969b0847a1
Rewrite src/ and tests/ project paths in docs, CLAUDE.md, README.md, and test-fixture READMEs to the new module-folder layout (Core/Server/Drivers/ Client/Tooling). References to retired v1 projects (Galaxy.Host/Proxy/Shared, the legacy monolithic test projects) are left untouched. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
155 lines
5.1 KiB
Markdown
155 lines
5.1 KiB
Markdown
# `otopcua-focas-cli` — Fanuc FOCAS test client
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Ad-hoc probe / read / write / subscribe tool for Fanuc CNCs via the FOCAS/2
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protocol. Uses the **same** `FocasDriver` the OtOpcUa server does — PMC R/G/F
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file registers, axis bits, parameters, and macro variables — all through
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`FocasAddressParser` syntax.
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Sixth of the driver test-client CLIs.
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## Architecture note
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FOCAS is an in-process driver. The pure-managed `WireFocasClient`
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speaks the FOCAS2 binary protocol directly over TCP:8193, removing the
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Tier-C process-isolation split that the historical P/Invoke + out-of-
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process Host arrangement required. The CLI loads `FocasDriver` with
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`WireFocasClientFactory` and talks to the CNC without any native
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components.
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A dev-friendly mock is available — start
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`tests/Drivers/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.IntegrationTests/Docker/docker-compose.yml`
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and point `--cnc-host` at `localhost` for end-to-end CLI exercises
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without a real CNC. See
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[drivers/FOCAS-Test-Fixture.md](drivers/FOCAS-Test-Fixture.md).
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## Build + run
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```powershell
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dotnet build src/Drivers/Cli/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Cli
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dotnet run --project src/Drivers/Cli/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Cli -- --help
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```
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Or publish a self-contained binary:
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```powershell
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dotnet publish src/Drivers/Cli/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Cli -c Release -o publish/focas-cli
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publish/focas-cli/otopcua-focas-cli.exe --help
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```
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## Common flags
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Every command accepts:
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| Flag | Default | Purpose |
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|---|---|---|
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| `-h` / `--cnc-host` | **required** | CNC IP address or hostname |
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| `-p` / `--cnc-port` | `8193` | FOCAS TCP port (FOCAS-over-EIP default) |
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| `-s` / `--series` | `Unknown` | CNC series — `Unknown` / `Zero_i_D` / `Zero_i_F` / `Zero_i_MF` / `Zero_i_TF` / `Sixteen_i` / `Thirty_i` / `ThirtyOne_i` / `ThirtyTwo_i` / `PowerMotion_i` |
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| `--timeout-ms` | `2000` | Per-operation timeout |
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| `--verbose` | off | Serilog debug output |
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## Addressing
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`FocasAddressParser` syntax — the same format the server + `FocasTagDefinition`
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use. Common shapes:
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| Address | Meaning |
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|---|---|
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| `R100` | PMC R-file word register 100 |
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| `X0.0` | PMC X-file bit 0 of byte 0 |
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| `G50.3` | PMC G-file bit 3 of byte 50 |
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| `F1.4` | PMC F-file bit 4 of byte 1 |
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| `PARAM:1815/0` | Parameter 1815, axis 0 |
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| `MACRO:500` | Macro variable 500 |
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## Data types
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`Bit`, `Byte`, `Int16`, `Int32`, `Float32`, `Float64`, `String`. Default is
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`Int16` (matches PMC R-file word width).
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## Commands
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### `probe` — is the CNC reachable?
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Opens a FOCAS session, reads one sample address, prints driver health.
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```powershell
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# Default: read R100 as Int16
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otopcua-focas-cli probe -h 192.168.1.50
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# Explicit series + address
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otopcua-focas-cli probe -h 192.168.1.50 -s ThirtyOne_i --address R200 --type Int16
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```
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### `read` — single address
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```powershell
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# PMC R-file word
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otopcua-focas-cli read -h 192.168.1.50 -a R100 -t Int16
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# PMC X-bit
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otopcua-focas-cli read -h 192.168.1.50 -a X0.0 -t Bit
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# Parameter (axis 0)
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otopcua-focas-cli read -h 192.168.1.50 -a PARAM:1815/0 -t Int32
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# Macro variable
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otopcua-focas-cli read -h 192.168.1.50 -a MACRO:500 -t Float64
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```
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### `write` — single value
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Values parse per `--type` with invariant culture. Booleans accept
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`true` / `false` / `1` / `0` / `yes` / `no` / `on` / `off`.
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```powershell
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otopcua-focas-cli write -h 192.168.1.50 -a R100 -t Int16 -v 42
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otopcua-focas-cli write -h 192.168.1.50 -a G50.3 -t Bit -v on
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otopcua-focas-cli write -h 192.168.1.50 -a MACRO:500 -t Float64 -v 3.14
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```
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PMC G/R writes land on a running machine — be careful which file you hit.
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Parameter writes may require the CNC to be in MDI mode with the
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parameter-write switch enabled.
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**Writes are non-idempotent by default** — a timeout after the CNC already
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applied the write will NOT auto-retry (plan decisions #44 + #45).
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### `subscribe` — watch an address until Ctrl+C
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FOCAS has no push model; the shared `PollGroupEngine` handles the tick
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loop.
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```powershell
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otopcua-focas-cli subscribe -h 192.168.1.50 -a R100 -t Int16 -i 500
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```
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## Output format
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Identical to the other driver CLIs via `SnapshotFormatter`:
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- `probe` / `read` emit a multi-line block: `Tag / Value / Status /
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Source Time / Server Time`. `probe` prefixes it with `CNC`, `Series`,
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`Health`, and `Last error` lines.
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- `write` emits one line: `Write <address>: 0x... (Good |
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BadCommunicationError | …)`.
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- `subscribe` emits one line per change: `[HH:mm:ss.fff] <address> =
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<value> (<status>)`.
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## Typical workflows
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**"Is the CNC alive?"** → `probe`.
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**"Does my parameter write land?"** → `write` + `read` back against the
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same address. Check the parameter-write switch + MDI mode if the write
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fails.
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**"Why did this macro flip?"** → `subscribe` to the macro, let the
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operator reproduce the cycle, watch the HH:mm:ss.fff timeline.
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**"Can I reach the CNC on TCP:8193?"** → `probe` against any host. A
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`BadCommunicationError` means the wire client couldn't open a socket
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(firewall / wrong host / FOCAS Ethernet option unlicensed on the CNC).
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`BadDeviceFailure` after a successful connect means the CNC is rejecting
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the session setup — check the CNC's FOCAS option and password settings.
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