329 lines
14 KiB
C#
329 lines
14 KiB
C#
using System.Buffers.Binary;
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using System.Collections.Concurrent;
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namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
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/// <summary>
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/// <see cref="IFocasClient"/> implementation backed by Fanuc's licensed
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/// <c>Fwlib32.dll</c> via <see cref="FwlibNative"/> P/Invoke. The DLL is NOT shipped with
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/// OtOpcUa; the deployment places it next to the server executable or on <c>PATH</c>
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/// (per Fanuc licensing — see <c>docs/v2/focas-deployment.md</c>).
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/// </summary>
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/// <remarks>
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/// <para>Construction is licence-safe — .NET P/Invoke is lazy, so instantiating this class
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/// does NOT load <c>Fwlib32.dll</c>. The DLL only loads on the first wire call (Connect /
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/// Read / Write / Probe). When missing, those calls throw <see cref="DllNotFoundException"/>
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/// which the driver surfaces as <c>BadCommunicationError</c> through the normal exception
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/// mapping.</para>
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///
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/// <para>Session-scoped handle — <c>cnc_allclibhndl3</c> opens one FWLIB handle per CNC;
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/// all PMC / parameter / macro reads on that device go through the same handle. Dispose
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/// calls <c>cnc_freelibhndl</c>.</para>
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/// </remarks>
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internal sealed class FwlibFocasClient : IFocasClient
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{
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private ushort _handle;
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private bool _connected;
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// Per-PMC-byte RMW lock registry. Bit writes to the same byte get serialised so two
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// concurrent bit updates don't lose one another's modification. Key = "{addrType}:{byteAddr}".
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private readonly ConcurrentDictionary<string, SemaphoreSlim> _rmwLocks = new();
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private SemaphoreSlim GetRmwLock(short addrType, int byteAddr) =>
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_rmwLocks.GetOrAdd($"{addrType}:{byteAddr}", _ => new SemaphoreSlim(1, 1));
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public bool IsConnected => _connected;
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public Task ConnectAsync(FocasHostAddress address, TimeSpan timeout, CancellationToken cancellationToken)
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{
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if (_connected) return Task.CompletedTask;
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var timeoutMs = (int)Math.Max(1, timeout.TotalMilliseconds);
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var ret = FwlibNative.AllcLibHndl3(address.Host, (ushort)address.Port, timeoutMs, out var handle);
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if (ret != 0)
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throw new InvalidOperationException(
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$"FWLIB cnc_allclibhndl3 failed with EW_{ret} connecting to {address}.");
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_handle = handle;
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_connected = true;
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return Task.CompletedTask;
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}
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public Task<(object? value, uint status)> ReadAsync(
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FocasAddress address, FocasDataType type, CancellationToken cancellationToken)
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{
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if (!_connected) return Task.FromResult<(object?, uint)>((null, FocasStatusMapper.BadCommunicationError));
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cancellationToken.ThrowIfCancellationRequested();
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return address.Kind switch
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{
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FocasAreaKind.Pmc => Task.FromResult(ReadPmc(address, type)),
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FocasAreaKind.Parameter => Task.FromResult(ReadParameter(address, type)),
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FocasAreaKind.Macro => Task.FromResult(ReadMacro(address)),
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_ => Task.FromResult<(object?, uint)>((null, FocasStatusMapper.BadNotSupported)),
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};
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}
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public async Task<uint> WriteAsync(
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FocasAddress address, FocasDataType type, object? value, CancellationToken cancellationToken)
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{
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if (!_connected) return FocasStatusMapper.BadCommunicationError;
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cancellationToken.ThrowIfCancellationRequested();
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return address.Kind switch
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{
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FocasAreaKind.Pmc when type == FocasDataType.Bit && address.BitIndex is int =>
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await WritePmcBitAsync(address, Convert.ToBoolean(value), cancellationToken).ConfigureAwait(false),
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FocasAreaKind.Pmc => WritePmc(address, type, value),
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FocasAreaKind.Parameter => WriteParameter(address, type, value),
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FocasAreaKind.Macro => WriteMacro(address, value),
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_ => FocasStatusMapper.BadNotSupported,
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};
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}
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/// <summary>
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/// Read-modify-write one bit within a PMC byte. Acquires a per-byte semaphore so
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/// concurrent bit writes against the same byte serialise and neither loses its update.
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/// </summary>
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private async Task<uint> WritePmcBitAsync(
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FocasAddress address, bool newValue, CancellationToken cancellationToken)
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{
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var addrType = FocasPmcAddrType.FromLetter(address.PmcLetter ?? "") ?? (short)0;
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var bit = address.BitIndex ?? 0;
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if (bit is < 0 or > 7)
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throw new InvalidOperationException(
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$"PMC bit index {bit} out of range (0-7) for {address.Canonical}.");
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var rmwLock = GetRmwLock(addrType, address.Number);
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await rmwLock.WaitAsync(cancellationToken).ConfigureAwait(false);
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try
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{
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// Read the parent byte.
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var readBuf = new FwlibNative.IODBPMC { Data = new byte[40] };
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var readRet = FwlibNative.PmcRdPmcRng(
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_handle, addrType, FocasPmcDataType.Byte,
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(ushort)address.Number, (ushort)address.Number, 8 + 1, ref readBuf);
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if (readRet != 0) return FocasStatusMapper.MapFocasReturn(readRet);
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var current = readBuf.Data[0];
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var updated = newValue
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? (byte)(current | (1 << bit))
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: (byte)(current & ~(1 << bit));
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// Write the updated byte.
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var writeBuf = new FwlibNative.IODBPMC
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{
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TypeA = addrType,
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TypeD = FocasPmcDataType.Byte,
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DatanoS = (ushort)address.Number,
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DatanoE = (ushort)address.Number,
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Data = new byte[40],
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};
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writeBuf.Data[0] = updated;
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var writeRet = FwlibNative.PmcWrPmcRng(_handle, 8 + 1, ref writeBuf);
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return writeRet == 0 ? FocasStatusMapper.Good : FocasStatusMapper.MapFocasReturn(writeRet);
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}
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finally
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{
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rmwLock.Release();
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}
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}
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public Task<bool> ProbeAsync(CancellationToken cancellationToken)
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{
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if (!_connected) return Task.FromResult(false);
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var buf = new FwlibNative.ODBST();
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var ret = FwlibNative.StatInfo(_handle, ref buf);
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return Task.FromResult(ret == 0);
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}
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// ---- PMC ----
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private (object? value, uint status) ReadPmc(FocasAddress address, FocasDataType type)
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{
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var addrType = FocasPmcAddrType.FromLetter(address.PmcLetter ?? "")
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?? throw new InvalidOperationException($"Unknown PMC letter '{address.PmcLetter}'.");
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var dataType = FocasPmcDataType.FromFocasDataType(type);
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var length = PmcReadLength(type);
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var buf = new FwlibNative.IODBPMC { Data = new byte[40] };
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var ret = FwlibNative.PmcRdPmcRng(
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_handle, addrType, dataType,
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(ushort)address.Number, (ushort)address.Number, (ushort)length, ref buf);
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if (ret != 0) return (null, FocasStatusMapper.MapFocasReturn(ret));
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var value = type switch
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{
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FocasDataType.Bit => ExtractBit(buf.Data[0], address.BitIndex ?? 0),
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FocasDataType.Byte => (object)(sbyte)buf.Data[0],
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FocasDataType.Int16 => (object)BinaryPrimitives.ReadInt16LittleEndian(buf.Data),
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FocasDataType.Int32 => (object)BinaryPrimitives.ReadInt32LittleEndian(buf.Data),
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FocasDataType.Float32 => (object)BinaryPrimitives.ReadSingleLittleEndian(buf.Data),
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FocasDataType.Float64 => (object)BinaryPrimitives.ReadDoubleLittleEndian(buf.Data),
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_ => (object)buf.Data[0],
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};
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return (value, FocasStatusMapper.Good);
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}
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private uint WritePmc(FocasAddress address, FocasDataType type, object? value)
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{
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var addrType = FocasPmcAddrType.FromLetter(address.PmcLetter ?? "") ?? (short)0;
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var dataType = FocasPmcDataType.FromFocasDataType(type);
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var length = PmcWriteLength(type);
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var buf = new FwlibNative.IODBPMC
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{
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TypeA = addrType,
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TypeD = dataType,
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DatanoS = (ushort)address.Number,
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DatanoE = (ushort)address.Number,
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Data = new byte[40],
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};
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EncodePmcValue(buf.Data, type, value, address.BitIndex);
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var ret = FwlibNative.PmcWrPmcRng(_handle, (ushort)length, ref buf);
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return ret == 0 ? FocasStatusMapper.Good : FocasStatusMapper.MapFocasReturn(ret);
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}
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private (object? value, uint status) ReadParameter(FocasAddress address, FocasDataType type)
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{
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var buf = new FwlibNative.IODBPSD { Data = new byte[32] };
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var length = ParamReadLength(type);
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var ret = FwlibNative.RdParam(_handle, (ushort)address.Number, axis: 0, (short)length, ref buf);
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if (ret != 0) return (null, FocasStatusMapper.MapFocasReturn(ret));
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var value = type switch
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{
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FocasDataType.Bit when address.BitIndex is int bit => ExtractBit(buf.Data[0], bit),
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FocasDataType.Byte => (object)(sbyte)buf.Data[0],
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FocasDataType.Int16 => (object)BinaryPrimitives.ReadInt16LittleEndian(buf.Data),
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FocasDataType.Int32 => (object)BinaryPrimitives.ReadInt32LittleEndian(buf.Data),
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_ => (object)BinaryPrimitives.ReadInt32LittleEndian(buf.Data),
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};
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return (value, FocasStatusMapper.Good);
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}
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private uint WriteParameter(FocasAddress address, FocasDataType type, object? value)
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{
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var buf = new FwlibNative.IODBPSD
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{
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Datano = (short)address.Number,
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Type = 0,
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Data = new byte[32],
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};
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var length = ParamReadLength(type);
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EncodeParamValue(buf.Data, type, value);
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var ret = FwlibNative.WrParam(_handle, (short)length, ref buf);
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return ret == 0 ? FocasStatusMapper.Good : FocasStatusMapper.MapFocasReturn(ret);
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}
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private (object? value, uint status) ReadMacro(FocasAddress address)
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{
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var buf = new FwlibNative.ODBM();
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var ret = FwlibNative.RdMacro(_handle, (short)address.Number, length: 8, ref buf);
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if (ret != 0) return (null, FocasStatusMapper.MapFocasReturn(ret));
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// Macro value = mcr_val / 10^dec_val. Convert to double so callers get the correct
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// scaled value regardless of the decimal-point count the CNC reports.
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var scaled = buf.McrVal / Math.Pow(10.0, buf.DecVal);
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return (scaled, FocasStatusMapper.Good);
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}
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private uint WriteMacro(FocasAddress address, object? value)
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{
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// Write as integer + 0 decimal places — callers that need decimal precision can extend
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// this via a future WriteMacroScaled overload. Consistent with what most HMIs do today.
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var intValue = Convert.ToInt32(value);
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var ret = FwlibNative.WrMacro(_handle, (short)address.Number, length: 8, intValue, decimalPointCount: 0);
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return ret == 0 ? FocasStatusMapper.Good : FocasStatusMapper.MapFocasReturn(ret);
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}
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public void Dispose()
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{
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if (_connected)
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{
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try { FwlibNative.FreeLibHndl(_handle); } catch { }
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_connected = false;
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}
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}
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// ---- helpers ----
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private static int PmcReadLength(FocasDataType type) => type switch
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{
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FocasDataType.Bit or FocasDataType.Byte => 8 + 1, // 8-byte header + 1 byte payload
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FocasDataType.Int16 => 8 + 2,
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FocasDataType.Int32 => 8 + 4,
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FocasDataType.Float32 => 8 + 4,
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FocasDataType.Float64 => 8 + 8,
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_ => 8 + 1,
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};
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private static int PmcWriteLength(FocasDataType type) => PmcReadLength(type);
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private static int ParamReadLength(FocasDataType type) => type switch
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{
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FocasDataType.Bit or FocasDataType.Byte => 4 + 1,
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FocasDataType.Int16 => 4 + 2,
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FocasDataType.Int32 => 4 + 4,
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_ => 4 + 4,
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};
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private static bool ExtractBit(byte word, int bit) => (word & (1 << bit)) != 0;
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internal static void EncodePmcValue(byte[] data, FocasDataType type, object? value, int? bitIndex)
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{
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switch (type)
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{
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case FocasDataType.Bit:
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// PMC Bit writes with a non-null bitIndex go through WritePmcBitAsync's RMW path
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// upstream. This branch only fires when a caller passes Bit with no bitIndex —
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// treat the value as a whole-byte boolean (non-zero / zero).
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data[0] = Convert.ToBoolean(value) ? (byte)1 : (byte)0;
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break;
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case FocasDataType.Byte:
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data[0] = (byte)(sbyte)Convert.ToSByte(value);
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break;
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case FocasDataType.Int16:
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BinaryPrimitives.WriteInt16LittleEndian(data, Convert.ToInt16(value));
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break;
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case FocasDataType.Int32:
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BinaryPrimitives.WriteInt32LittleEndian(data, Convert.ToInt32(value));
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break;
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case FocasDataType.Float32:
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BinaryPrimitives.WriteSingleLittleEndian(data, Convert.ToSingle(value));
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break;
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case FocasDataType.Float64:
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BinaryPrimitives.WriteDoubleLittleEndian(data, Convert.ToDouble(value));
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break;
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default:
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throw new NotSupportedException($"FocasDataType {type} not writable via PMC.");
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}
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_ = bitIndex; // bit-in-byte handled above
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}
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internal static void EncodeParamValue(byte[] data, FocasDataType type, object? value)
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{
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switch (type)
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{
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case FocasDataType.Byte:
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data[0] = (byte)(sbyte)Convert.ToSByte(value);
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break;
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case FocasDataType.Int16:
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BinaryPrimitives.WriteInt16LittleEndian(data, Convert.ToInt16(value));
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break;
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case FocasDataType.Int32:
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BinaryPrimitives.WriteInt32LittleEndian(data, Convert.ToInt32(value));
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break;
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default:
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BinaryPrimitives.WriteInt32LittleEndian(data, Convert.ToInt32(value));
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break;
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}
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}
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}
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/// <summary>Default <see cref="IFocasClientFactory"/> — produces a fresh <see cref="FwlibFocasClient"/> per device.</summary>
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public sealed class FwlibFocasClientFactory : IFocasClientFactory
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{
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public IFocasClient Create() => new FwlibFocasClient();
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}
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