584 lines
26 KiB
C#
584 lines
26 KiB
C#
using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
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using ZB.MOM.WW.OtOpcUa.Driver.AbCip.PlcFamilies;
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namespace ZB.MOM.WW.OtOpcUa.Driver.AbCip;
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/// <summary>
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/// Allen-Bradley CIP / EtherNet-IP driver for ControlLogix / CompactLogix / Micro800 /
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/// GuardLogix families. Implements <see cref="IDriver"/> only for now — read/write/
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/// subscribe/discover capabilities ship in subsequent PRs (3–8) and family-specific quirk
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/// profiles ship in PRs 9–12.
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/// </summary>
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/// <remarks>
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/// <para>Wire layer is libplctag 1.6.x (plan decision #11). Per-device host addresses use
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/// the <c>ab://gateway[:port]/cip-path</c> canonical form parsed via
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/// <see cref="AbCipHostAddress.TryParse"/>; those strings become the <c>hostName</c> key
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/// for Polly bulkhead + circuit-breaker isolation per plan decision #144.</para>
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///
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/// <para>Tier A per plan decisions #143–145 — in-process, shares server lifetime, no
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/// sidecar. <see cref="ReinitializeAsync"/> is the Tier-B escape hatch for recovering
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/// from native-heap growth that the CLR allocator can't see; it tears down every
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/// <see cref="PlcTagHandle"/> and reconnects each device.</para>
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/// </remarks>
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public sealed class AbCipDriver : IDriver, IReadable, IWritable, ITagDiscovery, ISubscribable,
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IHostConnectivityProbe, IPerCallHostResolver, IDisposable, IAsyncDisposable
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{
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private readonly AbCipDriverOptions _options;
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private readonly string _driverInstanceId;
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private readonly IAbCipTagFactory _tagFactory;
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private readonly IAbCipTagEnumeratorFactory _enumeratorFactory;
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private readonly AbCipTemplateCache _templateCache = new();
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private readonly PollGroupEngine _poll;
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private readonly Dictionary<string, DeviceState> _devices = new(StringComparer.OrdinalIgnoreCase);
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private readonly Dictionary<string, AbCipTagDefinition> _tagsByName = new(StringComparer.OrdinalIgnoreCase);
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private DriverHealth _health = new(DriverState.Unknown, null, null);
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public event EventHandler<DataChangeEventArgs>? OnDataChange;
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public event EventHandler<HostStatusChangedEventArgs>? OnHostStatusChanged;
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public AbCipDriver(AbCipDriverOptions options, string driverInstanceId,
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IAbCipTagFactory? tagFactory = null,
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IAbCipTagEnumeratorFactory? enumeratorFactory = null)
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{
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ArgumentNullException.ThrowIfNull(options);
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_options = options;
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_driverInstanceId = driverInstanceId;
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_tagFactory = tagFactory ?? new LibplctagTagFactory();
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_enumeratorFactory = enumeratorFactory ?? new EmptyAbCipTagEnumeratorFactory();
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_poll = new PollGroupEngine(
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reader: ReadAsync,
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onChange: (handle, tagRef, snapshot) =>
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OnDataChange?.Invoke(this, new DataChangeEventArgs(handle, tagRef, snapshot)));
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}
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/// <summary>Shared UDT template cache. Exposed for PR 6 (UDT reader) + diagnostics.</summary>
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internal AbCipTemplateCache TemplateCache => _templateCache;
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public string DriverInstanceId => _driverInstanceId;
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public string DriverType => "AbCip";
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public Task InitializeAsync(string driverConfigJson, CancellationToken cancellationToken)
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{
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_health = new DriverHealth(DriverState.Initializing, null, null);
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try
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{
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foreach (var device in _options.Devices)
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{
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var addr = AbCipHostAddress.TryParse(device.HostAddress)
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?? throw new InvalidOperationException(
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$"AbCip device has invalid HostAddress '{device.HostAddress}' — expected 'ab://gateway[:port]/cip-path'.");
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var profile = AbCipPlcFamilyProfile.ForFamily(device.PlcFamily);
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_devices[device.HostAddress] = new DeviceState(addr, device, profile);
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}
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foreach (var tag in _options.Tags)
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{
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_tagsByName[tag.Name] = tag;
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if (tag.DataType == AbCipDataType.Structure && tag.Members is { Count: > 0 })
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{
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foreach (var member in tag.Members)
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{
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var memberTag = new AbCipTagDefinition(
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Name: $"{tag.Name}.{member.Name}",
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DeviceHostAddress: tag.DeviceHostAddress,
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TagPath: $"{tag.TagPath}.{member.Name}",
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DataType: member.DataType,
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Writable: member.Writable,
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WriteIdempotent: member.WriteIdempotent);
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_tagsByName[memberTag.Name] = memberTag;
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}
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}
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}
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// Probe loops — one per device when enabled + a ProbeTagPath is configured.
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if (_options.Probe.Enabled && !string.IsNullOrWhiteSpace(_options.Probe.ProbeTagPath))
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{
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foreach (var state in _devices.Values)
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{
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state.ProbeCts = new CancellationTokenSource();
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var ct = state.ProbeCts.Token;
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_ = Task.Run(() => ProbeLoopAsync(state, ct), ct);
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}
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}
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_health = new DriverHealth(DriverState.Healthy, DateTime.UtcNow, null);
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}
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catch (Exception ex)
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{
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_health = new DriverHealth(DriverState.Faulted, null, ex.Message);
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throw;
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}
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return Task.CompletedTask;
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}
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public async Task ReinitializeAsync(string driverConfigJson, CancellationToken cancellationToken)
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{
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await ShutdownAsync(cancellationToken).ConfigureAwait(false);
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await InitializeAsync(driverConfigJson, cancellationToken).ConfigureAwait(false);
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}
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public async Task ShutdownAsync(CancellationToken cancellationToken)
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{
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await _poll.DisposeAsync().ConfigureAwait(false);
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foreach (var state in _devices.Values)
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{
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try { state.ProbeCts?.Cancel(); } catch { }
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state.ProbeCts?.Dispose();
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state.ProbeCts = null;
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state.DisposeHandles();
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}
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_devices.Clear();
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_tagsByName.Clear();
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_health = new DriverHealth(DriverState.Unknown, _health.LastSuccessfulRead, null);
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}
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// ---- ISubscribable (polling overlay via shared engine) ----
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public Task<ISubscriptionHandle> SubscribeAsync(
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IReadOnlyList<string> fullReferences, TimeSpan publishingInterval, CancellationToken cancellationToken) =>
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Task.FromResult(_poll.Subscribe(fullReferences, publishingInterval));
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public Task UnsubscribeAsync(ISubscriptionHandle handle, CancellationToken cancellationToken)
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{
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_poll.Unsubscribe(handle);
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return Task.CompletedTask;
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}
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// ---- IHostConnectivityProbe ----
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public IReadOnlyList<HostConnectivityStatus> GetHostStatuses() =>
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[.. _devices.Values.Select(s => new HostConnectivityStatus(s.Options.HostAddress, s.HostState, s.HostStateChangedUtc))];
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private async Task ProbeLoopAsync(DeviceState state, CancellationToken ct)
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{
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var probeParams = new AbCipTagCreateParams(
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Gateway: state.ParsedAddress.Gateway,
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Port: state.ParsedAddress.Port,
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CipPath: state.ParsedAddress.CipPath,
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LibplctagPlcAttribute: state.Profile.LibplctagPlcAttribute,
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TagName: _options.Probe.ProbeTagPath!,
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Timeout: _options.Probe.Timeout);
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IAbCipTagRuntime? probeRuntime = null;
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while (!ct.IsCancellationRequested)
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{
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var success = false;
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try
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{
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probeRuntime ??= _tagFactory.Create(probeParams);
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// Lazy-init on first attempt; re-init after a transport failure has caused the
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// native handle to be destroyed.
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if (!state.ProbeInitialized)
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{
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await probeRuntime.InitializeAsync(ct).ConfigureAwait(false);
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state.ProbeInitialized = true;
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}
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await probeRuntime.ReadAsync(ct).ConfigureAwait(false);
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success = probeRuntime.GetStatus() == 0;
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}
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catch (OperationCanceledException) when (ct.IsCancellationRequested)
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{
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break;
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}
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catch
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{
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// Wire / init error — tear down the probe runtime so the next tick re-creates it.
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try { probeRuntime?.Dispose(); } catch { }
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probeRuntime = null;
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state.ProbeInitialized = false;
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}
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TransitionDeviceState(state, success ? HostState.Running : HostState.Stopped);
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try { await Task.Delay(_options.Probe.Interval, ct).ConfigureAwait(false); }
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catch (OperationCanceledException) { break; }
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}
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try { probeRuntime?.Dispose(); } catch { }
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}
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private void TransitionDeviceState(DeviceState state, HostState newState)
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{
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HostState old;
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lock (state.ProbeLock)
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{
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old = state.HostState;
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if (old == newState) return;
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state.HostState = newState;
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state.HostStateChangedUtc = DateTime.UtcNow;
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}
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OnHostStatusChanged?.Invoke(this,
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new HostStatusChangedEventArgs(state.Options.HostAddress, old, newState));
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}
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// ---- IPerCallHostResolver ----
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/// <summary>
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/// Resolve the device host address for a given tag full-reference. Per plan decision #144
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/// the Phase 6.1 resilience pipeline keys its bulkhead + breaker on
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/// <c>(DriverInstanceId, hostName)</c> so multi-PLC drivers get per-device isolation —
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/// one dead PLC trips only its own breaker. Unknown references fall back to the
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/// first configured device's host address rather than throwing — the invoker handles the
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/// mislookup at the capability level when the actual read returns BadNodeIdUnknown.
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/// </summary>
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public string ResolveHost(string fullReference)
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{
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if (_tagsByName.TryGetValue(fullReference, out var def))
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return def.DeviceHostAddress;
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return _options.Devices.FirstOrDefault()?.HostAddress ?? DriverInstanceId;
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}
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// ---- IReadable ----
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/// <summary>
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/// Read each <c>fullReference</c> in order. Unknown tags surface as
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/// <c>BadNodeIdUnknown</c>; libplctag-layer failures map through
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/// <see cref="AbCipStatusMapper.MapLibplctagStatus"/>; any other exception becomes
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/// <c>BadCommunicationError</c>. The driver health surface is updated per-call so the
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/// Admin UI sees a tight feedback loop between read failures + the driver's state.
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/// </summary>
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public async Task<IReadOnlyList<DataValueSnapshot>> ReadAsync(
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IReadOnlyList<string> fullReferences, CancellationToken cancellationToken)
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{
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ArgumentNullException.ThrowIfNull(fullReferences);
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var now = DateTime.UtcNow;
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var results = new DataValueSnapshot[fullReferences.Count];
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for (var i = 0; i < fullReferences.Count; i++)
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{
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var reference = fullReferences[i];
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if (!_tagsByName.TryGetValue(reference, out var def))
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{
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results[i] = new DataValueSnapshot(null, AbCipStatusMapper.BadNodeIdUnknown, null, now);
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continue;
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}
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if (!_devices.TryGetValue(def.DeviceHostAddress, out var device))
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{
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results[i] = new DataValueSnapshot(null, AbCipStatusMapper.BadNodeIdUnknown, null, now);
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continue;
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}
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try
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{
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var runtime = await EnsureTagRuntimeAsync(device, def, cancellationToken).ConfigureAwait(false);
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await runtime.ReadAsync(cancellationToken).ConfigureAwait(false);
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var status = runtime.GetStatus();
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if (status != 0)
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{
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results[i] = new DataValueSnapshot(null,
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AbCipStatusMapper.MapLibplctagStatus(status), null, now);
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_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead,
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$"libplctag status {status} reading {reference}");
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continue;
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}
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var tagPath = AbCipTagPath.TryParse(def.TagPath);
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var bitIndex = tagPath?.BitIndex;
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var value = runtime.DecodeValue(def.DataType, bitIndex);
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results[i] = new DataValueSnapshot(value, AbCipStatusMapper.Good, now, now);
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_health = new DriverHealth(DriverState.Healthy, now, null);
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}
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catch (OperationCanceledException)
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{
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throw;
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}
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catch (Exception ex)
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{
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results[i] = new DataValueSnapshot(null,
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AbCipStatusMapper.BadCommunicationError, null, now);
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_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ex.Message);
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}
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}
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return results;
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}
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// ---- IWritable ----
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/// <summary>
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/// Write each request in order. Writes are NOT auto-retried by the driver — per plan
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/// decisions #44, #45, #143 the caller opts in via <see cref="AbCipTagDefinition.WriteIdempotent"/>
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/// and the resilience pipeline (layered above the driver) decides whether to replay.
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/// Non-writable configurations surface as <c>BadNotWritable</c>; type-conversion failures
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/// as <c>BadTypeMismatch</c>; transport errors as <c>BadCommunicationError</c>.
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/// </summary>
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public async Task<IReadOnlyList<WriteResult>> WriteAsync(
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IReadOnlyList<WriteRequest> writes, CancellationToken cancellationToken)
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{
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ArgumentNullException.ThrowIfNull(writes);
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var results = new WriteResult[writes.Count];
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var now = DateTime.UtcNow;
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for (var i = 0; i < writes.Count; i++)
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{
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var w = writes[i];
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if (!_tagsByName.TryGetValue(w.FullReference, out var def))
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{
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results[i] = new WriteResult(AbCipStatusMapper.BadNodeIdUnknown);
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continue;
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}
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if (!def.Writable || def.SafetyTag)
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{
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results[i] = new WriteResult(AbCipStatusMapper.BadNotWritable);
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continue;
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}
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if (!_devices.TryGetValue(def.DeviceHostAddress, out var device))
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{
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results[i] = new WriteResult(AbCipStatusMapper.BadNodeIdUnknown);
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continue;
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}
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try
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{
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var runtime = await EnsureTagRuntimeAsync(device, def, cancellationToken).ConfigureAwait(false);
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var tagPath = AbCipTagPath.TryParse(def.TagPath);
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runtime.EncodeValue(def.DataType, tagPath?.BitIndex, w.Value);
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await runtime.WriteAsync(cancellationToken).ConfigureAwait(false);
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var status = runtime.GetStatus();
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results[i] = new WriteResult(status == 0
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? AbCipStatusMapper.Good
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: AbCipStatusMapper.MapLibplctagStatus(status));
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if (status == 0) _health = new DriverHealth(DriverState.Healthy, now, null);
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}
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catch (OperationCanceledException)
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{
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throw;
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}
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catch (NotSupportedException nse)
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{
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results[i] = new WriteResult(AbCipStatusMapper.BadNotSupported);
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_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, nse.Message);
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}
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catch (FormatException fe)
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{
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results[i] = new WriteResult(AbCipStatusMapper.BadTypeMismatch);
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_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, fe.Message);
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}
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catch (InvalidCastException ice)
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{
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results[i] = new WriteResult(AbCipStatusMapper.BadTypeMismatch);
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_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ice.Message);
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}
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catch (OverflowException oe)
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{
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results[i] = new WriteResult(AbCipStatusMapper.BadOutOfRange);
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_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, oe.Message);
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}
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catch (Exception ex)
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{
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results[i] = new WriteResult(AbCipStatusMapper.BadCommunicationError);
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_health = new DriverHealth(DriverState.Degraded, _health.LastSuccessfulRead, ex.Message);
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}
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}
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return results;
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}
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/// <summary>
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/// Idempotently materialise the runtime handle for a tag definition. First call creates
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/// + initialises the libplctag Tag; subsequent calls reuse the cached handle for the
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/// lifetime of the device.
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/// </summary>
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private async Task<IAbCipTagRuntime> EnsureTagRuntimeAsync(
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DeviceState device, AbCipTagDefinition def, CancellationToken ct)
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{
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if (device.Runtimes.TryGetValue(def.Name, out var existing)) return existing;
|
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var parsed = AbCipTagPath.TryParse(def.TagPath)
|
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?? throw new InvalidOperationException(
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$"AbCip tag '{def.Name}' has malformed TagPath '{def.TagPath}'.");
|
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var runtime = _tagFactory.Create(new AbCipTagCreateParams(
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Gateway: device.ParsedAddress.Gateway,
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Port: device.ParsedAddress.Port,
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CipPath: device.ParsedAddress.CipPath,
|
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LibplctagPlcAttribute: device.Profile.LibplctagPlcAttribute,
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TagName: parsed.ToLibplctagName(),
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Timeout: _options.Timeout));
|
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try
|
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{
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await runtime.InitializeAsync(ct).ConfigureAwait(false);
|
||
}
|
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catch
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{
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runtime.Dispose();
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throw;
|
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}
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device.Runtimes[def.Name] = runtime;
|
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return runtime;
|
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}
|
||
|
||
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);
|
||
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);
|
||
foreach (var member in tag.Members)
|
||
{
|
||
var memberFullName = $"{tag.Name}.{member.Name}";
|
||
udtFolder.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));
|
||
}
|
||
continue;
|
||
}
|
||
|
||
deviceFolder.Variable(tag.Name, tag.Name, ToAttributeInfo(tag));
|
||
}
|
||
|
||
// Controller-discovered tags — optional. Default enumerator returns an empty sequence;
|
||
// tests + the follow-up real @tags walker plug in via the ctor parameter.
|
||
if (_devices.TryGetValue(device.HostAddress, out var state))
|
||
{
|
||
using var enumerator = _enumeratorFactory.Create();
|
||
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);
|
||
|
||
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);
|
||
|
||
/// <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);
|
||
}
|
||
|
||
/// <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)
|
||
{
|
||
public AbCipHostAddress ParsedAddress { get; } = parsedAddress;
|
||
public AbCipDeviceOptions Options { get; } = options;
|
||
public AbCipPlcFamilyProfile Profile { get; } = profile;
|
||
|
||
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);
|
||
|
||
public void DisposeHandles()
|
||
{
|
||
foreach (var h in TagHandles.Values) h.Dispose();
|
||
TagHandles.Clear();
|
||
foreach (var r in Runtimes.Values) r.Dispose();
|
||
Runtimes.Clear();
|
||
}
|
||
}
|
||
}
|