dohertj2/lmxopcua
1
0
Fork 0
Code Issues 14 Pull Requests Actions Packages Projects Releases Wiki Activity
Files
af19db4ed1156df39df816fc6ea5d09b195e6cfd
lmxopcua/docs/v3/twincat-backlog.md
T
Joseph Doherty af19db4ed1 feat(twincat): opt-in ADS sum-read and /hosts diagnostics bag; refresh TwinCAT backlog (#645, #612) 
Sum-read (#310): batches a poll's reads per device into sum commands capped at sumReadMaxItems,
per-item ADS errors mapped per tag, falls back to individual reads when the target refuses the
command. Diagnostics (#314): ADS state, app name, online-change count, task cycle/exec/jitter via
IDriverDiagnostics. Re-implemented against the current raw-byte read path (stranded auto/driver-gaps
commits predate it). Sum-write not ported. Unit tests only; live gate pending a route.

Claude-Session: https://claude.ai/code/session_01Ef2ozxS7QPanGT8uoATbTe
2026-10-08 19:18:42 -04:00

4.2 KiB
Raw Blame History

TwinCAT driver — v3 backlog

The v2 TwinCAT driver is considered solid: 28 integration tests (14 [TwinCATFact] + 16-case [TwinCATTheory]) running live against the TCBSD fixture, 110 unit tests, three latent driver bugs shaken out (notification cycle units, STRING(N) mapper, bit-indexed BOOL path). Further work is deferred.

Archived from docs/drivers/TwinCAT-Test-Fixture.md § Follow-up candidates. Refreshed 2026-10-08 (Gitea #612 / #645); live-validation results live in docs/drivers/TwinCAT.md § "Live validation".

Hardware available (as of 2026-10-08)

The Elma cleaner fleet (25 presses, 23 live) is the only real TwinCAT hardware in reach, and it is production — strictly read-only:

Press Runtime AMS Notes
22 presses (e.g. Z33856 10.201.45.236.1.1, Z33733 5.25.53.46.1.1) TC2 2.11 on WinCE 6.0 port 801 read-validated 2026-10-07
Z35474 (5.118.56.93.1.1, 10.201.23.227) TC3 3.1.4024 (Win NT 10) port 851 the only TC3 press; "Plc30 App"
TCBSD fixture 10.100.0.128 (41.169.163.43.1.1:851) TC3 851 not a press; unreachable from the Mac

Access facts: ADS is TCP 48898. The driver sends no AddRoute (routes are provisioned out of band) and has no IP field, so a host needs a local AMS router — TwinCAT XAR, or Beckhoff.TwinCAT.Ads.TcpRouter hosted in-process (the driver csproj does not reference TcpRouter; the 2026-10-07 run used a scratch harness). The Mac reaches the presses directly over the VPN. The PLC routes left by earlier tooling are STALE: they name the Mac's old VPN IP (10.181.198.189), and the Mac is now 10.181.207.140, so a source NetId of 10.181.207.140.1.1 has no route on any press. We must not AddRoute on production, so the live gate for this backlog is deferred pending a user-approved route (owner refreshes the route, or the user approves reusing the old source NetId). Nothing below that says "live" has been run against TC3.

Status of the original items

  1. TC2 coverage — DONE (read side). No longer "blocked on hardware": the 2026-10-07 Elma run (TwinCAT 2.11) verified browse, scalar/array/string reads and native notifications on TC2. What is still unverified there: sum-read support (see item 6) and anything that writes.

  2. Notification coalescing under load — run the subscribe test while the PLC cycle is saturated. Needs the TCBSD fixture (loading a production press is out of the question) and the GVL_Perf / FB_PerfChurn fixture project from the stranded auto/driver-gaps branch. Fixture-gated.

  3. Multi-hop AMS route — a test behind an IPC gateway with a chained route entry. No hardware.

  4. License-rotation automation — XAR's 7-day trial expires on schedule. Ops item, not code.

  5. Lab rig — cheapest IPC on a dedicated network; the only route that covers real EtherCAT I/O timing and cycle jitter under CPU load. Blocked on hardware + budget.

Added by #612 / #645

  1. ADS sum-read (#310) — code DONE, live gate pending. Opt-in useSumRead / sumReadMaxItems (see docs/drivers/TwinCAT.md § "Sum-read"). Unit-tested against the fake client only. Live gate (read-only, valid on a press): enable on Z33856 / Z33733 (TC2) and Z35474 (TC3), compare a batched poll to individual reads value-for-value, and record whether TC2 CE 2.11 answers or refuses the sum command (either outcome is a result — a refusal must fall back cleanly). Needs the route above.

  2. Driver diagnostics (#314) — code DONE, live gate pending. ADS state, app name, online-change count, task cycle time, last exec time and jitter on the /hosts diagnostics bag. Live gate: confirm TwinCAT_SystemInfoVarList._TaskInfo[1] resolves on TC2 2.11 (the driver tolerates its absence).

  3. Flat vs VirtualTree browse on TC3 (#612) — open. Only Z35474 is TC3; read-only symbol-table upload in both modes, compare leaf sets. Add a SymbolsLoadMode option only if Flat drops struct members. Needs the route. (Flat on TC2 already proved fine: 45,083 / 42,666 variables.)

  4. Discovered struct/FB member writes (#612) — deferred: writes, never on a press; fixture-only. Likewise sum-write was deliberately NOT ported from the stranded branch.

Reference in New Issue View Git Blame Copy Permalink