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>
67 lines
2.9 KiB
XML
67 lines
2.9 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_LineSim" Id="{83bd0d62-650e-4191-9410-a31c2eb07c02}" SpecialFunc="None">
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<Declaration><![CDATA[FUNCTION_BLOCK FB_LineSim
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VAR_IN_OUT
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Line : ST_Line;
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END_VAR
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VAR
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tick : UDINT;
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axisSim : ARRAY[1..3, 1..4] OF FB_AxisSim;
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iStation : INT;
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iAxis : INT;
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iAlarm : INT;
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rotatorBits : DWORD;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[tick := tick + 1;
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FOR iStation := 1 TO 3 DO
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Line.Stations[iStation].Online := TRUE;
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Line.Stations[iStation].Heartbeat := tick;
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// Axes — delegate to FB_AxisSim for per-cycle motion.
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FOR iAxis := 1 TO 4 DO
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axisSim[iStation, iAxis](
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Enable := Line.Running,
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Axis := Line.Stations[iStation].Axes[iAxis]
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);
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END_FOR
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// Rolling I/O patterns to give subscribers something to watch.
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rotatorBits := SHL(DWORD#1, (tick MOD 32));
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Line.Stations[iStation].IO.LastInputMask := rotatorBits;
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Line.Stations[iStation].IO.LastOutputMask := NOT rotatorBits;
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Line.Stations[iStation].IO.CycleCounter := tick;
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// Flip a couple of DI/DOs so BOOL arrays see changes.
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Line.Stations[iStation].IO.DigitalInputs[(tick MOD 32)] := NOT Line.Stations[iStation].IO.DigitalInputs[(tick MOD 32)];
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Line.Stations[iStation].IO.DigitalOutputs[(tick MOD 32)] := Line.Stations[iStation].IO.DigitalInputs[(tick MOD 32)];
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// Walk an analog channel through a sine.
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Line.Stations[iStation].IO.AnalogInputs[0] := LREAL_TO_REAL(10.0 + 5.0 * SIN(UDINT_TO_LREAL(tick + UDINT#100 * UINT_TO_UDINT(INT_TO_UINT(iStation))) * 0.05));
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Line.Stations[iStation].IO.AnalogOutputs[0] := Line.Stations[iStation].IO.AnalogInputs[0] * 2.0;
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// Rotate one alarm per station so IAlarmSource has state transitions.
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iAlarm := INT_TO_USINT(1 + (DINT_TO_INT(UDINT_TO_DINT(tick)) MOD 16));
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Line.Stations[iStation].Alarms[iAlarm].Active := (tick MOD 32) >= 16;
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Line.Stations[iStation].Alarms[iAlarm].Severity := E_Severity.Warning;
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Line.Stations[iStation].Alarms[iAlarm].Code := 1000 + DINT(iAlarm);
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Line.Stations[iStation].Alarms[iAlarm].Message := CONCAT('alarm-', TO_STRING(iAlarm));
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Line.Stations[iStation].Alarms[iAlarm].Source := CONCAT('Station-', TO_STRING(iStation));
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END_FOR
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// Stats — monotonic production counters.
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Line.Stats.UnitsProduced := Line.Stats.UnitsProduced + 1;
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IF (tick MOD 100) = 0 THEN
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Line.Stats.UnitsRejected := Line.Stats.UnitsRejected + 1;
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Line.Stats.RejectReasons[1 + ((DINT_TO_INT(UDINT_TO_DINT(tick / 100))) MOD 5)] :=
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Line.Stats.RejectReasons[1 + ((DINT_TO_INT(UDINT_TO_DINT(tick / 100))) MOD 5)] + 1;
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END_IF
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Line.Stats.UpTimeSeconds := tick / 100; // 10 ms task tick -> approx seconds
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]]></ST>
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</Implementation>
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</POU>
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</TcPlcObject>
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