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>
137 lines
4.7 KiB
Markdown
137 lines
4.7 KiB
Markdown
# `otopcua-twincat-cli` — Beckhoff TwinCAT test client
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Ad-hoc probe / read / write / subscribe / browse tool for Beckhoff TwinCAT 2 /
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TwinCAT 3 runtimes via ADS. Uses the **same** `TwinCATDriver` the OtOpcUa
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server does (`Beckhoff.TwinCAT.Ads` package). Native ADS notifications by
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default; `--poll-only` falls back to the shared `PollGroupEngine`.
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Fifth (final) of the driver test-client CLIs.
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## Build + run
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```powershell
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dotnet run --project src/Drivers/Cli/ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.Cli -- --help
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```
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## Prerequisite: AMS router
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The `Beckhoff.TwinCAT.Ads` library needs a reachable AMS router to open ADS
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sessions. Pick one:
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1. **Local TwinCAT XAR** — install the free TwinCAT 3 XAR Engineering install
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on the machine running the CLI; it ships the router.
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2. **Beckhoff.TwinCAT.Ads.TcpRouter** — standalone NuGet router. Run in a
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sidecar process when no XAR is installed.
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3. **Remote AMS route** — any Windows box with TwinCAT installed, with an AMS
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route authorised to the CLI host.
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The CLI compiles + runs without a router, but every wire call fails with a
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transport error until one is reachable.
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## Common flags
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| Flag | Default | Purpose |
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| `-n` / `--ams-net-id` | **required** | AMS Net ID (e.g. `192.168.1.40.1.1`) |
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| `-p` / `--ams-port` | `851` | AMS port (TwinCAT 3 PLC = 851, TwinCAT 2 = 801) |
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| `--timeout-ms` | `5000` | Per-operation timeout |
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| `--poll-only` | off | Disable native ADS notifications, use `PollGroupEngine` instead |
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| `--verbose` | off | Serilog debug output |
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## Data types
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TwinCAT exposes the IEC 61131-3 atomic set: `Bool`, `SInt`, `USInt`, `Int`,
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`UInt`, `DInt`, `UDInt`, `LInt`, `ULInt`, `Real`, `LReal`, `String`, `WString`,
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`Time`, `Date`, `DateTime`, `TimeOfDay`. The four IEC time/date variants
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marshal as `UDINT` on the wire — CLI takes a numeric raw value and lets the
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caller interpret semantics.
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## Commands
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### `probe`
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Per-command flags:
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| Flag | Default | Purpose |
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| `-s` / `--symbol` | **required** | Symbol path to probe (e.g. `MAIN.bRunning`) |
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| `--type` | `DInt` | Declared data type — see the [Data types](#data-types) list |
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```powershell
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# Local TwinCAT 3, probe a canonical global
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otopcua-twincat-cli probe -n 127.0.0.1.1.1 -s "TwinCAT_SystemInfoVarList._AppInfo.OnlineChangeCnt"
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# Remote, probe a project variable
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otopcua-twincat-cli probe -n 192.168.1.40.1.1 -s MAIN.bRunning --type Bool
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```
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### `read`
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```powershell
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# Bool symbol
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otopcua-twincat-cli read -n 192.168.1.40.1.1 -s MAIN.bStart -t Bool
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# Counter
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otopcua-twincat-cli read -n 192.168.1.40.1.1 -s GVL.Counter -t DInt
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# Nested UDT member
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otopcua-twincat-cli read -n 192.168.1.40.1.1 -s Motor1.Status.Running -t Bool
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# Array element
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otopcua-twincat-cli read -n 192.168.1.40.1.1 -s "Recipe[3]" -t Real
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# WString
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otopcua-twincat-cli read -n 192.168.1.40.1.1 -s GVL.sMessage -t WString
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```
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### `write`
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```powershell
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otopcua-twincat-cli write -n 192.168.1.40.1.1 -s MAIN.bStart -t Bool -v true
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otopcua-twincat-cli write -n 192.168.1.40.1.1 -s GVL.Counter -t DInt -v 42
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otopcua-twincat-cli write -n 192.168.1.40.1.1 -s GVL.sMessage -t WString -v "running"
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```
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Structure writes refused — drop to driver config JSON for those.
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### `subscribe`
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Per-command flags:
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| Flag | Default | Purpose |
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|---|---|---|
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| `-s` / `--symbol` | **required** | Symbol path — same format as `read` |
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| `-t` / `--type` | `DInt` | Declared data type |
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| `-i` / `--interval-ms` | `1000` | Publishing interval in **milliseconds** — native mode passes this as the ADS `NotificationSettings.CycleTime` |
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```powershell
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# Native ADS notifications (default) — PLC pushes on its own cycle
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otopcua-twincat-cli subscribe -n 192.168.1.40.1.1 -s GVL.Counter -t DInt -i 500
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# Fall back to polling for runtimes where native notifications are constrained
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otopcua-twincat-cli subscribe -n 192.168.1.40.1.1 -s GVL.Counter -t DInt -i 500 --poll-only
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```
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The subscribe banner announces which mechanism is in play — "ADS notification"
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or "polling" — so it's obvious in screen-recorded bug reports.
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### `browse`
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Walks the controller's symbol table via ADS `SymbolLoaderFactory` (same path
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`TwinCATDriver.DiscoverAsync` takes when `EnableControllerBrowse = true`).
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Output filters to symbols whose type maps onto the driver's atomic surface —
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UDTs / function-block instances don't appear.
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| Flag | Default | Purpose |
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| `--prefix` | _(none)_ | Case-sensitive instance-path prefix filter (e.g. `GVL_Fixture`) |
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| `--max` | `500` | Max symbols to print. `0` = unbounded |
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```powershell
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# Everything under a single GVL
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otopcua-twincat-cli browse -n 192.168.1.40.1.1 --prefix GVL_Fixture
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# Full dump (beware: flat-mode walks on a real controller can top 10k symbols)
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otopcua-twincat-cli browse -n 192.168.1.40.1.1 --max 0
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```
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