69e0d02c72
Catch-all commit for pending work on the task-galaxy-e2e branch that
wasn't part of the FOCAS migration. Grouping by topic so future per-topic
commits can be cherry-picked if needed.
TwinCAT
- src/.../Driver.TwinCAT/AdsTwinCATClient.cs + TwinCATDriverFactoryExtensions.cs:
factory-registration extensions + ADS client refinements.
- src/.../Driver.TwinCAT.Cli/Commands/BrowseCommand.cs: new browse command
for the TwinCAT test-client CLI.
- tests/.../Driver.TwinCAT.IntegrationTests/TwinCAT3SmokeTests.cs + TwinCatProject/:
fixture scaffold with a minimal POU + README pointing at the TCBSD/ESXi
VM for e2e.
- docs/Driver.TwinCAT.Cli.md + docs/drivers/TwinCAT-Test-Fixture.md:
documentation for the above.
- docs/v3/twincat-backlog.md: forward-looking backlog seed.
Admin UI + fleet status
- src/.../Admin/Components/Pages/Clusters/DriversTab.razor + Hosts.razor:
UI refresh for fleet-status rendering.
- src/.../Admin/Hubs/FleetStatusHub.cs + FleetStatusPoller.cs +
Admin/Program.cs: SignalR hub + poller plumbing for live fleet data.
- tests/.../Admin.Tests/FleetStatusPollerTests.cs: poller coverage.
Server + redundancy runtime (Phase 6.3 follow-ups)
- src/.../Server/Hosting/RedundancyPublisherHostedService.cs: HostedService
that owns the RedundancyStatePublisher lifecycle + wires peer reachability.
- src/.../Server/Redundancy/ServerRedundancyNodeWriter.cs: OPC UA
variable-node writer binding ServiceLevel + ServerUriArray to the
publisher's events.
- src/.../Server/Program.cs + Server.csproj: hosted-service registration.
- tests/.../Server.Tests/ServerRedundancyNodeWriterTests.cs +
Server.Tests.csproj: coverage for the above.
Configuration
- src/.../Configuration/Validation/DraftValidator.cs +
tests/.../Configuration.Tests/DraftValidatorTests.cs: draft-validation
refinements.
E2E scripts (shared infrastructure)
- scripts/e2e/README.md + _common.ps1 + test-all.ps1: shared helpers + the
all-drivers test-all runner.
- scripts/e2e/test-opcuaclient.ps1: OPC UA Client e2e runner.
Docs
- docs/v2/implementation/phase-6-{1,2,3,4}*.md + exit-gate-phase-{3,7}.md:
phase-gate + implementation doc updates.
- docs/v2/plan.md: top-level plan refresh.
- docs/v2/redundancy-interop-playbook.md: client interop playbook for the
Phase 6.3 redundancy-runtime work.
Two orphan FOCAS docs remain on disk but deliberately unstaged —
docs/v2/focas-deployment.md and docs/v2/implementation/focas-simulator-plan.md
describe the now-retired Tier-C topology and should either be rewritten
or deleted in a follow-up.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
55 lines
1.8 KiB
XML
55 lines
1.8 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
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<POU Name="FB_AxisSim" Id="{5b3e4e46-5ace-4e6c-a0dc-d55113a89212}" SpecialFunc="None">
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<Declaration><![CDATA[FUNCTION_BLOCK FB_AxisSim
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VAR_INPUT
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Enable : BOOL;
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END_VAR
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VAR_IN_OUT
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Axis : ST_Axis;
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END_VAR
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VAR
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tick : UDINT;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[IF NOT Enable THEN
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Axis.State := E_AxisState.Idle;
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RETURN;
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END_IF
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tick := tick + 1;
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// Ramp position + derive velocity so a subscription sees LREAL churn.
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Axis.PositionMm := Axis.PositionMm + 0.5;
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Axis.VelocityMps := 0.5 * SIN(UDINT_TO_LREAL(tick) * 0.05);
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Axis.Accel := LREAL_TO_REAL(0.1 * COS(UDINT_TO_LREAL(tick) * 0.05));
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Axis.State := E_AxisState.Moving;
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// Motor block — keep values sane but moving.
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Axis.Motor.Current := 2.5 + LREAL_TO_REAL(0.5 * SIN(UDINT_TO_LREAL(tick) * 0.1));
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Axis.Motor.Voltage := 24.0;
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Axis.Motor.Temperature:= 35.0 + 5.0 * SIN(UDINT_TO_LREAL(tick) * 0.01);
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Axis.Motor.Rpm := 1500 + LREAL_TO_DINT(200.0 * SIN(UDINT_TO_LREAL(tick) * 0.05));
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Axis.Motor.Running := TRUE;
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// Encoder
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Axis.Encoder.RawCounts := Axis.Encoder.RawCounts + 12;
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Axis.Encoder.PositionMm := Axis.PositionMm;
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Axis.Encoder.VelocityMmPerS := Axis.VelocityMps;
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Axis.Encoder.Homed := TRUE;
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// Travel log — rolling window of last 8 positions.
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Axis.TravelLog[1] := Axis.TravelLog[2];
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Axis.TravelLog[2] := Axis.TravelLog[3];
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Axis.TravelLog[3] := Axis.TravelLog[4];
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Axis.TravelLog[4] := Axis.TravelLog[5];
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Axis.TravelLog[5] := Axis.TravelLog[6];
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Axis.TravelLog[6] := Axis.TravelLog[7];
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Axis.TravelLog[7] := Axis.TravelLog[8];
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Axis.TravelLog[8] := Axis.PositionMm;
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]]></ST>
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</Implementation>
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</POU>
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</TcPlcObject>
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