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

@@ -15,12 +15,13 @@ namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
 ///     + the default <see cref="UnimplementedFocasClientFactory"/> makes misconfigured servers
 ///     fail fast.
 /// </remarks>
-public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
+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,
@@ -29,7 +30,7 @@ public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
         ArgumentNullException.ThrowIfNull(options);
         _options = options;
         _driverInstanceId = driverInstanceId;
-        _clientFactory = clientFactory ?? new UnimplementedFocasClientFactory();
+        _clientFactory = clientFactory ?? new FwlibFocasClientFactory();
     }
 
     public string DriverInstanceId => _driverInstanceId;
@@ -47,6 +48,7 @@ public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
                         $"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)
@@ -65,7 +67,9 @@ public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
 
     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;
     }
@@ -78,6 +82,130 @@ public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
     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);
 
@@ -85,5 +213,12 @@ public sealed class FocasDriver : IDriver, IDisposable, IAsyncDisposable
     {
         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/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,
+    };
+}

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/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);
+    }
+}