Joseph Doherty a2c7fda5f5 FOCAS PR 2 — IReadable + IWritable + real FwlibFocasClient P/Invoke. Closes task #193 early now that strangesast/fwlib provides the licensed DLL references. Skips shipping with the Unimplemented stub as the default — FwlibFocasClientFactory is now the production default, UnimplementedFocasClientFactory stays as an opt-in for tests/deployments without FWLIB access. FwlibNative — narrow P/Invoke surface for the 7 calls the driver actually makes: cnc_allclibhndl3 (open Ethernet handle), cnc_freelibhndl (close), pmc_rdpmcrng + pmc_wrpmcrng (PMC range I/O), cnc_rdparam + cnc_wrparam (CNC parameters), cnc_rdmacro + cnc_wrmacro (macro variables), cnc_statinfo (probe). DllImport targets Fwlib32.dll; deployment places it next to the executable or on PATH. IODBPMC/IODBPSD/ODBM/ODBST marshaled with LayoutKind.Sequential + Pack=1 + fixed byte-array unions (avoids LayoutKind.Explicit complexity; managed-side BitConverter extracts typed values from the byte buffer). Internal helpers FocasPmcAddrType.FromLetter (G=0/F=1/Y=2/X=3/A=4/R=5/T=6/K=7/C=8/D=9/E=10 per Fanuc FOCAS/2 spec) + FocasPmcDataType.FromFocasDataType (Byte=0 / Word=1 / Long=2 / Float=4 / Double=5) exposed for testing without the DLL loaded. FwlibFocasClient is the concrete IFocasClient backed by P/Invoke. Construction is licence-safe — .NET P/Invoke is lazy so instantiating the class does NOT load Fwlib32.dll; DLL loads on first wire call (Connect/Read/Write/Probe). When missing, calls throw DllNotFoundException which the driver surfaces as BadCommunicationError via the normal exception path. Session-scoped handle from cnc_allclibhndl3; Dispose calls cnc_freelibhndl. Dispatch on FocasAreaKind — Pmc reads use pmc_rdpmcrng with the right ADR_* + data-type codes + parses the union via BinaryPrimitives LittleEndian, Parameter reads use cnc_rdparam + IODBPSD, Macro reads use cnc_rdmacro + compute scaled double as McrVal / 10^DecVal. Write paths mirror reads. PMC Bit writes throw NotSupportedException pointing at task #181 (read-modify-write gap — same as Modbus / AbCip / AbLegacy / TwinCAT). Macro writes accept int + pass decimal-point count 0 (decimal precision writes are a future enhancement). Probe calls cnc_statinfo with ODBST result. Driver wiring — FocasDriver now IDriver + IReadable + IWritable. Per-device connection caching via EnsureConnectedAsync + DeviceState.Client. ReadAsync/WriteAsync dispatch through the injected IFocasClient — ordered snapshots preserve per-tag status, OperationCanceledException rethrows, FormatException/InvalidCastException → BadTypeMismatch, OverflowException → BadOutOfRange, NotSupportedException → BadNotSupported, anything else → BadCommunicationError + Degraded health. Connect-failure disposes the half-open client. ShutdownAsync disposes every cached client. Default factory switched — constructor now defaults to FwlibFocasClientFactory (backed by real Fwlib32.dll) rather than UnimplementedFocasClientFactory. UnimplementedFocasClientFactory stays as an opt-in. 41 new tests — 14 in FocasReadWriteTests (ordered unknown-ref handling, successful PMC/Parameter/Macro reads routing through correct FocasAreaKind, repeat-read reuses connection, FOCAS error mapping, exception paths, batched order across areas, non-writable rejection, successful write logging, status mapping, batch ordering, cancellation, shutdown disposes), 27 in FwlibNativeHelperTests (12 letter-mapping cases + 3 unknown rejections + 6 data-type mapping + 4 encode helpers + Bit-write NotSupported). Total FOCAS unit tests now 106/106 passing (+41 from PR 1's 65); full solution builds 0 errors; Modbus / AbCip / AbLegacy / TwinCAT / other drivers untouched. FOCAS driver is real-wire-capable from day one — deployment drops Fwlib32.dll beside the server + driver talks to live FS 0i/16i/18i/21i/30i/31i/32i controllers. ...

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

2026-04-19 19:55:37 -04:00

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