TwinCAT PR 2 � IReadable + IWritable #121

dohertj2 · 2026-04-19T18:34:49-04:00

dohertj2 commented

2026-04-19 18:34:49 -04:00

ITwinCATClient abstraction, AdsTwinCATClient default impl wrapping Beckhoff AdsClient (ReadValueAsync ResultAnyValue, WriteValueAsync ResultWrite, ReadStateAsync probe). Per-device connection caching. 14 new tests, 75/75 passing. Merges to v2.

dohertj2 added 1 commit 2026-04-19 18:34:51 -04:00

TwinCAT PR 2 — IReadable + IWritable. ITwinCATClient + ITwinCATClientFactory abstraction — one client per AMS target, reused across reads/writes/probes. Shape differs from AbCip/AbLegacy where libplctag handles are per-tag — TwinCAT's AdsClient is a single connection with symbolic reads/writes issued against it, so the abstraction is coarser. AdsTwinCATClient is the default implementation wrapping Beckhoff.TwinCAT.Ads's AdsClient — ConnectAsync calls AdsClient.Connect(AmsNetId.Parse(netId), port) after setting Timeout in ms; ReadValueAsync dispatches TwinCATDataType to the CLR Type via MapToClrType (bool/sbyte/byte/short/ushort/int/uint/long/ulong/float/double/string/uint for time types) and calls AdsClient.ReadValueAsync(symbol, type, ct) which returns ResultAnyValue; unwraps .Value + .ErrorCode and maps non-NoError codes via TwinCATStatusMapper.MapAdsError. BOOL-within-word reads extract the bit after the underlying word read using ExtractBit over short/ushort/int/uint/long/ulong. WriteValueAsync converts the boxed value via ConvertForWrite (Convert.ToXxx per type) then calls AdsClient.WriteValueAsync returning ResultWrite; checks .ErrorCode for status mapping. BOOL-within-word writes throw NotSupportedException with a pointer to task #181 — same RMW gap as Modbus BitInRegister / AbCip BOOL-in-DINT / AbLegacy bit-within-N-file. ProbeAsync calls AdsClient.ReadStateAsync + checks AdsErrorCode.NoError. TwinCATDriver implements IReadable + IWritable — per-device ITwinCATClient cached in DeviceState.Client, lazy-connected on first read/write via EnsureConnectedAsync, connect-failure path disposes + clears the client so next call re-attempts cleanly. ReadAsync ordered-snapshot pattern matching AbCip/AbLegacy: unknown ref → BadNodeIdUnknown, unknown device → BadNodeIdUnknown, OperationCanceledException rethrow, any other exception → BadCommunicationError + Degraded health. WriteAsync similar — non-Writable tag → BadNotWritable upfront, NotSupportedException → BadNotSupported, FormatException/InvalidCastException (guard pattern) → BadTypeMismatch, OverflowException → BadOutOfRange, generic → BadCommunicationError. Symbol name resolution goes through TwinCATSymbolPath.TryParse(def.SymbolPath) with fallback to the raw def.SymbolPath if the path doesn't parse — the Beckhoff AdsClient handles the final validation at wire time. ShutdownAsync disposes each device's client. 14 new unit tests in TwinCATReadWriteTests using FakeTwinCATClient + FakeTwinCATClientFactory — unknown ref → BadNodeIdUnknown, successful DInt read with Good status + captured value + IsConnected=true after EnsureConnectedAsync, repeat reads reuse the connection (one Connect + multiple reads), ADS error code mapping via FakeTwinCATClient.ReadStatuses, read exception → BadCommunicationError + Degraded health, connect exception disposes the client, batched reads preserve order across DInt/Real/String types, non-Writable rejection, successful write logs symbol+type+value+bit for test inspection, write status-code mapping, write exception → BadCommunicationError, batch preserves order across success/non-writable/unknown, cancellation propagation, ShutdownAsync disposes the client. Total TwinCAT unit tests now 75/75 passing (+14 from PR 1's 61); full solution builds 0 errors; Modbus / AbCip / AbLegacy / other drivers untouched. 28e3470300

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

dohertj2 merged commit 2d5aaf1eda into v2

2026-04-19 18:34:54 -04:00

dohertj2 referenced this issue from a commit

2026-04-19 18:34:55 -04:00

Merge pull request (#121) - TwinCAT R/W

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Reference: dohertj2/lmxopcua#121