Joseph Doherty
665ecd55c2
The ODBM wire payload is [i32 mantissa][i16 length, a constant 10][i16 dec_val]. ReadMacroAsync read the decimal at offset 4, so every macro decoded without failing but wrongly: the captured #500 = 1.0 (05 f5 e1 00 00 0a 00 08) published 0.01. FANUC normalises macros to a 9-significant-digit mantissa, so the error was never small. - dec_val is read at [6..7]; a payload < 8 bytes is refused, not guessed at. - A vacant variable (dec_val 0xFFFF) publishes BadNoData, never a Good 0. - Integer-typed tags get the exact whole value (integer arithmetic); a fractional macro on an integer tag is BadTypeMismatch, a whole value that does not fit the type BadOutOfRange. Float tags get mantissa / 10^dec. Ported from the sister ignitionoee FOCAS driver v0.15.0 (Focas.Wire-013, Focas-017/018); live vectors from Makino Z-34184 (31i-B, G431). Adds a WireFixtures helper that loads the raw 31i-B captures in Fixtures/v3.
59 lines
2.9 KiB
C#
59 lines
2.9 KiB
C#
namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
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/// <summary>
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/// Maps FOCAS / FWLIB return codes to OPC UA StatusCodes. The FWLIB C API uses an
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/// <c>EW_*</c> constant family per the Fanuc FOCAS/1 and FOCAS/2 documentation
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/// (<c>EW_OK = 0</c>, <c>EW_NUMBER</c>, <c>EW_SOCKET</c>, etc.). Mirrors the shape of the
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/// AbCip / TwinCAT mappers so Admin UI status displays stay uniform across drivers.
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/// </summary>
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public static class FocasStatusMapper
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{
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public const uint Good = 0u;
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public const uint BadInternalError = 0x80020000u;
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public const uint BadNodeIdUnknown = 0x80340000u;
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public const uint BadNotWritable = 0x803B0000u;
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public const uint BadOutOfRange = 0x803C0000u;
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public const uint BadNotSupported = 0x803D0000u;
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public const uint BadDeviceFailure = 0x808B0000u;
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public const uint BadCommunicationError = 0x80050000u;
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public const uint BadTimeout = 0x800A0000u;
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public const uint BadTypeMismatch = 0x80740000u;
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/// <summary>
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/// The CNC answered, but its answer describes no usable value — a vacant macro variable, a
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/// position / meter record whose own scale envelope is undecodable, a field the control did
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/// not report. Distinct from a comms fault (the device is fine) and never a fabricated
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/// Good <c>0</c>.
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/// </summary>
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public const uint BadNoData = 0x809B0000u;
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/// <summary>
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/// Map common FWLIB <c>EW_*</c> return codes. The values below match Fanuc's published
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/// numeric conventions (EW_OK=0, EW_FUNC=1, EW_NUMBER=3, EW_LENGTH=4, EW_ATTRIB=7,
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/// EW_DATA=8, EW_NOOPT=6, EW_PROT=5, EW_OVRFLOW=2, EW_PARITY=9, EW_PASSWD=11,
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/// EW_BUSY=-1, EW_HANDLE=-8, EW_VERSION=-9, EW_UNEXP=-10, EW_SOCKET=-16).
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/// </summary>
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/// <param name="ret">The FWLIB return code.</param>
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/// <returns>The corresponding OPC UA status code.</returns>
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public static uint MapFocasReturn(int ret) => ret switch
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{
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0 => Good,
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1 => BadNotSupported, // EW_FUNC — CNC does not support this function
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2 => BadOutOfRange, // EW_OVRFLOW
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3 => BadOutOfRange, // EW_NUMBER
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4 => BadOutOfRange, // EW_LENGTH
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5 => BadNotWritable, // EW_PROT
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6 => BadNotSupported, // EW_NOOPT — optional CNC feature missing
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7 => BadTypeMismatch, // EW_ATTRIB
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8 => BadNodeIdUnknown, // EW_DATA — invalid data address
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9 => BadCommunicationError, // EW_PARITY
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11 => BadNotWritable, // EW_PASSWD
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-1 => BadDeviceFailure, // EW_BUSY
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-8 => BadInternalError, // EW_HANDLE — CNC handle not available
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-9 => BadNotSupported, // EW_VERSION — FWLIB vs CNC version mismatch
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-10 => BadCommunicationError, // EW_UNEXP
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-16 => BadCommunicationError, // EW_SOCKET
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_ => BadCommunicationError,
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};
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}
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