lmxopcua/scripts/e2e/test-focas.ps1

#Requires -Version 7.0
<#
.SYNOPSIS
  End-to-end CLI test for the FOCAS (Fanuc CNC) driver.

.DESCRIPTION
  **Hardware-gated.** There is no public FOCAS simulator; the driver's
  FwlibFocasClient P/Invokes Fanuc's licensed Fwlib32.dll. Against a dev
  box without the DLL on PATH the test will skip with a clear message.
  Against a real CNC with the DLL present it runs probe / driver-loopback /
  server-bridge the same way the other scripts do.

  Set FOCAS_TRUST_WIRE=1 when -CncHost points at a real CNC to un-gate.

.PARAMETER CncHost
  IP or hostname of the CNC. Default 127.0.0.1 — override for real runs.

.PARAMETER CncPort
  FOCAS TCP port. Default 8193.

.PARAMETER Address
  FOCAS address to exercise. Default R100 (PMC R-file register).

.PARAMETER OpcUaUrl
  OtOpcUa server endpoint.

.PARAMETER BridgeNodeId
  NodeId at which the server publishes the Address.

.PARAMETER Write
  Issue #268 (F4-a) + #269 (F4-b) — opts the script into write stages.
  Without -Write the script runs read-only probe / loopback / bridge
  coverage. With -Write the script additionally exercises the F4-b
  cnc_wrparam + cnc_wrmacro round-trip stages against the configured
  -ParamAddress / -MacroAddress (default safe values). The wire writes
  fire only when FOCAS_TRUST_WIRE=1 (already gated above) AND the
  operator explicitly requests the write path.

.PARAMETER ParamAddress
  Parameter address for the F4-b write stage (default PARAM:1815).
  Only used when -Write is supplied. Pick a parameter that's safe to
  scribble on for your CNC setup — the default is benign for a stock
  Fanuc 30i but every site differs.

.PARAMETER MacroAddress
  Macro variable for the F4-b write stage (default MACRO:500). Macro
  writes are the lowest-risk write surface (no parameter-write switch
  needed, no MDI mode required) so this stage runs whenever -Write is
  supplied.
#>

param(
    [string]$CncHost = "127.0.0.1",
    [int]$CncPort = 8193,
    [string]$Address = "R100",
    [string]$OpcUaUrl = "opc.tcp://localhost:4840",
    [Parameter(Mandatory)] [string]$BridgeNodeId,
    [switch]$Write,
    [string]$ParamAddress = "PARAM:1815",
    [string]$MacroAddress = "MACRO:500"
)

$ErrorActionPreference = "Stop"
. "$PSScriptRoot/_common.ps1"

if (-not ($env:FOCAS_TRUST_WIRE -eq "1" -or $env:FOCAS_TRUST_WIRE -eq "true")) {
    Write-Skip "FOCAS_TRUST_WIRE not set — no public simulator exists (task #222 tracks the lab rig). Set =1 when -CncHost points at a real CNC with Fwlib32.dll on PATH."
    exit 0
}

$focasCli = Get-CliInvocation `
    -ProjectFolder "src/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Cli" `
    -ExeName "otopcua-focas-cli"
$opcUaCli = Get-CliInvocation `
    -ProjectFolder "src/ZB.MOM.WW.OtOpcUa.Client.CLI" `
    -ExeName "otopcua-cli"

$commonFocas = @("-h", $CncHost, "-p", $CncPort)
$results = @()

$results += Test-Probe `
    -Cli $focasCli `
    -ProbeArgs (@("probe") + $commonFocas + @("-a", $Address, "--type", "Int16"))

$writeValue = Get-Random -Minimum 1 -Maximum 9999
$results += Test-DriverLoopback `
    -Cli $focasCli `
    -WriteArgs (@("write") + $commonFocas + @("-a", $Address, "-t", "Int16", "-v", $writeValue)) `
    -ReadArgs  (@("read")  + $commonFocas + @("-a", $Address, "-t", "Int16")) `
    -ExpectedValue "$writeValue"

$bridgeValue = Get-Random -Minimum 10000 -Maximum 19999
$results += Test-ServerBridge `
    -DriverCli $focasCli `
    -DriverWriteArgs (@("write") + $commonFocas + @("-a", $Address, "-t", "Int16", "-v", $bridgeValue)) `
    -OpcUaCli $opcUaCli `
    -OpcUaUrl $OpcUaUrl `
    -OpcUaNodeId $BridgeNodeId `
    -ExpectedValue "$bridgeValue"

$reverseValue = Get-Random -Minimum 20000 -Maximum 29999
$results += Test-OpcUaWriteBridge `
    -OpcUaCli $opcUaCli `
    -OpcUaUrl $OpcUaUrl `
    -OpcUaNodeId $BridgeNodeId `
    -DriverCli $focasCli `
    -DriverReadArgs (@("read") + $commonFocas + @("-a", $Address, "-t", "Int16")) `
    -ExpectedValue "$reverseValue"

$subValue = Get-Random -Minimum 30000 -Maximum 32766
$results += Test-SubscribeSeesChange `
    -OpcUaCli $opcUaCli `
    -OpcUaUrl $OpcUaUrl `
    -OpcUaNodeId $BridgeNodeId `
    -DriverCli $focasCli `
    -DriverWriteArgs (@("write") + $commonFocas + @("-a", $Address, "-t", "Int16", "-v", $subValue)) `
    -ExpectedValue "$subValue"

if ($Write) {
    # F4-b — macro + parameter round-trip writes. Both stages use the same
    # write-then-read shape the existing PMC stages use; the per-tag value
    # comes back through Test-DriverLoopback's read step.
    #
    # Macro writes run unconditionally when -Write is supplied — no MDI / no
    # parameter-write switch dependency, lowest-risk write surface on a CNC.
    $macroValue = Get-Random -Minimum 100 -Maximum 9999
    $results += Test-DriverLoopback `
        -Cli $focasCli `
        -WriteArgs (@("write") + $commonFocas + @("-a", $MacroAddress, "-t", "Int32", "-v", $macroValue)) `
        -ReadArgs  (@("read")  + $commonFocas + @("-a", $MacroAddress, "-t", "Int32")) `
        -ExpectedValue "$macroValue"

    # Parameter writes only fire when the operator double-opts in via
    # FOCAS_PARAM_WRITE=1. The CNC must be in MDI mode + parameter-write
    # switch enabled or every write returns EW_PASSWD (BadUserAccessDenied);
    # without an opt-in the script won't even attempt the write. F4-d will
    # land an OPC UA-side unlock workflow that lets this stage run without
    # the pendant.
    if ($env:FOCAS_PARAM_WRITE -eq "1" -or $env:FOCAS_PARAM_WRITE -eq "true") {
        $paramValue = Get-Random -Minimum 100 -Maximum 9999
        $results += Test-DriverLoopback `
            -Cli $focasCli `
            -WriteArgs (@("write") + $commonFocas + @("-a", $ParamAddress, "-t", "Int32", "-v", $paramValue)) `
            -ReadArgs  (@("read")  + $commonFocas + @("-a", $ParamAddress, "-t", "Int32")) `
            -ExpectedValue "$paramValue"
    } else {
        Write-Host "[skip] FOCAS_PARAM_WRITE not set — parameter-write stage requires the CNC to be in MDI mode + parameter-write switch enabled (see docs/v2/focas-deployment.md 'Write safety')."
    }
}

Write-Summary -Title "FOCAS e2e" -Results $results
if ($results | Where-Object { -not $_.Passed }) { exit 1 }