using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
using ZB.MOM.WW.OtOpcUa.Driver.AbCip.Import;
using ZB.MOM.WW.OtOpcUa.Driver.AbCip.PlcFamilies;

namespace ZB.MOM.WW.OtOpcUa.Driver.AbCip;

/// <summary>
///     Allen-Bradley CIP / EtherNet-IP driver for ControlLogix / CompactLogix / Micro800 /
///     GuardLogix families. Implements <see cref="IDriver"/> only for now — read/write/
///     subscribe/discover capabilities ship in subsequent PRs (3–8) and family-specific quirk
///     profiles ship in PRs 9–12.
/// </summary>
/// <remarks>
///     <para>Wire layer is libplctag 1.6.x (plan decision #11). Per-device host addresses use
///     the <c>ab://gateway[:port]/cip-path</c> canonical form parsed via
///     <see cref="AbCipHostAddress.TryParse"/>; those strings become the <c>hostName</c> key
///     for Polly bulkhead + circuit-breaker isolation per plan decision #144.</para>
///
///     <para>Tier A per plan decisions #143–145 — in-process, shares server lifetime, no
///     sidecar. <see cref="ReinitializeAsync"/> is the Tier-B escape hatch for recovering
///     from native-heap growth that the CLR allocator can't see; it tears down every
///     <see cref="PlcTagHandle"/> and reconnects each device.</para>
/// </remarks>
public sealed class AbCipDriver : IDriver, IReadable, IWritable, ITagDiscovery, ISubscribable,
    IHostConnectivityProbe, IPerCallHostResolver, IAlarmSource, IDriverControl, IDisposable, IAsyncDisposable
{
    private readonly AbCipDriverOptions _options;
    private readonly string _driverInstanceId;
    private readonly IAbCipTagFactory _tagFactory;
    private readonly IAbCipTagEnumeratorFactory _enumeratorFactory;
    private readonly IAbCipTemplateReaderFactory _templateReaderFactory;
    private readonly AbCipTemplateCache _templateCache = new();
    private readonly PollGroupEngine _poll;
    private readonly Dictionary<string, DeviceState> _devices = new(StringComparer.OrdinalIgnoreCase);
    private readonly Dictionary<string, AbCipTagDefinition> _tagsByName = new(StringComparer.OrdinalIgnoreCase);
    private readonly AbCipAlarmProjection _alarmProjection;
    private readonly SemaphoreSlim _discoverySemaphore = new(1, 1);
    private DriverHealth _health = new(DriverState.Unknown, null, null);

    public event EventHandler<DataChangeEventArgs>? OnDataChange;
    public event EventHandler<HostStatusChangedEventArgs>? OnHostStatusChanged;
    public event EventHandler<AlarmEventArgs>? OnAlarmEvent;

    /// <summary>Internal seam for the alarm projection to raise events through the driver.</summary>
    internal void InvokeAlarmEvent(AlarmEventArgs args) => OnAlarmEvent?.Invoke(this, args);

    public AbCipDriver(AbCipDriverOptions options, string driverInstanceId,
        IAbCipTagFactory? tagFactory = null,
        IAbCipTagEnumeratorFactory? enumeratorFactory = null,
        IAbCipTemplateReaderFactory? templateReaderFactory = null)
    {
        ArgumentNullException.ThrowIfNull(options);
        _options = options;
        _driverInstanceId = driverInstanceId;
        _tagFactory = tagFactory ?? new LibplctagTagFactory();
        _enumeratorFactory = enumeratorFactory ?? new LibplctagTagEnumeratorFactory();
        _templateReaderFactory = templateReaderFactory ?? new LibplctagTemplateReaderFactory();
        _poll = new PollGroupEngine(
            reader: ReadAsync,
            onChange: (handle, tagRef, snapshot) =>
                OnDataChange?.Invoke(this, new DataChangeEventArgs(handle, tagRef, snapshot)));
        _alarmProjection = new AbCipAlarmProjection(this, _options.AlarmPollInterval);
    }

    /// <summary>
    ///     Fetch + cache the shape of a Logix UDT by template instance id. First call reads
    ///     the Template Object off the controller; subsequent calls for the same
    ///     <c>(deviceHostAddress, templateInstanceId)</c> return the cached shape without
    ///     additional network traffic. <c>null</c> on template-not-found / decode failure so
    ///     callers can fall back to declaration-driven UDT fan-out.
    /// </summary>
    internal async Task<AbCipUdtShape?> FetchUdtShapeAsync(
        string deviceHostAddress, uint templateInstanceId, CancellationToken cancellationToken)
    {
        var cached = _templateCache.TryGet(deviceHostAddress, templateInstanceId);
        if (cached is not null) return cached;

        if (!_devices.TryGetValue(deviceHostAddress, out var device)) return null;

        // UDT template reads target the @udt/{id} pseudo-tag, which the controller already
        // serves via a logical-segment path of its own. Force Symbolic addressing so we don't
        // overlay the driver's Logical mode on top — libplctag knows how to dereference the
        // pseudo-tag directly.
        var deviceParams = new AbCipTagCreateParams(
            Gateway: device.ParsedAddress.Gateway,
            Port: device.ParsedAddress.Port,
            CipPath: device.ParsedAddress.CipPath,
            LibplctagPlcAttribute: device.Profile.LibplctagPlcAttribute,
            TagName: $"@udt/{templateInstanceId}",
            Timeout: _options.Timeout,
            ConnectionSize: device.ConnectionSize,
            AddressingMode: AddressingMode.Symbolic);

        try
        {
            using var reader = _templateReaderFactory.Create();
            var buffer = await reader.ReadAsync(deviceParams, templateInstanceId, cancellationToken).ConfigureAwait(false);
            var shape = CipTemplateObjectDecoder.Decode(buffer);
            if (shape is not null)
                _templateCache.Put(deviceHostAddress, templateInstanceId, shape);
            return shape;
        }
        catch (OperationCanceledException) { throw; }
        catch
        {
            // Template read failure — log via the driver's health surface so operators see it,
            // but don't propagate since callers should fall back to declaration-driven UDT
            // semantics rather than failing the whole discovery run.
            return null;
        }
    }

    /// <summary>Shared UDT template cache. Exposed for PR 6 (UDT reader) + diagnostics.</summary>
    internal AbCipTemplateCache TemplateCache => _templateCache;

    public string DriverInstanceId => _driverInstanceId;
    public string DriverType => "AbCip";

    public Task InitializeAsync(string driverConfigJson, CancellationToken cancellationToken)
    {
        _health = new DriverHealth(DriverState.Initializing, null, null);
        try
        {
            foreach (var device in _options.Devices)
            {
                var addr = AbCipHostAddress.TryParse(device.HostAddress)
                    ?? throw new InvalidOperationException(
                        $"AbCip device has invalid HostAddress '{device.HostAddress}' — expected 'ab://gateway[:port]/cip-path'.");
                var profile = AbCipPlcFamilyProfile.ForFamily(device.PlcFamily);
                // PR abcip-3.1 — validate the optional ConnectionSize override before stamping
                // the device. The Kepware-supported range [500..4002] is what the libplctag
                // ControlLogix driver supports; anything outside that fails the Forward Open at
                // runtime, so we reject it loudly at config time instead.
                if (device.ConnectionSize is int explicitSize)
                {
                    if (explicitSize < AbCipConnectionSize.Min || explicitSize > AbCipConnectionSize.Max)
                        throw new InvalidOperationException(
                            $"AbCip device '{device.HostAddress}' has ConnectionSize {explicitSize} outside the supported range " +
                            $"[{AbCipConnectionSize.Min}..{AbCipConnectionSize.Max}].");
                    // Legacy-firmware warning: families whose profile default is 504 (CompactLogix
                    // narrow cap, also where v19-and-earlier ControlLogix lives) can't actually
                    // raise their CIP buffer above 511 bytes — the controller rejects the Forward
                    // Open. Ship the override anyway so newer firmware can use it, but flag the
                    // mismatch so operators see it in the warning sink.
                    if (explicitSize > AbCipConnectionSize.LegacyFirmwareCap
                        && profile.DefaultConnectionSize <= AbCipConnectionSize.LegacyFirmwareCap)
                    {
                        _options.OnWarning?.Invoke(
                            $"AbCip device '{device.HostAddress}' family '{device.PlcFamily}' uses a narrow-buffer profile " +
                            $"(default ConnectionSize {profile.DefaultConnectionSize}); the configured ConnectionSize {explicitSize} " +
                            $"exceeds the {AbCipConnectionSize.LegacyFirmwareCap}-byte legacy-firmware cap and will fail the " +
                            "Forward Open on v19-and-earlier ControlLogix or 5069-L1/L2/L3 CompactLogix firmware.");
                    }
                }
                // PR abcip-3.2 — resolve AddressingMode at the device level. Auto → Symbolic
                // until a future PR adds a real auto-detection heuristic; Logical against an
                // unsupported family falls back to Symbolic + emits a warning so misconfiguration
                // does not fault the driver.
                var resolvedAddressing = ResolveAddressingMode(device, profile);
                // PR abcip-3.3 — resolve ReadStrategy at the device level. User-forced MultiPacket
                // against a non-packing family (Micro800 et al) falls back to WholeUdt with a
                // warning. Auto stays as-is — the planner re-evaluates per-batch using the
                // device's MultiPacketSparsityThreshold.
                var resolvedReadStrategy = ResolveReadStrategy(device, profile);
                _devices[device.HostAddress] = new DeviceState(
                    addr, device, profile, resolvedAddressing, resolvedReadStrategy);
            }
            // Pre-declared tags first; L5K imports fill in only the names not already covered
            // (operators can override an imported entry by re-declaring it under Tags).
            var declaredNames = new HashSet<string>(
                _options.Tags.Select(t => t.Name),
                StringComparer.OrdinalIgnoreCase);
            var allTags = new List<AbCipTagDefinition>(_options.Tags);
            foreach (var import in _options.L5kImports)
            {
                MergeImport(
                    deviceHost: import.DeviceHostAddress,
                    filePath: import.FilePath,
                    inlineText: import.InlineText,
                    namePrefix: import.NamePrefix,
                    parse: L5kParser.Parse,
                    formatLabel: "L5K",
                    declaredNames: declaredNames,
                    allTags: allTags);
            }
            foreach (var import in _options.L5xImports)
            {
                MergeImport(
                    deviceHost: import.DeviceHostAddress,
                    filePath: import.FilePath,
                    inlineText: import.InlineText,
                    namePrefix: import.NamePrefix,
                    parse: L5xParser.Parse,
                    formatLabel: "L5X",
                    declaredNames: declaredNames,
                    allTags: allTags);
            }
            foreach (var import in _options.CsvImports)
            {
                MergeCsvImport(import, declaredNames, allTags);
            }

            foreach (var tag in allTags)
            {
                _tagsByName[tag.Name] = tag;
                if (tag.DataType == AbCipDataType.Structure && tag.Members is { Count: > 0 })
                {
                    foreach (var member in tag.Members)
                    {
                        var memberTag = new AbCipTagDefinition(
                            Name: $"{tag.Name}.{member.Name}",
                            DeviceHostAddress: tag.DeviceHostAddress,
                            TagPath: $"{tag.TagPath}.{member.Name}",
                            DataType: member.DataType,
                            Writable: member.Writable,
                            WriteIdempotent: member.WriteIdempotent,
                            StringLength: member.StringLength);
                        _tagsByName[memberTag.Name] = memberTag;
                    }
                }
            }

            // Probe loops — one per device when enabled + a ProbeTagPath is configured.
            if (_options.Probe.Enabled && !string.IsNullOrWhiteSpace(_options.Probe.ProbeTagPath))
            {
                foreach (var state in _devices.Values)
                {
                    state.ProbeCts = new CancellationTokenSource();
                    var ct = state.ProbeCts.Token;
                    _ = Task.Run(() => ProbeLoopAsync(state, ct), ct);
                }
            }
            _health = new DriverHealth(DriverState.Healthy, DateTime.UtcNow, null);
        }
        catch (Exception ex)
        {
            _health = new DriverHealth(DriverState.Faulted, null, ex.Message);
            throw;
        }
        return Task.CompletedTask;
    }

    /// <summary>
    ///     PR abcip-3.2 — resolve <see cref="AbCipDeviceOptions.AddressingMode"/> against the
    ///     family profile. <see cref="AddressingMode.Auto"/> resolves to <see cref="AddressingMode.Symbolic"/>
    ///     today (the same behaviour every previous build had); a future PR will plumb a real
    ///     auto-detection heuristic and document it in <c>docs/drivers/AbCip-Performance.md</c>.
    ///     <see cref="AddressingMode.Logical"/> against a family whose profile sets
    ///     <see cref="AbCipPlcFamilyProfile.SupportsLogicalAddressing"/> = <c>false</c> (Micro800,
    ///     SLC500, PLC5) falls back to <see cref="AddressingMode.Symbolic"/> with a warning so
    ///     the operator sees the misconfiguration in the log without the driver faulting.
    /// </summary>
    private AddressingMode ResolveAddressingMode(AbCipDeviceOptions device, AbCipPlcFamilyProfile profile)
    {
        switch (device.AddressingMode)
        {
            case AddressingMode.Logical:
                if (!profile.SupportsLogicalAddressing)
                {
                    _options.OnWarning?.Invoke(
                        $"AbCip device '{device.HostAddress}' family '{device.PlcFamily}' does not support " +
                        "Logical (instance-ID) addressing — its CIP firmware lacks Symbol Object class 0x6B. " +
                        "Falling back to Symbolic addressing for this device.");
                    return AddressingMode.Symbolic;
                }
                return AddressingMode.Logical;
            case AddressingMode.Symbolic:
                return AddressingMode.Symbolic;
            case AddressingMode.Auto:
            default:
                // Future heuristic point — for now Auto = Symbolic so the addressing toggle is
                // explicit + every existing deployment keeps the historical wire behaviour.
                return AddressingMode.Symbolic;
        }
    }

    /// <summary>
    ///     PR abcip-3.3 — resolve <see cref="AbCipDeviceOptions.ReadStrategy"/> against the
    ///     family profile. <see cref="ReadStrategy.MultiPacket"/> against a family whose profile
    ///     sets <see cref="AbCipPlcFamilyProfile.SupportsRequestPacking"/> = <c>false</c>
    ///     (Micro800 today; SLC500 / PLC5 when those profiles ship) falls back to
    ///     <see cref="ReadStrategy.WholeUdt"/> with a warning so the operator sees the
    ///     misconfiguration in the log without the driver faulting. <see cref="ReadStrategy.Auto"/>
    ///     stays as-is — the planner re-evaluates the choice per-batch from the device's
    ///     <see cref="AbCipDeviceOptions.MultiPacketSparsityThreshold"/>; we still need the
    ///     resolution step here so a future PR can cap Auto at WholeUdt on non-packing families
    ///     in one place rather than scattering the check across the read path.
    /// </summary>
    private ReadStrategy ResolveReadStrategy(AbCipDeviceOptions device, AbCipPlcFamilyProfile profile)
    {
        switch (device.ReadStrategy)
        {
            case ReadStrategy.MultiPacket:
                if (!profile.SupportsRequestPacking)
                {
                    _options.OnWarning?.Invoke(
                        $"AbCip device '{device.HostAddress}' family '{device.PlcFamily}' does not support " +
                        "Multi-Service Packet request packing — its CIP firmware lacks the 0x0A service. " +
                        "Falling back to WholeUdt read strategy for this device.");
                    return ReadStrategy.WholeUdt;
                }
                return ReadStrategy.MultiPacket;
            case ReadStrategy.WholeUdt:
                return ReadStrategy.WholeUdt;
            case ReadStrategy.Auto:
            default:
                // Auto on a non-packing family stays Auto here so the planner's per-batch
                // heuristic still runs; the heuristic itself never picks MultiPacket against a
                // device whose AddressingMode-style guard tripped — but for ReadStrategy the guard
                // lives in the device-init resolution above (user-forced MultiPacket → WholeUdt).
                // For Auto, the planner consults device.Profile.SupportsRequestPacking before
                // emitting MultiPacket so non-packing families always read WholeUdt under Auto.
                return ReadStrategy.Auto;
        }
    }

    /// <summary>
    ///     Shared L5K / L5X import path — keeps source-format selection (parser delegate) the
    ///     only behavioural axis between the two formats. Adds the parser's tags to
    ///     <paramref name="allTags"/> while skipping any name already covered by an earlier
    ///     declaration or import (declared > L5K > L5X precedence falls out from call order).
    /// </summary>
    private static void MergeImport(
        string deviceHost,
        string? filePath,
        string? inlineText,
        string namePrefix,
        Func<IL5kSource, L5kDocument> parse,
        string formatLabel,
        HashSet<string> declaredNames,
        List<AbCipTagDefinition> allTags)
    {
        if (string.IsNullOrWhiteSpace(deviceHost))
            throw new InvalidOperationException(
                $"AbCip {formatLabel} import is missing DeviceHostAddress — every imported tag needs a target device.");
        IL5kSource? src = null;
        if (!string.IsNullOrEmpty(filePath))
            src = new FileL5kSource(filePath);
        else if (!string.IsNullOrEmpty(inlineText))
            src = new StringL5kSource(inlineText);
        if (src is null) return;

        var doc = parse(src);
        var ingest = new L5kIngest
        {
            DefaultDeviceHostAddress = deviceHost,
            NamePrefix = namePrefix,
        };
        var result = ingest.Ingest(doc);
        foreach (var importedTag in result.Tags)
        {
            if (declaredNames.Contains(importedTag.Name)) continue;
            allTags.Add(importedTag);
            declaredNames.Add(importedTag.Name);
        }
    }

    /// <summary>
    ///     CSV-import variant of <see cref="MergeImport"/>. The CSV path produces
    ///     <see cref="AbCipTagDefinition"/> records directly (no intermediate document) so we
    ///     can't share the L5K/L5X parser-delegate signature. Merge semantics are identical:
    ///     a name already covered by a declaration or an earlier import is left untouched so
    ///     the precedence chain (declared > L5K > L5X > CSV) holds.
    /// </summary>
    private static void MergeCsvImport(
        AbCipCsvImportOptions import,
        HashSet<string> declaredNames,
        List<AbCipTagDefinition> allTags)
    {
        if (string.IsNullOrWhiteSpace(import.DeviceHostAddress))
            throw new InvalidOperationException(
                "AbCip CSV import is missing DeviceHostAddress — every imported tag needs a target device.");

        string? csvText = null;
        if (!string.IsNullOrEmpty(import.FilePath))
            csvText = System.IO.File.ReadAllText(import.FilePath);
        else if (!string.IsNullOrEmpty(import.InlineText))
            csvText = import.InlineText;
        if (csvText is null) return;

        var importer = new CsvTagImporter
        {
            DefaultDeviceHostAddress = import.DeviceHostAddress,
            NamePrefix = import.NamePrefix,
        };
        var result = importer.Import(csvText);
        foreach (var tag in result.Tags)
        {
            if (declaredNames.Contains(tag.Name)) continue;
            allTags.Add(tag);
            declaredNames.Add(tag.Name);
        }
    }

    public async Task ReinitializeAsync(string driverConfigJson, CancellationToken cancellationToken)
    {
        await ShutdownAsync(cancellationToken).ConfigureAwait(false);
        await InitializeAsync(driverConfigJson, cancellationToken).ConfigureAwait(false);
    }

    public async Task ShutdownAsync(CancellationToken cancellationToken)
    {
        await _alarmProjection.DisposeAsync().ConfigureAwait(false);
        await _poll.DisposeAsync().ConfigureAwait(false);
        foreach (var state in _devices.Values)
        {
            try { state.ProbeCts?.Cancel(); } catch { }
            state.ProbeCts?.Dispose();
            state.ProbeCts = null;
            state.DisposeHandles();
        }
        _devices.Clear();
        _tagsByName.Clear();
        _health = new DriverHealth(DriverState.Unknown, _health.LastSuccessfulRead, null);
    }

    // ---- ISubscribable (polling overlay via shared engine) ----

    public Task<ISubscriptionHandle> SubscribeAsync(
        IReadOnlyList<string> fullReferences, TimeSpan publishingInterval, CancellationToken cancellationToken) =>
        Task.FromResult(_poll.Subscribe(fullReferences, publishingInterval));

    public Task UnsubscribeAsync(ISubscriptionHandle handle, CancellationToken cancellationToken)
    {
        _poll.Unsubscribe(handle);
        return Task.CompletedTask;
    }

    // ---- IAlarmSource (ALMD projection, #177) ----

    /// <summary>
    ///     Subscribe to ALMD alarm transitions on <paramref name="sourceNodeIds"/>. Each id
    ///     names a declared ALMD UDT tag; the projection polls the tag's <c>InFaulted</c> +
    ///     <c>Severity</c> members at <see cref="AbCipDriverOptions.AlarmPollInterval"/> and
    ///     fires <see cref="OnAlarmEvent"/> on 0→1 (raise) + 1→0 (clear) transitions.
    ///     Feature-gated — when <see cref="AbCipDriverOptions.EnableAlarmProjection"/> is
    ///     <c>false</c> (the default), returns a handle wrapping a no-op subscription so
    ///     capability negotiation still works; <see cref="OnAlarmEvent"/> never fires.
    /// </summary>
    public Task<IAlarmSubscriptionHandle> SubscribeAlarmsAsync(
        IReadOnlyList<string> sourceNodeIds, CancellationToken cancellationToken)
    {
        if (!_options.EnableAlarmProjection)
        {
            var disabled = new AbCipAlarmSubscriptionHandle(0);
            return Task.FromResult<IAlarmSubscriptionHandle>(disabled);
        }
        return _alarmProjection.SubscribeAsync(sourceNodeIds, cancellationToken);
    }

    public Task UnsubscribeAlarmsAsync(IAlarmSubscriptionHandle handle, CancellationToken cancellationToken) =>
        _options.EnableAlarmProjection
            ? _alarmProjection.UnsubscribeAsync(handle, cancellationToken)
            : Task.CompletedTask;

    public Task AcknowledgeAsync(
        IReadOnlyList<AlarmAcknowledgeRequest> acknowledgements, CancellationToken cancellationToken) =>
        _options.EnableAlarmProjection
            ? _alarmProjection.AcknowledgeAsync(acknowledgements, cancellationToken)
            : Task.CompletedTask;

    // ---- IHostConnectivityProbe ----

    public IReadOnlyList<HostConnectivityStatus> GetHostStatuses() =>
        [.. _devices.Values.Select(s => new HostConnectivityStatus(s.Options.HostAddress, s.HostState, s.HostStateChangedUtc))];

    private async Task ProbeLoopAsync(DeviceState state, CancellationToken ct)
    {
        // Probe handles always run in Symbolic mode regardless of the device's resolved
        // AddressingMode — the probe tag (e.g. @raw_cpu_type) is a system pseudo-tag, not a
        // user symbol that appears in the @tags walk, so there is no instance ID to feed
        // libplctag. Hard-coding Symbolic here keeps the probe loop independent of the symbol
        // walk + matches the legacy behaviour even on Logical-mode devices.
        var probeParams = new AbCipTagCreateParams(
            Gateway: state.ParsedAddress.Gateway,
            Port: state.ParsedAddress.Port,
            CipPath: state.ParsedAddress.CipPath,
            LibplctagPlcAttribute: state.Profile.LibplctagPlcAttribute,
            TagName: _options.Probe.ProbeTagPath!,
            Timeout: _options.Probe.Timeout,
            ConnectionSize: state.ConnectionSize,
            AddressingMode: AddressingMode.Symbolic);

        IAbCipTagRuntime? probeRuntime = null;
        while (!ct.IsCancellationRequested)
        {
            var success = false;
            try
            {
                probeRuntime ??= _tagFactory.Create(probeParams);
                // Lazy-init on first attempt; re-init after a transport failure has caused the
                // native handle to be destroyed.
                if (!state.ProbeInitialized)
                {
                    await probeRuntime.InitializeAsync(ct).ConfigureAwait(false);
                    state.ProbeInitialized = true;
                }
                await probeRuntime.ReadAsync(ct).ConfigureAwait(false);
                success = probeRuntime.GetStatus() == 0;
            }
            catch (OperationCanceledException) when (ct.IsCancellationRequested)
            {
                break;
            }
            catch
            {
                // Wire / init error — tear down the probe runtime so the next tick re-creates it.
                try { probeRuntime?.Dispose(); } catch { }
                probeRuntime = null;
                state.ProbeInitialized = false;
            }

            TransitionDeviceState(state, success ? HostState.Running : HostState.Stopped);

            try { await Task.Delay(_options.Probe.Interval, ct).ConfigureAwait(false); }
            catch (OperationCanceledException) { break; }
        }

        try { probeRuntime?.Dispose(); } catch { }
    }

    private void TransitionDeviceState(DeviceState state, HostState newState)
    {
        HostState old;
        lock (state.ProbeLock)
        {
            old = state.HostState;
            if (old == newState) return;
            state.HostState = newState;
            state.HostStateChangedUtc = DateTime.UtcNow;
        }
        OnHostStatusChanged?.Invoke(this,
            new HostStatusChangedEventArgs(state.Options.HostAddress, old, newState));
    }

    // ---- IPerCallHostResolver ----

    /// <summary>
    ///     Resolve the device host address for a given tag full-reference. Per plan decision #144
    ///     the Phase 6.1 resilience pipeline keys its bulkhead + breaker on
    ///     <c>(DriverInstanceId, hostName)</c> so multi-PLC drivers get per-device isolation —
    ///     one dead PLC trips only its own breaker. Unknown references fall back to the
    ///     first configured device's host address rather than throwing — the invoker handles the
    ///     mislookup at the capability level when the actual read returns BadNodeIdUnknown.
    /// </summary>
    public string ResolveHost(string fullReference)
    {
        if (_tagsByName.TryGetValue(fullReference, out var def))
            return def.DeviceHostAddress;
        return _options.Devices.FirstOrDefault()?.HostAddress ?? DriverInstanceId;
    }

    // ---- IReadable ----

    /// <summary>
    ///     Read each <c>fullReference</c> in order. Unknown tags surface as
    ///     <c>BadNodeIdUnknown</c>; libplctag-layer failures map through
    ///     <see cref="AbCipStatusMapper.MapLibplctagStatus"/>; any other exception becomes
    ///     <c>BadCommunicationError</c>. The driver health surface is updated per-call so the
    ///     Admin UI sees a tight feedback loop between read failures + the driver's state.
    /// </summary>
    public async Task<IReadOnlyList<DataValueSnapshot>> ReadAsync(
        IReadOnlyList<string> fullReferences, CancellationToken cancellationToken)
    {
        ArgumentNullException.ThrowIfNull(fullReferences);
        var now = DateTime.UtcNow;
        var results = new DataValueSnapshot[fullReferences.Count];

        // PR abcip-3.2 — first-read symbol-walk for Logical-mode devices. Each device that
        // resolved to Logical fires one @tags walk; subsequent reads consult the cached
        // name → instance-id map. Devices in Symbolic mode skip the walk entirely.
        await EnsureLogicalMappingsAsync(fullReferences, cancellationToken).ConfigureAwait(false);

        // Task #194 — plan the batch: members of the same parent UDT get collapsed into one
        // whole-UDT read + in-memory member decode; every other reference falls back to the
        // per-tag path that's been here since PR 3. Planner is a pure function over the
        // current tag map; BOOL/String/Structure members stay on the fallback path because
        // declaration-only offsets can't place them under Logix alignment rules.
        //
        // PR abcip-3.3 — dispatch by device's resolved ReadStrategy:
        //   WholeUdt    — every group goes through the whole-UDT planner (task #194 default).
        //   MultiPacket — every group goes through the multi-packet planner; one read per
        //                 subscribed member, bundled per parent.
        //   Auto        — per-group heuristic on subscribedMembers / totalMembers.
        await ExecuteReadPlanAsync(fullReferences, results, now, cancellationToken).ConfigureAwait(false);

        return results;
    }

    /// <summary>
    ///     PR abcip-3.3 — strategy-aware dispatch wrapper around the WholeUdt + MultiPacket
    ///     planners. Both planners produce the same shape of "groups + per-tag fallbacks" so
    ///     fallbacks always run through <see cref="ReadSingleAsync"/>; only the group shape
    ///     differs. Auto resolves per-group: members of the same parent UDT either flow through
    ///     <see cref="ReadGroupAsync"/> (one whole-UDT read) or
    ///     <see cref="ReadMultiPacketBatchAsync"/> (per-member reads bundled per parent).
    /// </summary>
    private async Task ExecuteReadPlanAsync(
        IReadOnlyList<string> fullReferences, DataValueSnapshot[] results, DateTime now, CancellationToken ct)
    {
        // First pass — segregate references by parent UDT vs everything-else, identical to the
        // shape both planners produce; we can then route each parent group through the chosen
        // planner. Reuse AbCipUdtReadPlanner.Build for the WholeUdt+Auto path because it already
        // demotes single-member groups to fallback, and the MultiPacket planner does NOT demote
        // (sparse reads of one member are still a win on the wire).
        var wholeUdtPlan = AbCipUdtReadPlanner.Build(fullReferences, _tagsByName);
        var multiPacketPlan = AbCipMultiPacketReadPlanner.Build(fullReferences, _tagsByName);

        // Determine per-parent strategy. WholeUdt planner emits a Group only when ≥2 members of
        // the same parent are subscribed; MultiPacket planner emits a Batch for every parent
        // touched. Index multiPacket batches by parent name so we can co-route them with the
        // WholeUdt grouping decisions.
        var multiPacketByParent = new Dictionary<string, AbCipMultiPacketReadBatch>(
            multiPacketPlan.Batches.Count, StringComparer.OrdinalIgnoreCase);
        foreach (var b in multiPacketPlan.Batches)
            multiPacketByParent[b.ParentName] = b;

        // Treat each parent that survived the WholeUdt planner as the candidate for whole-UDT
        // dispatch; per-strategy routing decides whether it goes WholeUdt or MultiPacket.
        var routedParents = new HashSet<string>(StringComparer.OrdinalIgnoreCase);
        foreach (var group in wholeUdtPlan.Groups)
        {
            _devices.TryGetValue(group.ParentDefinition.DeviceHostAddress, out var device);

            var strategy = ChooseEffectiveStrategy(device, group);
            if (strategy == ReadStrategy.MultiPacket
                && multiPacketByParent.TryGetValue(group.ParentName, out var mpBatch))
            {
                if (device is not null) Interlocked.Increment(ref device.MultiPacketGroupsExecuted);
                await ReadMultiPacketBatchAsync(mpBatch, results, now, ct).ConfigureAwait(false);
            }
            else
            {
                if (device is not null) Interlocked.Increment(ref device.WholeUdtGroupsExecuted);
                await ReadGroupAsync(group, results, now, ct).ConfigureAwait(false);
            }
            routedParents.Add(group.ParentName);
        }

        // Per-tag fallbacks from the WholeUdt planner are the union of (a) tags with no UDT
        // parent, (b) UDT members where the parent had only one subscribed member, and (c)
        // unknown references. We re-route singletons through MultiPacket too when the device
        // strategy is MultiPacket, because a 1-of-50 read is exactly the sparse case the planner
        // is designed for.
        foreach (var fb in wholeUdtPlan.Fallbacks)
        {
            // Is this a UDT-member fallback that the MultiPacket planner can route?
            if (multiPacketPlan.Batches.Count > 0
                && _tagsByName.TryGetValue(fb.Reference, out var def))
            {
                var dot = fb.Reference.IndexOf('.');
                if (dot > 0 && dot < fb.Reference.Length - 1)
                {
                    var parentName = fb.Reference[..dot];
                    if (!routedParents.Contains(parentName)
                        && multiPacketByParent.TryGetValue(parentName, out var mpBatch)
                        && _devices.TryGetValue(def.DeviceHostAddress, out var device))
                    {
                        // Singleton parent — Auto picks based on the same heuristic; MultiPacket
                        // wins by default because the WholeUdt planner already demoted single
                        // members under the assumption that one whole-UDT read is no cheaper
                        // than one member read. With explicit MultiPacket the answer flips.
                        var strategy = ChooseEffectiveStrategyForSingleton(device, mpBatch);
                        if (strategy == ReadStrategy.MultiPacket)
                        {
                            Interlocked.Increment(ref device.MultiPacketGroupsExecuted);
                            await ReadMultiPacketBatchAsync(mpBatch, results, now, ct).ConfigureAwait(false);
                            routedParents.Add(parentName);
                            continue;
                        }
                    }
                }
            }
            await ReadSingleAsync(fb, fullReferences[fb.OriginalIndex], results, now, ct).ConfigureAwait(false);
        }
    }

    /// <summary>
    ///     PR abcip-3.3 — pick the effective <see cref="ReadStrategy"/> for one parent UDT group.
    ///     <see cref="ReadStrategy.WholeUdt"/> + <see cref="ReadStrategy.MultiPacket"/> are
    ///     forced explicitly (already family-compat-checked at device init). <see cref="ReadStrategy.Auto"/>
    ///     consults the planner heuristic on subscribed-member fraction, but only when the
    ///     family supports request packing — non-packing families always read WholeUdt regardless
    ///     of sparsity because they have no Multi-Service-Packet path on the wire.
    /// </summary>
    private static ReadStrategy ChooseEffectiveStrategy(DeviceState? device, AbCipUdtReadGroup group)
    {
        if (device is null) return ReadStrategy.WholeUdt;
        switch (device.ReadStrategy)
        {
            case ReadStrategy.MultiPacket:
                return ReadStrategy.MultiPacket;
            case ReadStrategy.WholeUdt:
                return ReadStrategy.WholeUdt;
            case ReadStrategy.Auto:
            default:
                if (!device.Profile.SupportsRequestPacking) return ReadStrategy.WholeUdt;
                var totalMembers = group.ParentDefinition.Members?.Count ?? 0;
                return AbCipMultiPacketReadPlanner.ChooseStrategyForGroup(
                    subscribedMembers: group.Members.Count,
                    totalMembers: totalMembers,
                    threshold: device.Options.MultiPacketSparsityThreshold);
        }
    }

    /// <summary>
    ///     PR abcip-3.3 — strategy pick for a singleton (one-member) UDT batch. Only relevant
    ///     when the device strategy is explicit <see cref="ReadStrategy.MultiPacket"/> or Auto
    ///     produces a MultiPacket result; otherwise the per-tag fallback path runs as before.
    /// </summary>
    private static ReadStrategy ChooseEffectiveStrategyForSingleton(
        DeviceState device, AbCipMultiPacketReadBatch batch)
    {
        switch (device.ReadStrategy)
        {
            case ReadStrategy.MultiPacket:
                return ReadStrategy.MultiPacket;
            case ReadStrategy.WholeUdt:
                return ReadStrategy.WholeUdt;
            case ReadStrategy.Auto:
            default:
                if (!device.Profile.SupportsRequestPacking) return ReadStrategy.WholeUdt;
                var totalMembers = batch.ParentDefinition.Members?.Count ?? 0;
                return AbCipMultiPacketReadPlanner.ChooseStrategyForGroup(
                    subscribedMembers: batch.Members.Count,
                    totalMembers: totalMembers,
                    threshold: device.Options.MultiPacketSparsityThreshold);
        }
    }

    /// <summary>
    ///     PR abcip-3.3 — execute a Multi-Service-Packet batch. Today this issues one libplctag
    ///     read per member (the same N reads the per-tag fallback path does), keyed on the
    ///     batch's parent so the diagnostic counters track which strategy ran. Wire-level
    ///     Multi-Service-Packet bundling depends on the libplctag .NET wrapper exposing the
    ///     0x0A service explicitly — same wrapper limitation as PR abcip-3.1's connection_size
    ///     and PR abcip-3.2's instance-ID addressing. The planner's grouping is still
    ///     load-bearing because it gives the runtime the correct plan when an upstream wrapper
    ///     release exposes the bundling primitive.
    /// </summary>
    private async Task ReadMultiPacketBatchAsync(
        AbCipMultiPacketReadBatch batch, DataValueSnapshot[] results, DateTime now, CancellationToken ct)
    {
        var parent = batch.ParentDefinition;
        if (!_devices.TryGetValue(parent.DeviceHostAddress, out var device))
        {
            foreach (var m in batch.Members)
                results[m.OriginalIndex] = new DataValueSnapshot(null, AbCipStatusMapper.BadNodeIdUnknown, null, now);
            return;
        }

        foreach (var member in batch.Members)
        {
            var memberFullName = member.Definition.Name;
            var fb = new AbCipUdtReadFallback(member.OriginalIndex, memberFullName);
            await ReadSingleAsync(fb, memberFullName, results, now, ct).ConfigureAwait(false);
        }
    }

    /// <summary>
    ///     PR abcip-3.2 — for each Logical-mode device touched by this read batch, fire the
    ///     one-time <c>@tags</c> symbol-table walk + populate <see cref="DeviceState.LogicalInstanceMap"/>.
    ///     Subsequent reads short-circuit on <see cref="DeviceState.LogicalWalkComplete"/>;
    ///     concurrent first reads on the same device serialise on
    ///     <see cref="DeviceState.LogicalWalkLock"/> so the walk is dispatched once even under
    ///     parallel load.
    /// </summary>
    /// <remarks>
    ///     <para>The walk uses the same <see cref="LibplctagTagEnumerator"/> as discovery —
    ///     reading <c>@tags</c> + decoding the Symbol Object response. Failures are intentionally
    ///     swallowed: an empty map after the walk-attempted flag flips means subsequent reads
    ///     fall back to Symbolic addressing on the wire (libplctag's default), which is the
    ///     same wire behaviour every previous build had. Driver health is not faulted because a
    ///     tag-list-walk failure does not actually block reads.</para>
    /// </remarks>
    private async Task EnsureLogicalMappingsAsync(
        IReadOnlyList<string> fullReferences, CancellationToken ct)
    {
        // Find the unique set of Logical-mode devices the batch touches. Most batches touch
        // one device, so the HashSet is a small allocation.
        HashSet<DeviceState>? pending = null;
        foreach (var reference in fullReferences)
        {
            if (!_tagsByName.TryGetValue(reference, out var def)) continue;
            if (!_devices.TryGetValue(def.DeviceHostAddress, out var device)) continue;
            if (device.AddressingMode != AddressingMode.Logical) continue;
            if (device.LogicalWalkComplete) continue;
            (pending ??= []).Add(device);
        }
        if (pending is null) return;

        foreach (var device in pending)
        {
            await device.LogicalWalkLock.WaitAsync(ct).ConfigureAwait(false);
            try
            {
                if (device.LogicalWalkComplete) continue;
                try
                {
                    using var enumerator = _enumeratorFactory.Create();
                    var deviceParams = new AbCipTagCreateParams(
                        Gateway: device.ParsedAddress.Gateway,
                        Port: device.ParsedAddress.Port,
                        CipPath: device.ParsedAddress.CipPath,
                        LibplctagPlcAttribute: device.Profile.LibplctagPlcAttribute,
                        TagName: "@tags",
                        Timeout: _options.Timeout,
                        ConnectionSize: device.ConnectionSize,
                        AddressingMode: AddressingMode.Symbolic);

                    // Symbol Object instance IDs aren't surfaced on AbCipDiscoveredTag yet — the
                    // record carries Name / ProgramScope / DataType / ReadOnly. We populate the
                    // map keyed on the Logix tag path the driver uses internally; the libplctag
                    // wrapper limitation (no public ConnectionSize / cip_addr knob in 1.5.x)
                    // means the value side stays unmapped for now and the runtime degrades to
                    // Symbolic on the wire. The map's presence is still load-bearing: it's
                    // observable from tests + future-proofs the driver for when an upstream
                    // wrapper release exposes the IDs through the enumerator + Tag attribute.
                    await foreach (var discovered in enumerator.EnumerateAsync(deviceParams, ct)
                        .ConfigureAwait(false))
                    {
                        if (discovered.IsSystemTag) continue;
                        if (AbCipSystemTagFilter.IsSystemTag(discovered.Name)) continue;
                        var fullName = discovered.ProgramScope is null
                            ? discovered.Name
                            : $"Program:{discovered.ProgramScope}.{discovered.Name}";
                        // No instance ID in the current discovered-tag shape; record an
                        // entry so the runtime knows the symbol is part of the Logical
                        // resolution pass (the map's presence influences slice + parent-DINT
                        // creation). 0 is reserved by CIP for "not assigned" so it's a safe
                        // sentinel that the runtime's reflection guard treats as "missing".
                        device.LogicalInstanceMap[fullName] = 0u;
                    }
                }
                catch (OperationCanceledException) { throw; }
                catch
                {
                    // Walk failure is non-fatal — the driver keeps Logical mode set but
                    // every per-tag handle ends up using Symbolic addressing on the wire.
                }
                finally
                {
                    device.LogicalWalkComplete = true;
                }
            }
            finally
            {
                device.LogicalWalkLock.Release();
            }
        }
    }

    private async Task ReadSingleAsync(
        AbCipUdtReadFallback fb, string reference, DataValueSnapshot[] results, DateTime now, CancellationToken ct)
    {
        if (!_tagsByName.TryGetValue(reference, out var def))
        {
            results[fb.OriginalIndex] = new DataValueSnapshot(null, AbCipStatusMapper.BadNodeIdUnknown, null, now);
            return;
        }
        if (!_devices.TryGetValue(def.DeviceHostAddress, out var device))
        {
            results[fb.OriginalIndex] = new DataValueSnapshot(null, AbCipStatusMapper.BadNodeIdUnknown, null, now);
            return;
        }

        // PR abcip-1.3 — array-slice path. A tag whose TagPath ends in [N..M] dispatches to
        // AbCipArrayReadPlanner: one libplctag tag-create with ElementCount=N issues one
        // Rockwell array read; the contiguous buffer is decoded at element stride into a
        // single snapshot whose Value is an object[] of the N elements.
        var parsedPath = AbCipTagPath.TryParse(def.TagPath);
        if (parsedPath?.Slice is not null)
        {
            await ReadSliceAsync(fb, def, parsedPath, device, results, now, ct).ConfigureAwait(false);
            return;
        }

        try
        {
            var runtime = await EnsureTagRuntimeAsync(device, def, ct).ConfigureAwait(false);
            await runtime.ReadAsync(ct).ConfigureAwait(false);

            var status = runtime.GetStatus();
            if (status != 0)
            {
                results[fb.OriginalIndex] = new DataValueSnapshot(null,
                    AbCipStatusMapper.MapLibplctagStatus(status), null, now);
                _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead,
                    $"libplctag status {status} reading {reference}");
                return;
            }

            var bitIndex = parsedPath?.BitIndex;
            var value = runtime.DecodeValue(def.DataType, bitIndex);
            results[fb.OriginalIndex] = new DataValueSnapshot(value, AbCipStatusMapper.Good, now, now);
            _health = new DriverHealth(DriverState.Healthy, now, null);
        }
        catch (OperationCanceledException)
        {
            throw;
        }
        catch (Exception ex)
        {
            results[fb.OriginalIndex] = new DataValueSnapshot(null,
                AbCipStatusMapper.BadCommunicationError, null, now);
            _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ex.Message);
        }
    }

    /// <summary>
    ///     PR abcip-1.3 — slice read path. Builds an <see cref="AbCipArrayReadPlan"/> from the
    ///     parsed slice path, materialises a per-tag runtime keyed by the tag's full name (so
    ///     repeat reads reuse the same libplctag handle), issues one PLC array read, and
    ///     decodes the contiguous buffer into <c>object?[]</c> at element stride. Unsupported
    ///     element types fall back to <see cref="AbCipStatusMapper.BadNotSupported"/>.
    /// </summary>
    private async Task ReadSliceAsync(
        AbCipUdtReadFallback fb, AbCipTagDefinition def, AbCipTagPath parsedPath,
        DeviceState device, DataValueSnapshot[] results, DateTime now, CancellationToken ct)
    {
        // PR abcip-3.2 — slice reads piggyback on the device's resolved addressing mode. Logical
        // mode looks up the parent array tag's instance ID via the @tags map; null-fallback to
        // Symbolic when the array isn't in the map (e.g. @tags walk hasn't populated the entry).
        uint? sliceLogicalId = null;
        if (device.AddressingMode == AddressingMode.Logical
            && device.LogicalInstanceMap.TryGetValue(def.TagPath, out var sliceId))
        {
            sliceLogicalId = sliceId;
        }
        var baseParams = new AbCipTagCreateParams(
            Gateway: device.ParsedAddress.Gateway,
            Port: device.ParsedAddress.Port,
            CipPath: device.ParsedAddress.CipPath,
            LibplctagPlcAttribute: device.Profile.LibplctagPlcAttribute,
            TagName: parsedPath.ToLibplctagName(),
            Timeout: _options.Timeout,
            ConnectionSize: device.ConnectionSize,
            AddressingMode: device.AddressingMode,
            LogicalInstanceId: sliceLogicalId);

        var plan = AbCipArrayReadPlanner.TryBuild(def, parsedPath, baseParams);
        if (plan is null)
        {
            results[fb.OriginalIndex] = new DataValueSnapshot(null,
                AbCipStatusMapper.BadNotSupported, null, now);
            return;
        }

        try
        {
            var runtime = await EnsureSliceRuntimeAsync(device, def.Name, plan.CreateParams, ct)
                .ConfigureAwait(false);
            await runtime.ReadAsync(ct).ConfigureAwait(false);

            var status = runtime.GetStatus();
            if (status != 0)
            {
                results[fb.OriginalIndex] = new DataValueSnapshot(null,
                    AbCipStatusMapper.MapLibplctagStatus(status), null, now);
                _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead,
                    $"libplctag status {status} reading slice {def.Name}");
                return;
            }

            var values = AbCipArrayReadPlanner.Decode(plan, runtime);
            results[fb.OriginalIndex] = new DataValueSnapshot(values, AbCipStatusMapper.Good, now, now);
            _health = new DriverHealth(DriverState.Healthy, now, null);
        }
        catch (OperationCanceledException)
        {
            throw;
        }
        catch (Exception ex)
        {
            results[fb.OriginalIndex] = new DataValueSnapshot(null,
                AbCipStatusMapper.BadCommunicationError, null, now);
            _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ex.Message);
        }
    }

    /// <summary>
    ///     Idempotently materialise a slice-read runtime. Slice runtimes share the device's
    ///     <see cref="DeviceState.Runtimes"/> dict keyed by the tag's full name so repeated
    ///     reads reuse the same libplctag handle without re-creating the native tag every poll.
    /// </summary>
    private async Task<IAbCipTagRuntime> EnsureSliceRuntimeAsync(
        DeviceState device, string tagName, AbCipTagCreateParams createParams, CancellationToken ct)
    {
        if (device.Runtimes.TryGetValue(tagName, out var existing)) return existing;

        var runtime = _tagFactory.Create(createParams);
        try
        {
            await runtime.InitializeAsync(ct).ConfigureAwait(false);
        }
        catch
        {
            runtime.Dispose();
            throw;
        }
        device.Runtimes[tagName] = runtime;
        return runtime;
    }

    /// <summary>
    ///     Task #194 — perform one whole-UDT read on the parent tag, then decode each
    ///     grouped member from the runtime's buffer at its computed byte offset. A per-group
    ///     failure (parent read raised, non-zero libplctag status, or missing device) stamps
    ///     the mapped fault across every grouped member only — sibling groups + the
    ///     per-tag fallback list are unaffected.
    /// </summary>
    private async Task ReadGroupAsync(
        AbCipUdtReadGroup group, DataValueSnapshot[] results, DateTime now, CancellationToken ct)
    {
        var parent = group.ParentDefinition;

        if (!_devices.TryGetValue(parent.DeviceHostAddress, out var device))
        {
            StampGroupStatus(group, results, now, AbCipStatusMapper.BadNodeIdUnknown);
            return;
        }

        try
        {
            var runtime = await EnsureTagRuntimeAsync(device, parent, ct).ConfigureAwait(false);
            await runtime.ReadAsync(ct).ConfigureAwait(false);

            var status = runtime.GetStatus();
            if (status != 0)
            {
                var mapped = AbCipStatusMapper.MapLibplctagStatus(status);
                StampGroupStatus(group, results, now, mapped);
                _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead,
                    $"libplctag status {status} reading UDT {group.ParentName}");
                return;
            }

            foreach (var member in group.Members)
            {
                var value = runtime.DecodeValueAt(member.Definition.DataType, member.Offset, bitIndex: null);
                results[member.OriginalIndex] = new DataValueSnapshot(value, AbCipStatusMapper.Good, now, now);
            }
            _health = new DriverHealth(DriverState.Healthy, now, null);
        }
        catch (OperationCanceledException)
        {
            throw;
        }
        catch (Exception ex)
        {
            StampGroupStatus(group, results, now, AbCipStatusMapper.BadCommunicationError);
            _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ex.Message);
        }
    }

    private static void StampGroupStatus(
        AbCipUdtReadGroup group, DataValueSnapshot[] results, DateTime now, uint statusCode)
    {
        foreach (var member in group.Members)
            results[member.OriginalIndex] = new DataValueSnapshot(null, statusCode, null, now);
    }

    // ---- IWritable ----

    /// <summary>
    ///     Write each request in the batch. Writes are NOT auto-retried by the driver — per
    ///     plan decisions #44, #45, #143 the caller opts in via
    ///     <see cref="AbCipTagDefinition.WriteIdempotent"/> and the resilience pipeline (layered
    ///     above the driver) decides whether to replay. Non-writable configurations surface as
    ///     <c>BadNotWritable</c>; type-conversion failures as <c>BadTypeMismatch</c>; transport
    ///     errors as <c>BadCommunicationError</c>.
    /// </summary>
    /// <remarks>
    ///     PR abcip-1.4 — multi-tag write packing. Writes are grouped by device via
    ///     <see cref="AbCipMultiWritePlanner"/>. Devices whose family
    ///     <see cref="AbCipPlcFamilyProfile.SupportsRequestPacking"/> is <c>true</c> dispatch
    ///     their packable writes concurrently so libplctag's native scheduler can coalesce them
    ///     onto one CIP Multi-Service Packet (0x0A) per round-trip; Micro800 (no packing) still
    ///     issues writes one-at-a-time. BOOL-within-DINT writes always go through the RMW path
    ///     under a per-parent semaphore, regardless of the family flag, because two concurrent
    ///     RMWs on the same DINT could lose one another's update. Per-tag StatusCodes are
    ///     preserved in the caller's input order on partial failures.
    /// </remarks>
    public async Task<IReadOnlyList<WriteResult>> WriteAsync(
        IReadOnlyList<WriteRequest> writes, CancellationToken cancellationToken)
    {
        ArgumentNullException.ThrowIfNull(writes);
        var results = new WriteResult[writes.Count];

        var plans = AbCipMultiWritePlanner.Build(
            writes, _tagsByName, _devices,
            reportPreflight: (idx, code) => results[idx] = new WriteResult(code));

        foreach (var plan in plans)
        {
            if (!_devices.TryGetValue(plan.DeviceHostAddress, out var device))
            {
                foreach (var e in plan.Packable) results[e.OriginalIndex] = new WriteResult(AbCipStatusMapper.BadNodeIdUnknown);
                foreach (var e in plan.BitRmw) results[e.OriginalIndex] = new WriteResult(AbCipStatusMapper.BadNodeIdUnknown);
                continue;
            }

            // Bit-RMW writes always serialise per-parent — never packed.
            foreach (var entry in plan.BitRmw)
                results[entry.OriginalIndex] = new WriteResult(
                    await ExecuteBitRmwWriteAsync(device, entry, cancellationToken).ConfigureAwait(false));

            if (plan.Packable.Count == 0) continue;

            if (plan.Profile.SupportsRequestPacking && plan.Packable.Count > 1)
            {
                // Concurrent dispatch — libplctag's native scheduler packs same-connection writes
                // into one Multi-Service Packet when the family supports it.
                var tasks = new Task<(int idx, uint code)>[plan.Packable.Count];
                for (var i = 0; i < plan.Packable.Count; i++)
                {
                    var entry = plan.Packable[i];
                    tasks[i] = ExecutePackableWriteAsync(device, entry, cancellationToken);
                }
                var outcomes = await Task.WhenAll(tasks).ConfigureAwait(false);
                foreach (var (idx, code) in outcomes)
                    results[idx] = new WriteResult(code);
            }
            else
            {
                // Single-write groups + Micro800 (SupportsRequestPacking=false) — sequential.
                foreach (var entry in plan.Packable)
                {
                    var code = await ExecutePackableWriteAsync(device, entry, cancellationToken)
                        .ConfigureAwait(false);
                    results[entry.OriginalIndex] = new WriteResult(code.code);
                }
            }
        }

        return results;
    }

    /// <summary>
    ///     Execute one packable write — encode the value into the per-tag runtime, flush, and
    ///     map the resulting libplctag status. Exception-to-StatusCode mapping mirrors the
    ///     pre-1.4 per-tag loop so callers see no behaviour change for individual writes.
    /// </summary>
    private async Task<(int idx, uint code)> ExecutePackableWriteAsync(
        DeviceState device, AbCipMultiWritePlanner.ClassifiedWrite entry, CancellationToken ct)
    {
        var def = entry.Definition;
        var w = entry.Request;
        var now = DateTime.UtcNow;
        try
        {
            var runtime = await EnsureTagRuntimeAsync(device, def, ct).ConfigureAwait(false);
            runtime.EncodeValue(def.DataType, entry.ParsedPath?.BitIndex, w.Value);
            await runtime.WriteAsync(ct).ConfigureAwait(false);

            var status = runtime.GetStatus();
            if (status == 0)
            {
                _health = new DriverHealth(DriverState.Healthy, now, null);
                return (entry.OriginalIndex, AbCipStatusMapper.Good);
            }
            return (entry.OriginalIndex, AbCipStatusMapper.MapLibplctagStatus(status));
        }
        catch (OperationCanceledException)
        {
            throw;
        }
        catch (NotSupportedException nse)
        {
            _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, nse.Message);
            return (entry.OriginalIndex, AbCipStatusMapper.BadNotSupported);
        }
        catch (FormatException fe)
        {
            _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, fe.Message);
            return (entry.OriginalIndex, AbCipStatusMapper.BadTypeMismatch);
        }
        catch (InvalidCastException ice)
        {
            _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ice.Message);
            return (entry.OriginalIndex, AbCipStatusMapper.BadTypeMismatch);
        }
        catch (OverflowException oe)
        {
            _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, oe.Message);
            return (entry.OriginalIndex, AbCipStatusMapper.BadOutOfRange);
        }
        catch (Exception ex)
        {
            _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ex.Message);
            return (entry.OriginalIndex, AbCipStatusMapper.BadCommunicationError);
        }
    }

    /// <summary>
    ///     Execute one BOOL-within-DINT write through <see cref="WriteBitInDIntAsync"/>, with
    ///     the same exception-mapping fan-out as the pre-1.4 per-tag loop. Bit RMWs cannot be
    ///     packed because two concurrent writes against the same parent DINT would race their
    ///     read-modify-write windows.
    /// </summary>
    private async Task<uint> ExecuteBitRmwWriteAsync(
        DeviceState device, AbCipMultiWritePlanner.ClassifiedWrite entry, CancellationToken ct)
    {
        try
        {
            var bit = entry.ParsedPath!.BitIndex!.Value;
            var code = await WriteBitInDIntAsync(device, entry.ParsedPath, bit, entry.Request.Value, ct)
                .ConfigureAwait(false);
            if (code == AbCipStatusMapper.Good)
                _health = new DriverHealth(DriverState.Healthy, DateTime.UtcNow, null);
            return code;
        }
        catch (OperationCanceledException)
        {
            throw;
        }
        catch (NotSupportedException nse)
        {
            _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, nse.Message);
            return AbCipStatusMapper.BadNotSupported;
        }
        catch (FormatException fe)
        {
            _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, fe.Message);
            return AbCipStatusMapper.BadTypeMismatch;
        }
        catch (InvalidCastException ice)
        {
            _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ice.Message);
            return AbCipStatusMapper.BadTypeMismatch;
        }
        catch (OverflowException oe)
        {
            _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, oe.Message);
            return AbCipStatusMapper.BadOutOfRange;
        }
        catch (Exception ex)
        {
            _health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ex.Message);
            return AbCipStatusMapper.BadCommunicationError;
        }
    }

    /// <summary>
    ///     Read-modify-write one bit within a DINT parent. Creates / reuses a parallel
    ///     parent-DINT runtime (distinct from the bit-selector handle) + serialises concurrent
    ///     writers against the same parent via a per-parent <see cref="SemaphoreSlim"/>.
    ///     Matches the Modbus BitInRegister + FOCAS PMC Bit pattern shipped in pass 1 of task #181.
    /// </summary>
    private async Task<uint> WriteBitInDIntAsync(
        DeviceState device, AbCipTagPath bitPath, int bit, object? value, CancellationToken ct)
    {
        var parentPath = bitPath with { BitIndex = null };
        var parentName = parentPath.ToLibplctagName();

        var rmwLock = device.GetRmwLock(parentName);
        await rmwLock.WaitAsync(ct).ConfigureAwait(false);
        try
        {
            var parentRuntime = await EnsureParentRuntimeAsync(device, parentName, ct).ConfigureAwait(false);
            await parentRuntime.ReadAsync(ct).ConfigureAwait(false);
            var readStatus = parentRuntime.GetStatus();
            if (readStatus != 0) return AbCipStatusMapper.MapLibplctagStatus(readStatus);

            var current = Convert.ToInt32(parentRuntime.DecodeValue(AbCipDataType.DInt, bitIndex: null) ?? 0);
            var updated = Convert.ToBoolean(value)
                ? current | (1 << bit)
                : current & ~(1 << bit);

            parentRuntime.EncodeValue(AbCipDataType.DInt, bitIndex: null, updated);
            await parentRuntime.WriteAsync(ct).ConfigureAwait(false);
            var writeStatus = parentRuntime.GetStatus();
            return writeStatus == 0
                ? AbCipStatusMapper.Good
                : AbCipStatusMapper.MapLibplctagStatus(writeStatus);
        }
        finally
        {
            rmwLock.Release();
        }
    }

    /// <summary>
    ///     Get or lazily create a parent-DINT runtime for a parent tag path, cached per-device
    ///     so repeated bit writes against the same DINT share one handle.
    /// </summary>
    private async Task<IAbCipTagRuntime> EnsureParentRuntimeAsync(
        DeviceState device, string parentTagName, CancellationToken ct)
    {
        if (device.ParentRuntimes.TryGetValue(parentTagName, out var existing)) return existing;

        // PR abcip-3.2 — parent-DINT runtimes follow the device's resolved addressing mode so
        // BOOL-in-DINT RMW reads/writes share Logical-mode benefits when the parent has been
        // mapped. When the parent isn't in the @tags map (or Symbolic is the resolved mode),
        // libplctag falls back to ASCII addressing transparently.
        uint? parentLogicalId = null;
        if (device.AddressingMode == AddressingMode.Logical
            && device.LogicalInstanceMap.TryGetValue(parentTagName, out var pid))
        {
            parentLogicalId = pid;
        }
        var runtime = _tagFactory.Create(new AbCipTagCreateParams(
            Gateway: device.ParsedAddress.Gateway,
            Port: device.ParsedAddress.Port,
            CipPath: device.ParsedAddress.CipPath,
            LibplctagPlcAttribute: device.Profile.LibplctagPlcAttribute,
            TagName: parentTagName,
            Timeout: _options.Timeout,
            ConnectionSize: device.ConnectionSize,
            AddressingMode: device.AddressingMode,
            LogicalInstanceId: parentLogicalId));
        try
        {
            await runtime.InitializeAsync(ct).ConfigureAwait(false);
        }
        catch
        {
            runtime.Dispose();
            throw;
        }
        device.ParentRuntimes[parentTagName] = runtime;
        return runtime;
    }

    /// <summary>
    ///     Idempotently materialise the runtime handle for a tag definition. First call creates
    ///     + initialises the libplctag Tag; subsequent calls reuse the cached handle for the
    ///     lifetime of the device.
    /// </summary>
    private async Task<IAbCipTagRuntime> EnsureTagRuntimeAsync(
        DeviceState device, AbCipTagDefinition def, CancellationToken ct)
    {
        if (device.Runtimes.TryGetValue(def.Name, out var existing)) return existing;

        var parsed = AbCipTagPath.TryParse(def.TagPath)
            ?? throw new InvalidOperationException(
                $"AbCip tag '{def.Name}' has malformed TagPath '{def.TagPath}'.");

        // PR abcip-3.2 — Logical-mode devices look up the controller-assigned Symbol Object
        // instance ID for this tag from the one-time @tags walk; missing entries fall back to
        // Symbolic addressing for this handle (the runtime detects LogicalInstanceId == null).
        uint? logicalId = null;
        if (device.AddressingMode == AddressingMode.Logical
            && device.LogicalInstanceMap.TryGetValue(def.TagPath, out var resolvedId))
        {
            logicalId = resolvedId;
        }

        var runtime = _tagFactory.Create(new AbCipTagCreateParams(
            Gateway: device.ParsedAddress.Gateway,
            Port: device.ParsedAddress.Port,
            CipPath: device.ParsedAddress.CipPath,
            LibplctagPlcAttribute: device.Profile.LibplctagPlcAttribute,
            TagName: parsed.ToLibplctagName(),
            Timeout: _options.Timeout,
            StringMaxCapacity: def.DataType == AbCipDataType.String ? def.StringLength : null,
            ConnectionSize: device.ConnectionSize,
            AddressingMode: device.AddressingMode,
            LogicalInstanceId: logicalId));
        try
        {
            await runtime.InitializeAsync(ct).ConfigureAwait(false);
        }
        catch
        {
            runtime.Dispose();
            throw;
        }
        device.Runtimes[def.Name] = runtime;
        return runtime;
    }

    public DriverHealth GetHealth() => _health;

    /// <summary>
    ///     CLR-visible allocation footprint only — libplctag's native heap is invisible to the
    ///     GC. driver-specs.md §3 flags this: operators must watch whole-process RSS for the
    ///     full picture, and <see cref="ReinitializeAsync"/> is the Tier-B remediation.
    /// </summary>
    public long GetMemoryFootprint() => 0;

    public Task FlushOptionalCachesAsync(CancellationToken cancellationToken)
    {
        _templateCache.Clear();
        return Task.CompletedTask;
    }

    // ---- ITagDiscovery ----

    /// <summary>
    ///     Stream the driver's tag set into the builder. Pre-declared tags from
    ///     <see cref="AbCipDriverOptions.Tags"/> emit first; optionally, the
    ///     <see cref="IAbCipTagEnumerator"/> walks each device's symbol table and adds
    ///     controller-discovered tags under a <c>Discovered/</c> sub-folder. System / module /
    ///     routine / task tags are hidden via <see cref="AbCipSystemTagFilter"/>.
    /// </summary>
    public async Task DiscoverAsync(IAddressSpaceBuilder builder, CancellationToken cancellationToken)
    {
        ArgumentNullException.ThrowIfNull(builder);
        await _discoverySemaphore.WaitAsync(cancellationToken).ConfigureAwait(false);
        try
        {
            await DiscoverCoreAsync(builder, cancellationToken).ConfigureAwait(false);
        }
        finally
        {
            _discoverySemaphore.Release();
        }
    }

    /// <summary>
    ///     PR abcip-2.5 — operator-triggered rebrowse. Drops the cached UDT template shapes so
    ///     the next read re-fetches them from the controller, then runs the same enumerator
    ///     walk + builder fan-out that <see cref="DiscoverAsync"/> drives. Serialised against
    ///     other rebrowse / discovery passes via <see cref="_discoverySemaphore"/> so two
    ///     concurrent triggers don't double-issue the @tags read.
    /// </summary>
    public async Task RebrowseAsync(IAddressSpaceBuilder builder, CancellationToken cancellationToken)
    {
        ArgumentNullException.ThrowIfNull(builder);
        await _discoverySemaphore.WaitAsync(cancellationToken).ConfigureAwait(false);
        try
        {
            // Stale template shapes can outlive a controller program-download, so a rebrowse
            // is the natural moment to drop them; subsequent UDT reads re-populate on demand.
            _templateCache.Clear();
            await DiscoverCoreAsync(builder, cancellationToken).ConfigureAwait(false);
        }
        finally
        {
            _discoverySemaphore.Release();
        }
    }

    private async Task DiscoverCoreAsync(IAddressSpaceBuilder builder, CancellationToken cancellationToken)
    {
        var root = builder.Folder("AbCip", "AbCip");

        foreach (var device in _options.Devices)
        {
            var deviceLabel = device.DeviceName ?? device.HostAddress;
            var deviceFolder = root.Folder(device.HostAddress, deviceLabel);

            // Pre-declared tags — always emitted; the primary config path. UDT tags with declared
            // Members fan out into a sub-folder + one Variable per member instead of a single
            // Structure Variable (Structure has no useful scalar value + member-addressable paths
            // are what downstream consumers actually want).
            var preDeclared = _options.Tags.Where(t =>
                string.Equals(t.DeviceHostAddress, device.HostAddress, StringComparison.OrdinalIgnoreCase));
            foreach (var tag in preDeclared)
            {
                if (AbCipSystemTagFilter.IsSystemTag(tag.Name)) continue;

                if (tag.DataType == AbCipDataType.Structure && tag.Members is { Count: > 0 })
                {
                    var udtFolder = deviceFolder.Folder(tag.Name, tag.Name);
                    // PR abcip-2.6 — AOI-aware fan-out. When any member carries a non-Local
                    // AoiQualifier the tag is treated as an AOI instance: Input / Output / InOut
                    // members get grouped under sub-folders (Inputs/, Outputs/, InOut/) so the
                    // browse tree visually matches Studio 5000's AOI parameter tabs. Plain UDT
                    // tags (every member Local) retain the pre-2.6 flat layout under the parent
                    // folder so existing browse paths stay stable.
                    var hasDirectional = tag.Members.Any(m => m.AoiQualifier != AoiQualifier.Local);
                    IAddressSpaceBuilder? inputsFolder = null;
                    IAddressSpaceBuilder? outputsFolder = null;
                    IAddressSpaceBuilder? inOutFolder = null;
                    foreach (var member in tag.Members)
                    {
                        var parentFolder = udtFolder;
                        if (hasDirectional)
                        {
                            parentFolder = member.AoiQualifier switch
                            {
                                AoiQualifier.Input => inputsFolder ??= udtFolder.Folder("Inputs", "Inputs"),
                                AoiQualifier.Output => outputsFolder ??= udtFolder.Folder("Outputs", "Outputs"),
                                AoiQualifier.InOut => inOutFolder ??= udtFolder.Folder("InOut", "InOut"),
                                _ => udtFolder, // Local stays at the AOI root
                            };
                        }
                        var memberFullName = $"{tag.Name}.{member.Name}";
                        parentFolder.Variable(member.Name, member.Name, new DriverAttributeInfo(
                            FullName: memberFullName,
                            DriverDataType: member.DataType.ToDriverDataType(),
                            IsArray: false,
                            ArrayDim: null,
                            SecurityClass: member.Writable
                                ? SecurityClassification.Operate
                                : SecurityClassification.ViewOnly,
                            IsHistorized: false,
                            IsAlarm: false,
                            WriteIdempotent: member.WriteIdempotent,
                            Description: member.Description));
                    }
                    continue;
                }

                deviceFolder.Variable(tag.Name, tag.Name, ToAttributeInfo(tag));
            }

            // Controller-discovered tags — opt-in via EnableControllerBrowse. The real @tags
            // walker (LibplctagTagEnumerator) is the factory default since task #178 shipped,
            // so leaving the flag off keeps the strict-config path for deployments where only
            // declared tags should appear.
            if (_options.EnableControllerBrowse && _devices.TryGetValue(device.HostAddress, out var state))
            {
                using var enumerator = _enumeratorFactory.Create();
                // The @tags walker reads the controller's Symbol Object class 0x6B directly +
                // does not need the driver's per-tag addressing-mode plumbing — it already
                // operates on instance-ID semantics by definition. Pin Symbolic so libplctag
                // doesn't try to layer Logical-mode attributes on top of @tags.
                var deviceParams = new AbCipTagCreateParams(
                    Gateway: state.ParsedAddress.Gateway,
                    Port: state.ParsedAddress.Port,
                    CipPath: state.ParsedAddress.CipPath,
                    LibplctagPlcAttribute: state.Profile.LibplctagPlcAttribute,
                    TagName: "@tags",
                    Timeout: _options.Timeout,
                    ConnectionSize: state.ConnectionSize,
                    AddressingMode: AddressingMode.Symbolic);

                IAddressSpaceBuilder? discoveredFolder = null;
                await foreach (var discovered in enumerator.EnumerateAsync(deviceParams, cancellationToken)
                    .ConfigureAwait(false))
                {
                    if (discovered.IsSystemTag) continue;
                    if (AbCipSystemTagFilter.IsSystemTag(discovered.Name)) continue;

                    discoveredFolder ??= deviceFolder.Folder("Discovered", "Discovered");
                    var fullName = discovered.ProgramScope is null
                        ? discovered.Name
                        : $"Program:{discovered.ProgramScope}.{discovered.Name}";
                    discoveredFolder.Variable(fullName, discovered.Name, new DriverAttributeInfo(
                        FullName: fullName,
                        DriverDataType: discovered.DataType.ToDriverDataType(),
                        IsArray: false,
                        ArrayDim: null,
                        SecurityClass: discovered.ReadOnly
                            ? SecurityClassification.ViewOnly
                            : SecurityClassification.Operate,
                        IsHistorized: false,
                        IsAlarm: false,
                        WriteIdempotent: false));
                }
            }
        }
    }

    private static DriverAttributeInfo ToAttributeInfo(AbCipTagDefinition tag) => new(
        FullName: tag.Name,
        DriverDataType: tag.DataType.ToDriverDataType(),
        IsArray: false,
        ArrayDim: null,
        SecurityClass: (tag.Writable && !tag.SafetyTag)
            ? SecurityClassification.Operate
            : SecurityClassification.ViewOnly,
        IsHistorized: false,
        IsAlarm: false,
        WriteIdempotent: tag.WriteIdempotent,
        Description: tag.Description);

    /// <summary>Count of registered devices — exposed for diagnostics + tests.</summary>
    internal int DeviceCount => _devices.Count;

    /// <summary>Looked-up device state for the given host address. Tests + later-PR capabilities hit this.</summary>
    internal DeviceState? GetDeviceState(string hostAddress) =>
        _devices.TryGetValue(hostAddress, out var s) ? s : null;

    public void Dispose() => DisposeAsync().AsTask().GetAwaiter().GetResult();

    public async ValueTask DisposeAsync()
    {
        await ShutdownAsync(CancellationToken.None).ConfigureAwait(false);
        _discoverySemaphore.Dispose();
    }

    /// <summary>
    ///     Per-device runtime state. Holds the parsed host address, family profile, and the
    ///     live <see cref="PlcTagHandle"/> cache keyed by tag path. PRs 3–8 populate + consume
    ///     this dict via libplctag.
    /// </summary>
    internal sealed class DeviceState(
        AbCipHostAddress parsedAddress,
        AbCipDeviceOptions options,
        AbCipPlcFamilyProfile profile,
        AddressingMode resolvedAddressingMode,
        ReadStrategy resolvedReadStrategy)
    {
        public AbCipHostAddress ParsedAddress { get; } = parsedAddress;
        public AbCipDeviceOptions Options { get; } = options;
        public AbCipPlcFamilyProfile Profile { get; } = profile;

        /// <summary>
        ///     PR abcip-3.1 — effective CIP connection size for this device. Per-device
        ///     <see cref="AbCipDeviceOptions.ConnectionSize"/> override wins; otherwise the
        ///     family profile's <see cref="AbCipPlcFamilyProfile.DefaultConnectionSize"/>
        ///     (4002 / 504 / 488 depending on family). Threaded through every
        ///     <see cref="AbCipTagCreateParams"/> the driver builds so libplctag receives a
        ///     consistent buffer-size hint across read / write / probe / discovery handles.
        /// </summary>
        public int ConnectionSize { get; } = options.ConnectionSize ?? profile.DefaultConnectionSize;

        /// <summary>
        ///     PR abcip-3.2 — concrete addressing mode in effect for this device. Always
        ///     <see cref="AbCip.AddressingMode.Symbolic"/> or <see cref="AbCip.AddressingMode.Logical"/>
        ///     after <see cref="AbCipDriver.ResolveAddressingMode"/> has run; <c>Auto</c> +
        ///     unsupported-family fall-back collapse to Symbolic at config time so the
        ///     read/write hot paths can branch on a single value.
        /// </summary>
        public AddressingMode AddressingMode { get; } = resolvedAddressingMode;

        /// <summary>
        ///     PR abcip-3.3 — resolved read strategy for this device. <see cref="AbCip.ReadStrategy.WholeUdt"/>
        ///     or <see cref="AbCip.ReadStrategy.MultiPacket"/> mean "always pick this for every UDT
        ///     batch on this device." <see cref="AbCip.ReadStrategy.Auto"/> means "let the planner
        ///     pick per-batch using <see cref="AbCipDeviceOptions.MultiPacketSparsityThreshold"/>."
        ///     User-forced MultiPacket against a non-packing family (Micro800 et al) was already
        ///     collapsed to WholeUdt at <see cref="AbCipDriver.ResolveReadStrategy"/> time, so the
        ///     read hot path can branch on this single value without re-checking family compat.
        /// </summary>
        public ReadStrategy ReadStrategy { get; } = resolvedReadStrategy;

        /// <summary>PR abcip-3.3 — count of UDT groups dispatched through the WholeUdt path on
        ///     this device. Surfaced for tests + a future driver-diagnostics RPC.</summary>
        public int WholeUdtGroupsExecuted;

        /// <summary>PR abcip-3.3 — count of UDT groups dispatched through the MultiPacket path
        ///     on this device. Surfaced for tests + a future driver-diagnostics RPC.</summary>
        public int MultiPacketGroupsExecuted;

        /// <summary>
        ///     PR abcip-3.2 — name → Symbol Object instance ID map populated by the one-time
        ///     <c>@tags</c> walk that fires on the first read on a Logical-mode device. Empty
        ///     for Symbolic-mode devices + before the walk completes; consulted by
        ///     <see cref="AbCipDriver.EnsureTagRuntimeAsync"/> when materialising the per-tag
        ///     runtime so libplctag receives the resolved instance ID directly. Case-insensitive
        ///     because Logix tag names are case-insensitive at the controller.
        /// </summary>
        public Dictionary<string, uint> LogicalInstanceMap { get; } =
            new(StringComparer.OrdinalIgnoreCase);

        /// <summary>
        ///     PR abcip-3.2 — guarded inside <see cref="AbCipDriver.EnsureLogicalMappingsAsync"/>
        ///     so the symbol-table walk fires exactly once per device. Setting this to
        ///     <c>true</c> means "walk attempted" — the walk's success / failure is captured by
        ///     the contents of <see cref="LogicalInstanceMap"/>; an empty map after the flag
        ///     flips means the walk yielded nothing and subsequent reads keep falling back to
        ///     Symbolic addressing on the wire.
        /// </summary>
        public bool LogicalWalkComplete { get; set; }

        /// <summary>Serialises concurrent first-read symbol-walks against this device.</summary>
        public SemaphoreSlim LogicalWalkLock { get; } = new(1, 1);

        public object ProbeLock { get; } = new();
        public HostState HostState { get; set; } = HostState.Unknown;
        public DateTime HostStateChangedUtc { get; set; } = DateTime.UtcNow;
        public CancellationTokenSource? ProbeCts { get; set; }
        public bool ProbeInitialized { get; set; }

        public Dictionary<string, PlcTagHandle> TagHandles { get; } =
            new(StringComparer.OrdinalIgnoreCase);

        /// <summary>
        ///     Per-tag runtime handles owned by this device. One entry per configured tag is
        ///     created lazily on first read (see <see cref="AbCipDriver.EnsureTagRuntimeAsync"/>).
        /// </summary>
        public Dictionary<string, IAbCipTagRuntime> Runtimes { get; } =
            new(StringComparer.OrdinalIgnoreCase);

        /// <summary>
        ///     Parent-DINT runtimes created on-demand by <see cref="AbCipDriver.EnsureParentRuntimeAsync"/>
        ///     for BOOL-within-DINT RMW writes. Separate from <see cref="Runtimes"/> because a
        ///     bit-selector tag name ("Motor.Flags.3") needs a distinct handle from the DINT
        ///     parent ("Motor.Flags") used to do the read + write.
        /// </summary>
        public Dictionary<string, IAbCipTagRuntime> ParentRuntimes { get; } =
            new(StringComparer.OrdinalIgnoreCase);

        private readonly System.Collections.Concurrent.ConcurrentDictionary<string, SemaphoreSlim> _rmwLocks = new();

        public SemaphoreSlim GetRmwLock(string parentTagName) =>
            _rmwLocks.GetOrAdd(parentTagName, _ => new SemaphoreSlim(1, 1));

        public void DisposeHandles()
        {
            foreach (var h in TagHandles.Values) h.Dispose();
            TagHandles.Clear();
            foreach (var r in Runtimes.Values) r.Dispose();
            Runtimes.Clear();
            foreach (var r in ParentRuntimes.Values) r.Dispose();
            ParentRuntimes.Clear();
        }
    }
}