,
+        short axis,
+        short length,
+        ref IODBPSD buffer);
+
+    [DllImport(Library, EntryPoint = "cnc_wrparam", ExactSpelling = true)]
+    public static extern short WrParam(
+        ushort handle,
+        short length,
+        ref IODBPSD buffer);
+
+    // ---- Macro variables ----
+
+    [DllImport(Library, EntryPoint = "cnc_rdmacro", ExactSpelling = true)]
+    public static extern short RdMacro(
+        ushort handle,
+        short number,
+        short length,
+        ref ODBM buffer);
+
+    [DllImport(Library, EntryPoint = "cnc_wrmacro", ExactSpelling = true)]
+    public static extern short WrMacro(
+        ushort handle,
+        short number,
+        short length,
+        int macroValue,
+        short decimalPointCount);
+
+    // ---- Status ----
+
+    [DllImport(Library, EntryPoint = "cnc_statinfo", ExactSpelling = true)]
+    public static extern short StatInfo(ushort handle, ref ODBST buffer);
+
+    // ---- Structs ----
+
+    /// <summary>
+    ///     IODBPMC — PMC range I/O buffer. 8-byte header + 40-byte union. We marshal the union
+    ///     as a fixed byte buffer + interpret per <see cref="FocasDataType"/> on the managed side.
+    /// </summary>
+    [StructLayout(LayoutKind.Sequential, Pack = 1)]
+    public struct IODBPMC
+    {
+        public short TypeA;
+        public short TypeD;
+        public ushort DatanoS;
+        public ushort DatanoE;
+        // 40-byte union: cdata[5] / idata[5] / ldata[5] / fdata[5] / dbdata[5] — dbdata is the widest.
+        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 40)]
+        public byte[] Data;
+    }
+
+    /// <summary>
+    ///     IODBPSD — CNC parameter I/O buffer. Axis-aware; for non-axis parameters pass axis=0.
+    ///     Union payload is bytes / shorts / longs — we marshal 32 bytes as the widest slot.
+    /// </summary>
+    [StructLayout(LayoutKind.Sequential, Pack = 1)]
+    public struct IODBPSD
+    {
+        public short Datano;
+        public short Type; // axis index (0 for non-axis)
+        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 32)]
+        public byte[] Data;
+    }
+
+    /// <summary>ODBM — macro variable read buffer. Value = <c>McrVal / 10^DecVal</c>.</summary>
+    [StructLayout(LayoutKind.Sequential, Pack = 1)]
+    public struct ODBM
+    {
+        public short Datano;
+        public short Dummy;
+        public int McrVal;      // long in C; 32-bit signed
+        public short DecVal;    // decimal-point count
+    }
+
+    /// <summary>ODBST — CNC status info. Machine state, alarm flags, automatic / edit mode.</summary>
+    [StructLayout(LayoutKind.Sequential, Pack = 1)]
+    public struct ODBST
+    {
+        public short Dummy;
+        public short TmMode;
+        public short Aut;
+        public short Run;
+        public short Motion;
+        public short Mstb;
+        public short Emergency;
+        public short Alarm;
+        public short Edit;
+    }
+}
+
+/// <summary>
+///     PMC address-letter → FOCAS <c>ADR_*</c> numeric code. Per Fanuc FOCAS/2 spec the codes
+///     are: G=0, F=1, Y=2, X=3, A=4, R=5, T=6, K=7, C=8, D=9, E=10. Exposed internally +
+///     tested so the FwlibFocasClient translation is verifiable without the DLL loaded.
+/// </summary>
+internal static class FocasPmcAddrType
+{
+    public static short? FromLetter(string letter) => letter.ToUpperInvariant() switch
+    {
+        "G" => 0,
+        "F" => 1,
+        "Y" => 2,
+        "X" => 3,
+        "A" => 4,
+        "R" => 5,
+        "T" => 6,
+        "K" => 7,
+        "C" => 8,
+        "D" => 9,
+        "E" => 10,
+        _ => null,
+    };
+}
+
+/// <summary>PMC data-type numeric codes per FOCAS/2: 0 = byte, 1 = word, 2 = long, 4 = float, 5 = double.</summary>
+internal static class FocasPmcDataType
+{
+    public const short Byte = 0;
+    public const short Word = 1;
+    public const short Long = 2;
+    public const short Float = 4;
+    public const short Double = 5;
+
+    public static short FromFocasDataType(FocasDataType t) => t switch
+    {
+        FocasDataType.Bit or FocasDataType.Byte => Byte,
+        FocasDataType.Int16 => Word,
+        FocasDataType.Int32 => Long,
+        FocasDataType.Float32 => Float,
+        FocasDataType.Float64 => Double,
+        _ => Byte,
+    };
+}

src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/IFocasClient.cs

@@ -0,0 +1,70 @@
+namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
+
+/// <summary>
+///     Wire-layer abstraction over one FOCAS session to a CNC. The driver holds one per
+///     configured device; lifetime matches the device.
+/// </summary>
+/// <remarks>
+///     <para><b>No default wire implementation ships with this assembly.</b> FWLIB
+///     (<c>Fwlib32.dll</c>) is Fanuc-proprietary and requires a valid customer license — it
+///     cannot legally be redistributed. The deployment team supplies an
+///     <see cref="IFocasClientFactory"/> that wraps the licensed <c>Fwlib32.dll</c> via
+///     P/Invoke and registers it at server startup.</para>
+///
+///     <para>The default <see cref="UnimplementedFocasClientFactory"/> throws with a pointer at
+///     the deployment docs so misconfigured servers fail fast with a clear error rather than
+///     mysteriously hanging.</para>
+/// </remarks>
+public interface IFocasClient : IDisposable
+{
+    /// <summary>Open the FWLIB handle + TCP session. Idempotent.</summary>
+    Task ConnectAsync(FocasHostAddress address, TimeSpan timeout, CancellationToken cancellationToken);
+
+    /// <summary>True when the FWLIB handle is valid + the socket is up.</summary>
+    bool IsConnected { get; }
+
+    /// <summary>
+    ///     Read the value at <paramref name="address"/> in the requested
+    ///     <paramref name="type"/>. Returns a boxed .NET value + the OPC UA status mapped
+    ///     through <see cref="FocasStatusMapper"/>.
+    /// </summary>
+    Task<(object? value, uint status)> ReadAsync(
+        FocasAddress address,
+        FocasDataType type,
+        CancellationToken cancellationToken);
+
+    /// <summary>
+    ///     Write <paramref name="value"/> to <paramref name="address"/>. Returns the mapped
+    ///     OPC UA status (0 = Good).
+    /// </summary>
+    Task<uint> WriteAsync(
+        FocasAddress address,
+        FocasDataType type,
+        object? value,
+        CancellationToken cancellationToken);
+
+    /// <summary>
+    ///     Cheap health probe — e.g. <c>cnc_rdcncstat</c>. Returns <c>true</c> when the CNC
+    ///     responds with any valid status.
+    /// </summary>
+    Task<bool> ProbeAsync(CancellationToken cancellationToken);
+}
+
+/// <summary>Factory for <see cref="IFocasClient"/>s. One client per configured device.</summary>
+public interface IFocasClientFactory
+{
+    IFocasClient Create();
+}
+
+/// <summary>
+///     Default factory that throws at construction time — the deployment must register a real
+///     factory. Keeps the driver assembly licence-clean while still allowing the skeleton to
+///     compile + the abstraction tests to run.
+/// </summary>
+public sealed class UnimplementedFocasClientFactory : IFocasClientFactory
+{
+    public IFocasClient Create() => throw new NotSupportedException(
+        "FOCAS driver has no wire client configured. Register a real IFocasClientFactory at " +
+        "server startup wrapping the licensed Fwlib32.dll — see docs/v2/focas-deployment.md. " +
+        "Fanuc licensing forbids shipping Fwlib32.dll in the OtOpcUa package.");
+}

src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.csproj

@@ -0,0 +1,32 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+    <PropertyGroup>
+        <TargetFramework>net10.0</TargetFramework>
+        <Nullable>enable</Nullable>
+        <ImplicitUsings>enable</ImplicitUsings>
+        <LangVersion>latest</LangVersion>
+        <TreatWarningsAsErrors>true</TreatWarningsAsErrors>
+        <GenerateDocumentationFile>true</GenerateDocumentationFile>
+        <NoWarn>$(NoWarn);CS1591</NoWarn>
+        <RootNamespace>ZB.MOM.WW.OtOpcUa.Driver.FOCAS</RootNamespace>
+        <AssemblyName>ZB.MOM.WW.OtOpcUa.Driver.FOCAS</AssemblyName>
+    </PropertyGroup>
+
+    <ItemGroup>
+        <ProjectReference Include="..\ZB.MOM.WW.OtOpcUa.Core.Abstractions\ZB.MOM.WW.OtOpcUa.Core.Abstractions.csproj"/>
+    </ItemGroup>
+
+    <!--
+        No NuGet reference to a FOCAS library — FWLIB is Fanuc-proprietary and the licensed
+        Fwlib32.dll cannot be redistributed. The deployment side supplies an IFocasClient
+        implementation that P/Invokes against whatever Fwlib32.dll the customer has licensed.
+        Driver.FOCAS.IntegrationTests in a separate repo can wire in the real binary.
+        Follow-up task #193 tracks the real-client reference implementation that customers may
+        drop in privately.
+    -->
+
+    <ItemGroup>
+        <InternalsVisibleTo Include="ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests"/>
+    </ItemGroup>
+
+</Project>

tests/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests/FakeFocasClient.cs

@@ -0,0 +1,69 @@
+using ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
+
+namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests;
+
+internal class FakeFocasClient : IFocasClient
+{
+    public bool IsConnected { get; private set; }
+    public int ConnectCount { get; private set; }
+    public int DisposeCount { get; private set; }
+    public bool ThrowOnConnect { get; set; }
+    public bool ThrowOnRead { get; set; }
+    public bool ThrowOnWrite { get; set; }
+    public bool ProbeResult { get; set; } = true;
+    public Exception? Exception { get; set; }
+
+    public Dictionary<string, object?> Values { get; } = new(StringComparer.OrdinalIgnoreCase);
+    public Dictionary<string, uint> ReadStatuses { get; } = new(StringComparer.OrdinalIgnoreCase);
+    public Dictionary<string, uint> WriteStatuses { get; } = new(StringComparer.OrdinalIgnoreCase);
+    public List<(FocasAddress addr, FocasDataType type, object? value)> WriteLog { get; } = new();
+
+    public virtual Task ConnectAsync(FocasHostAddress address, TimeSpan timeout, CancellationToken ct)
+    {
+        ConnectCount++;
+        if (ThrowOnConnect) throw Exception ?? new InvalidOperationException();
+        IsConnected = true;
+        return Task.CompletedTask;
+    }
+
+    public virtual Task<(object? value, uint status)> ReadAsync(
+        FocasAddress address, FocasDataType type, CancellationToken ct)
+    {
+        if (ThrowOnRead) throw Exception ?? new InvalidOperationException();
+        var key = address.Canonical;
+        var status = ReadStatuses.TryGetValue(key, out var s) ? s : FocasStatusMapper.Good;
+        var value = Values.TryGetValue(key, out var v) ? v : null;
+        return Task.FromResult((value, status));
+    }
+
+    public virtual Task<uint> WriteAsync(
+        FocasAddress address, FocasDataType type, object? value, CancellationToken ct)
+    {
+        if (ThrowOnWrite) throw Exception ?? new InvalidOperationException();
+        WriteLog.Add((address, type, value));
+        Values[address.Canonical] = value;
+        var status = WriteStatuses.TryGetValue(address.Canonical, out var s) ? s : FocasStatusMapper.Good;
+        return Task.FromResult(status);
+    }
+
+    public virtual Task<bool> ProbeAsync(CancellationToken ct) => Task.FromResult(ProbeResult);
+
+    public virtual void Dispose()
+    {
+        DisposeCount++;
+        IsConnected = false;
+    }
+}
+
+internal sealed class FakeFocasClientFactory : IFocasClientFactory
+{
+    public List<FakeFocasClient> Clients { get; } = new();
+    public Func<FakeFocasClient>? Customise { get; set; }
+
+    public IFocasClient Create()
+    {
+        var c = Customise?.Invoke() ?? new FakeFocasClient();
+        Clients.Add(c);
+        return c;
+    }
+}

tests/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests/FocasReadWriteTests.cs

@@ -0,0 +1,261 @@
+using Shouldly;
+using Xunit;
+using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
+using ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
+
+namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests;
+
+[Trait("Category", "Unit")]
+public sealed class FocasReadWriteTests
+{
+    private static (FocasDriver drv, FakeFocasClientFactory factory) NewDriver(params FocasTagDefinition[] tags)
+    {
+        var factory = new FakeFocasClientFactory();
+        var drv = new FocasDriver(new FocasDriverOptions
+        {
+            Devices = [new FocasDeviceOptions("focas://10.0.0.5:8193")],
+            Tags = tags,
+            Probe = new FocasProbeOptions { Enabled = false },
+        }, "drv-1", factory);
+        return (drv, factory);
+    }
+
+    // ---- Read ----
+
+    [Fact]
+    public async Task Unknown_reference_maps_to_BadNodeIdUnknown()
+    {
+        var (drv, _) = NewDriver();
+        await drv.InitializeAsync("{}", CancellationToken.None);
+
+        var snapshots = await drv.ReadAsync(["missing"], CancellationToken.None);
+        snapshots.Single().StatusCode.ShouldBe(FocasStatusMapper.BadNodeIdUnknown);
+    }
+
+    [Fact]
+    public async Task Successful_PMC_read_returns_Good_value()
+    {
+        var (drv, factory) = NewDriver(
+            new FocasTagDefinition("Run", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte));
+        await drv.InitializeAsync("{}", CancellationToken.None);
+        factory.Customise = () => new FakeFocasClient { Values = { ["R100"] = (sbyte)5 } };
+
+        var snapshots = await drv.ReadAsync(["Run"], CancellationToken.None);
+        snapshots.Single().StatusCode.ShouldBe(FocasStatusMapper.Good);
+        snapshots.Single().Value.ShouldBe((sbyte)5);
+    }
+
+    [Fact]
+    public async Task Parameter_read_routes_through_FocasAddress_Parameter_kind()
+    {
+        var (drv, factory) = NewDriver(
+            new FocasTagDefinition("Accel", "focas://10.0.0.5:8193", "PARAM:1820", FocasDataType.Int32));
+        await drv.InitializeAsync("{}", CancellationToken.None);
+        factory.Customise = () => new FakeFocasClient { Values = { ["PARAM:1820"] = 1500 } };
+
+        var snapshots = await drv.ReadAsync(["Accel"], CancellationToken.None);
+        snapshots.Single().StatusCode.ShouldBe(FocasStatusMapper.Good);
+        snapshots.Single().Value.ShouldBe(1500);
+    }
+
+    [Fact]
+    public async Task Macro_read_routes_through_FocasAddress_Macro_kind()
+    {
+        var (drv, factory) = NewDriver(
+            new FocasTagDefinition("CustomVar", "focas://10.0.0.5:8193", "MACRO:500", FocasDataType.Float64));
+        await drv.InitializeAsync("{}", CancellationToken.None);
+        factory.Customise = () => new FakeFocasClient { Values = { ["MACRO:500"] = 3.14159 } };
+
+        var snapshots = await drv.ReadAsync(["CustomVar"], CancellationToken.None);
+        snapshots.Single().Value.ShouldBe(3.14159);
+    }
+
+    [Fact]
+    public async Task Repeat_read_reuses_connection()
+    {
+        var (drv, factory) = NewDriver(
+            new FocasTagDefinition("X", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte));
+        await drv.InitializeAsync("{}", CancellationToken.None);
+        factory.Customise = () => new FakeFocasClient { Values = { ["R100"] = (sbyte)1 } };
+
+        await drv.ReadAsync(["X"], CancellationToken.None);
+        await drv.ReadAsync(["X"], CancellationToken.None);
+
+        factory.Clients.Count.ShouldBe(1);
+        factory.Clients[0].ConnectCount.ShouldBe(1);
+    }
+
+    [Fact]
+    public async Task FOCAS_error_status_maps_via_status_mapper()
+    {
+        var (drv, factory) = NewDriver(
+            new FocasTagDefinition("Ghost", "focas://10.0.0.5:8193", "R999", FocasDataType.Byte));
+        await drv.InitializeAsync("{}", CancellationToken.None);
+        factory.Customise = () =>
+        {
+            var c = new FakeFocasClient();
+            c.ReadStatuses["R999"] = FocasStatusMapper.BadNodeIdUnknown;
+            return c;
+        };
+
+        var snapshots = await drv.ReadAsync(["Ghost"], CancellationToken.None);
+        snapshots.Single().StatusCode.ShouldBe(FocasStatusMapper.BadNodeIdUnknown);
+    }
+
+    [Fact]
+    public async Task Read_exception_surfaces_BadCommunicationError()
+    {
+        var (drv, factory) = NewDriver(
+            new FocasTagDefinition("X", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte));
+        await drv.InitializeAsync("{}", CancellationToken.None);
+        factory.Customise = () => new FakeFocasClient { ThrowOnRead = true };
+
+        var snapshots = await drv.ReadAsync(["X"], CancellationToken.None);
+        snapshots.Single().StatusCode.ShouldBe(FocasStatusMapper.BadCommunicationError);
+        drv.GetHealth().State.ShouldBe(DriverState.Degraded);
+    }
+
+    [Fact]
+    public async Task Connect_failure_disposes_client_and_surfaces_BadCommunicationError()
+    {
+        var (drv, factory) = NewDriver(
+            new FocasTagDefinition("X", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte));
+        await drv.InitializeAsync("{}", CancellationToken.None);
+        factory.Customise = () => new FakeFocasClient { ThrowOnConnect = true };
+
+        var snapshots = await drv.ReadAsync(["X"], CancellationToken.None);
+        snapshots.Single().StatusCode.ShouldBe(FocasStatusMapper.BadCommunicationError);
+        factory.Clients[0].DisposeCount.ShouldBe(1);
+    }
+
+    [Fact]
+    public async Task Batched_reads_preserve_order_across_areas()
+    {
+        var (drv, factory) = NewDriver(
+            new FocasTagDefinition("A", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte),
+            new FocasTagDefinition("B", "focas://10.0.0.5:8193", "PARAM:1820", FocasDataType.Int32),
+            new FocasTagDefinition("C", "focas://10.0.0.5:8193", "MACRO:500", FocasDataType.Float64));
+        await drv.InitializeAsync("{}", CancellationToken.None);
+        factory.Customise = () => new FakeFocasClient
+        {
+            Values =
+            {
+                ["R100"] = (sbyte)5,
+                ["PARAM:1820"] = 1500,
+                ["MACRO:500"] = 2.718,
+            },
+        };
+
+        var snapshots = await drv.ReadAsync(["A", "B", "C"], CancellationToken.None);
+        snapshots[0].Value.ShouldBe((sbyte)5);
+        snapshots[1].Value.ShouldBe(1500);
+        snapshots[2].Value.ShouldBe(2.718);
+    }
+
+    // ---- Write ----
+
+    [Fact]
+    public async Task Non_writable_tag_rejected_with_BadNotWritable()
+    {
+        var (drv, _) = NewDriver(
+            new FocasTagDefinition("RO", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte, Writable: false));
+        await drv.InitializeAsync("{}", CancellationToken.None);
+
+        var results = await drv.WriteAsync(
+            [new WriteRequest("RO", 1)], CancellationToken.None);
+        results.Single().StatusCode.ShouldBe(FocasStatusMapper.BadNotWritable);
+    }
+
+    [Fact]
+    public async Task Successful_write_logs_address_type_value()
+    {
+        var (drv, factory) = NewDriver(
+            new FocasTagDefinition("Speed", "focas://10.0.0.5:8193", "R100", FocasDataType.Int16));
+        await drv.InitializeAsync("{}", CancellationToken.None);
+
+        var results = await drv.WriteAsync(
+            [new WriteRequest("Speed", (short)1800)], CancellationToken.None);
+
+        results.Single().StatusCode.ShouldBe(FocasStatusMapper.Good);
+        var write = factory.Clients[0].WriteLog.Single();
+        write.addr.Canonical.ShouldBe("R100");
+        write.type.ShouldBe(FocasDataType.Int16);
+        write.value.ShouldBe((short)1800);
+    }
+
+    [Fact]
+    public async Task Write_status_code_maps_via_FocasStatusMapper()
+    {
+        var (drv, factory) = NewDriver(
+            new FocasTagDefinition("Protected", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte));
+        await drv.InitializeAsync("{}", CancellationToken.None);
+        factory.Customise = () =>
+        {
+            var c = new FakeFocasClient();
+            c.WriteStatuses["R100"] = FocasStatusMapper.BadNotWritable;
+            return c;
+        };
+
+        var results = await drv.WriteAsync(
+            [new WriteRequest("Protected", (sbyte)1)], CancellationToken.None);
+        results.Single().StatusCode.ShouldBe(FocasStatusMapper.BadNotWritable);
+    }
+
+    [Fact]
+    public async Task Batch_write_preserves_order_across_outcomes()
+    {
+        var factory = new FakeFocasClientFactory();
+        var drv = new FocasDriver(new FocasDriverOptions
+        {
+            Devices = [new FocasDeviceOptions("focas://10.0.0.5:8193")],
+            Tags =
+            [
+                new FocasTagDefinition("A", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte),
+                new FocasTagDefinition("B", "focas://10.0.0.5:8193", "R101", FocasDataType.Byte, Writable: false),
+            ],
+            Probe = new FocasProbeOptions { Enabled = false },
+        }, "drv-1", factory);
+        await drv.InitializeAsync("{}", CancellationToken.None);
+
+        var results = await drv.WriteAsync(
+        [
+            new WriteRequest("A", (sbyte)1),
+            new WriteRequest("B", (sbyte)2),
+            new WriteRequest("Unknown", (sbyte)3),
+        ], CancellationToken.None);
+
+        results[0].StatusCode.ShouldBe(FocasStatusMapper.Good);
+        results[1].StatusCode.ShouldBe(FocasStatusMapper.BadNotWritable);
+        results[2].StatusCode.ShouldBe(FocasStatusMapper.BadNodeIdUnknown);
+    }
+
+    [Fact]
+    public async Task Cancellation_propagates()
+    {
+        var (drv, factory) = NewDriver(
+            new FocasTagDefinition("X", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte));
+        await drv.InitializeAsync("{}", CancellationToken.None);
+        factory.Customise = () => new FakeFocasClient
+        {
+            ThrowOnRead = true,
+            Exception = new OperationCanceledException(),
+        };
+
+        await Should.ThrowAsync<OperationCanceledException>(
+            () => drv.ReadAsync(["X"], CancellationToken.None));
+    }
+
+    [Fact]
+    public async Task ShutdownAsync_disposes_client()
+    {
+        var (drv, factory) = NewDriver(
+            new FocasTagDefinition("X", "focas://10.0.0.5:8193", "R100", FocasDataType.Byte));
+        await drv.InitializeAsync("{}", CancellationToken.None);
+        factory.Customise = () => new FakeFocasClient { Values = { ["R100"] = (sbyte)1 } };
+
+        await drv.ReadAsync(["X"], CancellationToken.None);
+        await drv.ShutdownAsync(CancellationToken.None);
+
+        factory.Clients[0].DisposeCount.ShouldBe(1);
+    }
+}

tests/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests/FocasScaffoldingTests.cs

@@ -0,0 +1,228 @@
+using Shouldly;
+using Xunit;
+using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
+using ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
+
+namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests;
+
+[Trait("Category", "Unit")]
+public sealed class FocasScaffoldingTests
+{
+    // ---- FocasHostAddress ----
+
+    [Theory]
+    [InlineData("focas://10.0.0.5:8193", "10.0.0.5", 8193)]
+    [InlineData("focas://10.0.0.5", "10.0.0.5", 8193)]                         // default port
+    [InlineData("focas://cnc-01.factory.internal:8193", "cnc-01.factory.internal", 8193)]
+    [InlineData("focas://10.0.0.5:12345", "10.0.0.5", 12345)]
+    [InlineData("FOCAS://10.0.0.5:8193", "10.0.0.5", 8193)]                    // case-insensitive scheme
+    public void HostAddress_parses_valid(string input, string host, int port)
+    {
+        var parsed = FocasHostAddress.TryParse(input);
+        parsed.ShouldNotBeNull();
+        parsed.Host.ShouldBe(host);
+        parsed.Port.ShouldBe(port);
+    }
+
+    [Theory]
+    [InlineData(null)]
+    [InlineData("")]
+    [InlineData("http://10.0.0.5/")]
+    [InlineData("focas:10.0.0.5:8193")]          // missing //
+    [InlineData("focas://")]                     // empty body
+    [InlineData("focas://10.0.0.5:0")]           // port 0
+    [InlineData("focas://10.0.0.5:65536")]       // port out of range
+    [InlineData("focas://10.0.0.5:abc")]         // non-numeric port
+    public void HostAddress_rejects_invalid(string? input)
+    {
+        FocasHostAddress.TryParse(input).ShouldBeNull();
+    }
+
+    [Fact]
+    public void HostAddress_ToString_strips_default_port()
+    {
+        new FocasHostAddress("10.0.0.5", 8193).ToString().ShouldBe("focas://10.0.0.5");
+        new FocasHostAddress("10.0.0.5", 12345).ToString().ShouldBe("focas://10.0.0.5:12345");
+    }
+
+    // ---- FocasAddress ----
+
+    [Theory]
+    [InlineData("X0.0", FocasAreaKind.Pmc, "X", 0, 0)]
+    [InlineData("X0", FocasAreaKind.Pmc, "X", 0, null)]
+    [InlineData("Y10", FocasAreaKind.Pmc, "Y", 10, null)]
+    [InlineData("F20.3", FocasAreaKind.Pmc, "F", 20, 3)]
+    [InlineData("G54", FocasAreaKind.Pmc, "G", 54, null)]
+    [InlineData("R100", FocasAreaKind.Pmc, "R", 100, null)]
+    [InlineData("D200", FocasAreaKind.Pmc, "D", 200, null)]
+    [InlineData("C300", FocasAreaKind.Pmc, "C", 300, null)]
+    [InlineData("K400", FocasAreaKind.Pmc, "K", 400, null)]
+    [InlineData("A500", FocasAreaKind.Pmc, "A", 500, null)]
+    [InlineData("E600", FocasAreaKind.Pmc, "E", 600, null)]
+    [InlineData("T50.4", FocasAreaKind.Pmc, "T", 50, 4)]
+    public void Address_parses_PMC_forms(string input, FocasAreaKind kind, string letter, int num, int? bit)
+    {
+        var a = FocasAddress.TryParse(input);
+        a.ShouldNotBeNull();
+        a.Kind.ShouldBe(kind);
+        a.PmcLetter.ShouldBe(letter);
+        a.Number.ShouldBe(num);
+        a.BitIndex.ShouldBe(bit);
+    }
+
+    [Theory]
+    [InlineData("PARAM:1020", FocasAreaKind.Parameter, 1020, null)]
+    [InlineData("PARAM:1815/0", FocasAreaKind.Parameter, 1815, 0)]
+    [InlineData("PARAM:1815/31", FocasAreaKind.Parameter, 1815, 31)]
+    public void Address_parses_parameter_forms(string input, FocasAreaKind kind, int num, int? bit)
+    {
+        var a = FocasAddress.TryParse(input);
+        a.ShouldNotBeNull();
+        a.Kind.ShouldBe(kind);
+        a.PmcLetter.ShouldBeNull();
+        a.Number.ShouldBe(num);
+        a.BitIndex.ShouldBe(bit);
+    }
+
+    [Theory]
+    [InlineData("MACRO:100", FocasAreaKind.Macro, 100)]
+    [InlineData("MACRO:500", FocasAreaKind.Macro, 500)]
+    public void Address_parses_macro_forms(string input, FocasAreaKind kind, int num)
+    {
+        var a = FocasAddress.TryParse(input);
+        a.ShouldNotBeNull();
+        a.Kind.ShouldBe(kind);
+        a.Number.ShouldBe(num);
+        a.BitIndex.ShouldBeNull();
+    }
+
+    [Theory]
+    [InlineData(null)]
+    [InlineData("")]
+    [InlineData("   ")]
+    [InlineData("Z0")]                   // unknown PMC letter
+    [InlineData("X")]                    // missing number
+    [InlineData("X-1")]                  // negative number
+    [InlineData("Xabc")]                 // non-numeric
+    [InlineData("X0.8")]                 // bit out of range (0-7)
+    [InlineData("X0.-1")]                // negative bit
+    [InlineData("PARAM:")]               // missing number
+    [InlineData("PARAM:1815/32")]        // bit out of range (0-31)
+    [InlineData("MACRO:abc")]            // non-numeric
+    public void Address_rejects_invalid_forms(string? input)
+    {
+        FocasAddress.TryParse(input).ShouldBeNull();
+    }
+
+    [Theory]
+    [InlineData("X0.0")]
+    [InlineData("R100")]
+    [InlineData("F20.3")]
+    [InlineData("PARAM:1020")]
+    [InlineData("PARAM:1815/0")]
+    [InlineData("MACRO:100")]
+    public void Address_Canonical_roundtrips(string input)
+    {
+        var parsed = FocasAddress.TryParse(input);
+        parsed.ShouldNotBeNull();
+        parsed.Canonical.ShouldBe(input);
+    }
+
+    // ---- FocasDataType ----
+
+    [Fact]
+    public void DataType_mapping_covers_atomic_focas_types()
+    {
+        FocasDataType.Bit.ToDriverDataType().ShouldBe(DriverDataType.Boolean);
+        FocasDataType.Int16.ToDriverDataType().ShouldBe(DriverDataType.Int32);
+        FocasDataType.Int32.ToDriverDataType().ShouldBe(DriverDataType.Int32);
+        FocasDataType.Float32.ToDriverDataType().ShouldBe(DriverDataType.Float32);
+        FocasDataType.Float64.ToDriverDataType().ShouldBe(DriverDataType.Float64);
+        FocasDataType.String.ToDriverDataType().ShouldBe(DriverDataType.String);
+    }
+
+    // ---- FocasStatusMapper ----
+
+    [Theory]
+    [InlineData(0, FocasStatusMapper.Good)]
+    [InlineData(3, FocasStatusMapper.BadOutOfRange)]         // EW_NUMBER
+    [InlineData(4, FocasStatusMapper.BadOutOfRange)]         // EW_LENGTH
+    [InlineData(5, FocasStatusMapper.BadNotWritable)]        // EW_PROT
+    [InlineData(6, FocasStatusMapper.BadNotSupported)]       // EW_NOOPT
+    [InlineData(8, FocasStatusMapper.BadNodeIdUnknown)]      // EW_DATA
+    [InlineData(-1, FocasStatusMapper.BadDeviceFailure)]     // EW_BUSY
+    [InlineData(-8, FocasStatusMapper.BadInternalError)]     // EW_HANDLE
+    [InlineData(-16, FocasStatusMapper.BadCommunicationError)] // EW_SOCKET
+    [InlineData(999, FocasStatusMapper.BadCommunicationError)] // unknown → generic
+    public void StatusMapper_covers_known_focas_returns(int ret, uint expected)
+    {
+        FocasStatusMapper.MapFocasReturn(ret).ShouldBe(expected);
+    }
+
+    // ---- FocasDriver ----
+
+    [Fact]
+    public void DriverType_is_FOCAS()
+    {
+        var drv = new FocasDriver(new FocasDriverOptions(), "drv-1");
+        drv.DriverType.ShouldBe("FOCAS");
+        drv.DriverInstanceId.ShouldBe("drv-1");
+    }
+
+    [Fact]
+    public async Task InitializeAsync_parses_device_addresses()
+    {
+        var drv = new FocasDriver(new FocasDriverOptions
+        {
+            Devices =
+            [
+                new FocasDeviceOptions("focas://10.0.0.5:8193"),
+                new FocasDeviceOptions("focas://10.0.0.6:12345", DeviceName: "CNC-2"),
+            ],
+        }, "drv-1");
+
+        await drv.InitializeAsync("{}", CancellationToken.None);
+
+        drv.DeviceCount.ShouldBe(2);
+        drv.GetDeviceState("focas://10.0.0.5:8193")!.ParsedAddress.Port.ShouldBe(8193);
+        drv.GetDeviceState("focas://10.0.0.6:12345")!.Options.DeviceName.ShouldBe("CNC-2");
+    }
+
+    [Fact]
+    public async Task InitializeAsync_malformed_address_faults()
+    {
+        var drv = new FocasDriver(new FocasDriverOptions
+        {
+            Devices = [new FocasDeviceOptions("not-an-address")],
+        }, "drv-1");
+
+        await Should.ThrowAsync<InvalidOperationException>(
+            () => drv.InitializeAsync("{}", CancellationToken.None));
+        drv.GetHealth().State.ShouldBe(DriverState.Faulted);
+    }
+
+    [Fact]
+    public async Task ShutdownAsync_clears_devices()
+    {
+        var drv = new FocasDriver(new FocasDriverOptions
+        {
+            Devices = [new FocasDeviceOptions("focas://10.0.0.5:8193")],
+        }, "drv-1");
+        await drv.InitializeAsync("{}", CancellationToken.None);
+
+        await drv.ShutdownAsync(CancellationToken.None);
+        drv.DeviceCount.ShouldBe(0);
+        drv.GetHealth().State.ShouldBe(DriverState.Unknown);
+    }
+
+    // ---- UnimplementedFocasClientFactory ----
+
+    [Fact]
+    public void Default_factory_throws_on_Create_with_deployment_pointer()
+    {
+        var factory = new UnimplementedFocasClientFactory();
+        var ex = Should.Throw<NotSupportedException>(() => factory.Create());
+        ex.Message.ShouldContain("Fwlib32.dll");
+        ex.Message.ShouldContain("licensed");
+    }
+}

tests/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests/FwlibNativeHelperTests.cs

@@ -0,0 +1,100 @@
+using Shouldly;
+using Xunit;
+using ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
+
+namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests;
+
+/// <summary>
+///     Tests for the managed helpers inside FwlibNative + FwlibFocasClient that don't require the
+///     licensed Fwlib32.dll — letter→ADR_* mapping, FocasDataType→data-type mapping, byte encoding.
+///     The actual P/Invoke calls can only run where the DLL is present; field testing covers those.
+/// </summary>
+[Trait("Category", "Unit")]
+public sealed class FwlibNativeHelperTests
+{
+    [Theory]
+    [InlineData("G", 0)]
+    [InlineData("F", 1)]
+    [InlineData("Y", 2)]
+    [InlineData("X", 3)]
+    [InlineData("A", 4)]
+    [InlineData("R", 5)]
+    [InlineData("T", 6)]
+    [InlineData("K", 7)]
+    [InlineData("C", 8)]
+    [InlineData("D", 9)]
+    [InlineData("E", 10)]
+    [InlineData("g", 0)] // case-insensitive
+    public void PmcAddrType_maps_every_valid_letter(string letter, short expected)
+    {
+        FocasPmcAddrType.FromLetter(letter).ShouldBe(expected);
+    }
+
+    [Theory]
+    [InlineData("Z")]
+    [InlineData("")]
+    [InlineData("XX")]
+    public void PmcAddrType_rejects_unknown_letters(string letter)
+    {
+        FocasPmcAddrType.FromLetter(letter).ShouldBeNull();
+    }
+
+    [Theory]
+    [InlineData(FocasDataType.Bit, 0)]   // byte
+    [InlineData(FocasDataType.Byte, 0)]
+    [InlineData(FocasDataType.Int16, 1)]  // word
+    [InlineData(FocasDataType.Int32, 2)]  // long
+    [InlineData(FocasDataType.Float32, 4)]
+    [InlineData(FocasDataType.Float64, 5)]
+    public void PmcDataType_maps_FocasDataType_to_FOCAS_code(FocasDataType input, short expected)
+    {
+        FocasPmcDataType.FromFocasDataType(input).ShouldBe(expected);
+    }
+
+    [Fact]
+    public void EncodePmcValue_Byte_writes_signed_byte_at_offset_0()
+    {
+        var buf = new byte[40];
+        FwlibFocasClient.EncodePmcValue(buf, FocasDataType.Byte, (sbyte)-5, bitIndex: null);
+        ((sbyte)buf[0]).ShouldBe((sbyte)-5);
+    }
+
+    [Fact]
+    public void EncodePmcValue_Int16_writes_little_endian()
+    {
+        var buf = new byte[40];
+        FwlibFocasClient.EncodePmcValue(buf, FocasDataType.Int16, (short)0x1234, bitIndex: null);
+        buf[0].ShouldBe((byte)0x34);
+        buf[1].ShouldBe((byte)0x12);
+    }
+
+    [Fact]
+    public void EncodePmcValue_Int32_writes_little_endian()
+    {
+        var buf = new byte[40];
+        FwlibFocasClient.EncodePmcValue(buf, FocasDataType.Int32, 0x12345678, bitIndex: null);
+        buf[0].ShouldBe((byte)0x78);
+        buf[1].ShouldBe((byte)0x56);
+        buf[2].ShouldBe((byte)0x34);
+        buf[3].ShouldBe((byte)0x12);
+    }
+
+    [Fact]
+    public void EncodePmcValue_Bit_throws_NotSupported_for_RMW_gap()
+    {
+        var buf = new byte[40];
+        Should.Throw<NotSupportedException>(() =>
+            FwlibFocasClient.EncodePmcValue(buf, FocasDataType.Bit, true, bitIndex: 3));
+    }
+
+    [Fact]
+    public void EncodeParamValue_Int32_writes_little_endian()
+    {
+        var buf = new byte[32];
+        FwlibFocasClient.EncodeParamValue(buf, FocasDataType.Int32, 0x0A0B0C0D);
+        buf[0].ShouldBe((byte)0x0D);
+        buf[1].ShouldBe((byte)0x0C);
+        buf[2].ShouldBe((byte)0x0B);
+        buf[3].ShouldBe((byte)0x0A);
+    }
+}

tests/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests.csproj

@@ -0,0 +1,31 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+    <PropertyGroup>
+        <TargetFramework>net10.0</TargetFramework>
+        <Nullable>enable</Nullable>
+        <ImplicitUsings>enable</ImplicitUsings>
+        <IsPackable>false</IsPackable>
+        <IsTestProject>true</IsTestProject>
+        <RootNamespace>ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests</RootNamespace>
+    </PropertyGroup>
+
+    <ItemGroup>
+        <PackageReference Include="xunit.v3" Version="1.1.0"/>
+        <PackageReference Include="Shouldly" Version="4.3.0"/>
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.12.0"/>
+        <PackageReference Include="xunit.runner.visualstudio" Version="3.0.2">
+            <PrivateAssets>all</PrivateAssets>
+            <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
+        </PackageReference>
+    </ItemGroup>
+
+    <ItemGroup>
+        <ProjectReference Include="..\..\src\ZB.MOM.WW.OtOpcUa.Driver.FOCAS\ZB.MOM.WW.OtOpcUa.Driver.FOCAS.csproj"/>
+    </ItemGroup>
+
+    <ItemGroup>
+        <NuGetAuditSuppress Include="https://github.com/advisories/GHSA-37gx-xxp4-5rgx"/>
+        <NuGetAuditSuppress Include="https://github.com/advisories/GHSA-w3x6-4m5h-cxqf"/>
+    </ItemGroup>
+
+</Project>