7bf2dc49cf
The Driver.TwinCAT-011 fix rewrote TwinCATStatusMapper with correct numeric values from Beckhoff.TwinCAT.Ads 7.0.172 (e.g. DeviceSymbol- VersionInvalid = 1809 / 0x0711, not 1794 / 0x0702). Pre-existing StatusMapper_covers_known_ads_error_codes InlineData cases were written against the old wrong mappings and now fail; StatusMapper_recognises_ symbol_version_changed_code asserted the legacy 0x0702 constant. Update both test files to match the corrected mapper and add a comment documenting the correction. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
114 lines
4.7 KiB
C#
114 lines
4.7 KiB
C#
using Shouldly;
|
|
using Xunit;
|
|
using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
|
|
using ZB.MOM.WW.OtOpcUa.Driver.TwinCAT;
|
|
|
|
namespace ZB.MOM.WW.OtOpcUa.Driver.TwinCAT.Tests;
|
|
|
|
[Trait("Category", "Unit")]
|
|
public sealed class TwinCATDriverTests
|
|
{
|
|
[Fact]
|
|
public void DriverType_is_TwinCAT()
|
|
{
|
|
var drv = new TwinCATDriver(new TwinCATDriverOptions(), "drv-1");
|
|
drv.DriverType.ShouldBe("TwinCAT");
|
|
drv.DriverInstanceId.ShouldBe("drv-1");
|
|
}
|
|
|
|
[Fact]
|
|
public async Task InitializeAsync_parses_device_addresses()
|
|
{
|
|
var drv = new TwinCATDriver(new TwinCATDriverOptions
|
|
{
|
|
Devices =
|
|
[
|
|
new TwinCATDeviceOptions("ads://5.23.91.23.1.1:851"),
|
|
new TwinCATDeviceOptions("ads://10.0.0.1.1.1:852", DeviceName: "Machine2"),
|
|
],
|
|
}, "drv-1");
|
|
|
|
await drv.InitializeAsync("{}", CancellationToken.None);
|
|
|
|
drv.DeviceCount.ShouldBe(2);
|
|
drv.GetDeviceState("ads://5.23.91.23.1.1:851")!.ParsedAddress.Port.ShouldBe(851);
|
|
drv.GetDeviceState("ads://10.0.0.1.1.1:852")!.Options.DeviceName.ShouldBe("Machine2");
|
|
}
|
|
|
|
[Fact]
|
|
public async Task InitializeAsync_malformed_address_faults()
|
|
{
|
|
var drv = new TwinCATDriver(new TwinCATDriverOptions
|
|
{
|
|
Devices = [new TwinCATDeviceOptions("not-an-address")],
|
|
}, "drv-1");
|
|
|
|
await Should.ThrowAsync<InvalidOperationException>(
|
|
() => drv.InitializeAsync("{}", CancellationToken.None));
|
|
drv.GetHealth().State.ShouldBe(DriverState.Faulted);
|
|
}
|
|
|
|
[Fact]
|
|
public async Task ShutdownAsync_clears_devices()
|
|
{
|
|
var drv = new TwinCATDriver(new TwinCATDriverOptions
|
|
{
|
|
Devices = [new TwinCATDeviceOptions("ads://5.23.91.23.1.1:851")],
|
|
Probe = new TwinCATProbeOptions { Enabled = false },
|
|
}, "drv-1");
|
|
await drv.InitializeAsync("{}", CancellationToken.None);
|
|
|
|
await drv.ShutdownAsync(CancellationToken.None);
|
|
drv.DeviceCount.ShouldBe(0);
|
|
drv.GetHealth().State.ShouldBe(DriverState.Unknown);
|
|
}
|
|
|
|
[Fact]
|
|
public async Task ReinitializeAsync_cycles_devices()
|
|
{
|
|
var drv = new TwinCATDriver(new TwinCATDriverOptions
|
|
{
|
|
Devices = [new TwinCATDeviceOptions("ads://5.23.91.23.1.1:851")],
|
|
Probe = new TwinCATProbeOptions { Enabled = false },
|
|
}, "drv-1");
|
|
await drv.InitializeAsync("{}", CancellationToken.None);
|
|
await drv.ReinitializeAsync("{}", CancellationToken.None);
|
|
|
|
drv.DeviceCount.ShouldBe(1);
|
|
drv.GetHealth().State.ShouldBe(DriverState.Healthy);
|
|
}
|
|
|
|
[Fact]
|
|
public void DataType_mapping_covers_atomic_iec_types()
|
|
{
|
|
TwinCATDataType.Bool.ToDriverDataType().ShouldBe(DriverDataType.Boolean);
|
|
TwinCATDataType.DInt.ToDriverDataType().ShouldBe(DriverDataType.Int32);
|
|
TwinCATDataType.Real.ToDriverDataType().ShouldBe(DriverDataType.Float32);
|
|
TwinCATDataType.LReal.ToDriverDataType().ShouldBe(DriverDataType.Float64);
|
|
TwinCATDataType.String.ToDriverDataType().ShouldBe(DriverDataType.String);
|
|
TwinCATDataType.WString.ToDriverDataType().ShouldBe(DriverDataType.String);
|
|
// IEC TIME/DATE/DT/TOD surface as their raw UDINT counter (Driver.TwinCAT-002).
|
|
TwinCATDataType.Time.ToDriverDataType().ShouldBe(DriverDataType.UInt32);
|
|
}
|
|
|
|
[Theory]
|
|
[InlineData(0u, TwinCATStatusMapper.Good)]
|
|
// Device-layer codes — confirmed from Beckhoff.TwinCAT.Ads 7.0.172 AdsErrorCode enum
|
|
[InlineData(1792u, TwinCATStatusMapper.BadDeviceFailure)] // DeviceError (generic)
|
|
[InlineData(1793u, TwinCATStatusMapper.BadNotSupported)] // DeviceServiceNotSupported
|
|
[InlineData(1794u, TwinCATStatusMapper.BadOutOfRange)] // DeviceInvalidGroup (ADS index-group error)
|
|
[InlineData(1798u, TwinCATStatusMapper.BadTypeMismatch)] // DeviceInvalidData (data format mismatch)
|
|
[InlineData(1804u, TwinCATStatusMapper.BadNodeIdUnknown)] // DeviceNotFound
|
|
[InlineData(1808u, TwinCATStatusMapper.BadNodeIdUnknown)] // DeviceSymbolNotFound
|
|
[InlineData(1809u, TwinCATStatusMapper.BadInvalidState)] // DeviceSymbolVersionInvalid — rediscovery trigger
|
|
[InlineData(1827u, TwinCATStatusMapper.BadNotWritable)] // DeviceAccessDenied
|
|
[InlineData(1861u, TwinCATStatusMapper.BadTimeout)] // ClientSyncTimeOut
|
|
// AMS router errors
|
|
[InlineData(7u, TwinCATStatusMapper.BadCommunicationError)] // TargetMachineNotFound
|
|
[InlineData(99999u, TwinCATStatusMapper.BadCommunicationError)] // unknown → generic comm fail
|
|
public void StatusMapper_covers_known_ads_error_codes(uint adsError, uint expected)
|
|
{
|
|
TwinCATStatusMapper.MapAdsError(adsError).ShouldBe(expected);
|
|
}
|
|
}
|