Joseph Doherty
5f0a52864c
First real FOCAS hardware contact (Makino Pro 5 / 31i-B @ 10.201.31.5). A full
v3 data-PDU capture corrected the initial diagnosis: the v3 block envelope is
identical to v1, so only specific payload structs / request math / one client
robustness gap were wrong — not "framing rewrites".
Fixes (all re-validated live through the fixed driver):
- version gate: accept inbound PDU {1,3}, keep emitting v1 (FocasWireProtocol).
- cnc_rdtimer: 8-byte {minute,msec} payload is little-endian (ParseTimer) — the
only decode with an in-range msec field.
- pmc_rdpmcrng: request range widened to the data-type byte width
(end = start + width - 1) so a Word/Long isn't truncated to 0 values
(was spurious BadOutOfRange); decode extracted to ParsePmcRange.
- cnc_rdsvmeter: per-axis LOADELM is 8 bytes (not 12) and names come from the
0x0089 block — ParseServoMeters fixes the misaligned 655360 garbage. Also the
"hang" was NetworkStream.ReadAsync not aborting a stalled socket: ReadExactlyAsync
now disposes the stream on cancellation so a stalled peer can't wedge a poll loop.
- cnc_rddynamic2: contract guard rejecting axis < 1 (driver poll already 1-based).
- FocasDriverProbe: run a real wire session (initiate + cnc_statinfo) instead of
degrading to Ok=true "TCP reachability only" when FWLIB is absent — a bare TCP
listener no longer reports HEALTHY.
cnc_rdparam (0x000e) is unsupported on this control — EW_FUNC across 14
request-framing variants x 4 known-present params; needs a reference FWLIB trace
or is restricted. Deferred (deployed config uses macros, not parameters).
Tests: FOCAS suite 234 green (+16), full solution builds 0 errors. Raw v3
captures checked in under tests/.../Fixtures/v3/. Capture tools under scripts/focas/.
Docs: docs/plans/2026-06-25-focas-pdu-v3-{30i-b-support,implementation-plan}.md,
docs/drivers/FOCAS.md, docs/v2/focas-version-matrix.md,
docs/deployments/wonder-app-vd03-makino-z-34184.md.
73 lines
2.4 KiB
Python
73 lines
2.4 KiB
Python
#!/usr/bin/env python3
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"""Passive FOCAS/2 wire capture for protocol-version scoping.
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Sends ONLY the initiate PDU the OtOpcUa WireFocasClient sends (a read-only handshake;
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NO data/write PDUs) and dumps the raw response so the real wire framing — notably the
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PDU version field — can be inspected. Used to diagnose the 30i-B PDU-v3 gap; see
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docs/plans/2026-06-25-focas-pdu-v3-30i-b-support.md.
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Usage: python3 scripts/focas/capture-initiate.py <host> [port]
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"""
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import socket, sys
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MAGIC = bytes([0xA0, 0xA0, 0xA0, 0xA0])
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def build_pdu(version, type_, direction, body):
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h = bytearray(MAGIC)
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h += version.to_bytes(2, "big")
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h += bytes([type_, direction])
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h += len(body).to_bytes(2, "big")
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return bytes(h) + body
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def hexdump(b):
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return " ".join(f"{x:02x}" for x in b)
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def parse_header(b):
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if len(b) < 10:
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return f"(short read, {len(b)} bytes)"
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return (f"magic={hexdump(b[0:4])} version={int.from_bytes(b[4:6],'big')} "
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f"type=0x{b[6]:02x} dir=0x{b[7]:02x} bodyLen={int.from_bytes(b[8:10],'big')}")
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def try_initiate(host, port, version, socket_index):
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print(f"\n=== initiate header version={version}, socketIndex={socket_index} ===")
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pdu = build_pdu(version, 0x01, 0x01, socket_index.to_bytes(2, "big"))
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print(f" -> {len(pdu)} bytes: {hexdump(pdu)}")
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s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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s.settimeout(6)
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try:
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s.connect((host, port))
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s.sendall(pdu)
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resp = b""
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try:
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while len(resp) < 512:
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chunk = s.recv(512 - len(resp))
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if not chunk:
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break
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resp += chunk
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if len(resp) >= 10 and len(resp) >= 10 + int.from_bytes(resp[8:10], "big"):
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break
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except socket.timeout:
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pass
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print(f" <- {len(resp)} bytes: {hexdump(resp)}")
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print(f" <- header: {parse_header(resp)}")
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if len(resp) > 10:
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print(f" <- body: {hexdump(resp[10:])}")
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except Exception as e:
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print(f" !! {type(e).__name__}: {e}")
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finally:
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s.close()
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if __name__ == "__main__":
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if len(sys.argv) < 2:
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print(__doc__)
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sys.exit(2)
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host = sys.argv[1]
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port = int(sys.argv[2]) if len(sys.argv) > 2 else 8193
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try_initiate(host, port, 1, 1) # what OtOpcUa sends today (header version=1)
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try_initiate(host, port, 3, 1) # probe whether the CNC negotiates on our advertised version
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