4 Commits

Author	SHA1	Message	Date
Marc Schier	c4e0721a29	Add a documentation learning path and fix issues found while verifying it (#4555) ... ## Summary ### Documentation - Stage the documentation index as a learning path: a first application, independent client, server, and PubSub paths, then data and services, companion models, production, advanced integration, and draft or experimental capabilities. - Add Getting started (repository samples or NuGet packages), OPC UA concepts, Your first information model, and a production readiness checklist. - Add Native AOT application publishing, a first PubSub publisher and subscriber exchange, and the UDP transport options. - Add or expand contents navigation throughout `docs/`, and keep contributor documentation separate. - Correct outdated SDK examples and capability guidance, consolidate repeated explanations into canonical guides, and repair local links and heading structure. - Rewrite What's New in 2.0 as a concise feature overview with short linked details; keep migration instructions in the Migration Guide. - Expand the feature catalogue with specification IDs, GDS, LDS, the OPC 10000-21 onboarding registrar, ISA-95, xRegistry, OpenUSD, and sample-local models; distinguish draft status, explain crypto pluggability, and bring performance guidance forward. - Address review feedback on wording, active monitored items during shadow reload, and the `Samples.md` filename and references. - Regenerate the `opcua-v20-migration` plugin's bundled copy of the migration guides so it matches the edited `docs/migrate/2.0.x` guides. - Merge the latest `master`, preserving upstream resource-isolation guidance within the task-based documentation index. - Retain deferred Lingity findings where appropriate; this PR does not claim that every document meets the Lingity score thresholds. ### Fixes found while verifying the guides Each fix has regression tests that fail without it. - **Client:** V2 subscriptions compared their lifetime with the operation timeout instead of the session timeout, and logged a spurious warning. `ISubscriptionEngineContext`, which is new in 2.0, gains a `SessionTimeout` property; implementations must add it. - **PubSub:** a subscriber now registers the `DataSetMetaData` configured on its readers (OPC 10000-14 6.2.9.4), and the UADP decoder decodes DataSetMessages that carry no ConfigurationVersion. Before, a secured subscriber of the reference sample received no DataSets. - **Source generator:** a ModelDesign method that declares its arguments inline, without a method type, produced code that did not compile; it now uses `MethodState`. The generated code of existing models is unchanged. - **MinimalClient sample:** waits for its first data-change notification before it disconnects. ### Known issues, not addressed here - UDP multicast: the publisher does not send on the interface that the subscriber joins, and `MulticastLoopback` defaults to false. The PubSub guide uses unicast for the exchange on one computer. - The UDP metadata announcement is sent unsecured on secured writer groups; a secured subscriber drops it with a warning. - A server does not start in globalization-invariant mode, because `ResourceManager` creates `CultureInfo("en-US")`. The Native AOT guide cautions against the mode. ## Validation - `git diff --check` and `./.azurepipelines/validate-migration-plugin.ps1` (15 bundled migration docs validated, plugin manifests synchronized). - Local Markdown links, anchors, file-link casing, and contents lists checked across all 87 documents under `docs/`. The index links every top-level guide and every target of the previous index. - Both Getting started routes, Your first information model, the PubSub exchange, and the Native AOT publish of the Getting started client and server were run as documented. The NuGet route and the tutorial use the public `2.0.0-preview.5` packages. - The changed libraries build for all target frameworks in Release without warnings. - Tests on .NET 10: Opc.Ua.SourceGeneration.Tests 199 passed; Opc.Ua.SourceGeneration.Core.Tests 3,977 passed, 8 skipped; Opc.Ua.Server.Tests `Fluent` category 621 passed; Opc.Ua.Client.Tests subscription-engine tests 70 passed; Opc.Ua.PubSub.Tests 1,374 passed, 2 skipped; PubSub fuzz replay 145 passed. The new and affected tests also pass on .NET Framework 4.8. - Earlier merge validation: 174 resource-isolation tests passed on .NET 10. - The full solution suite was not run locally. Review and validation artifacts are maintained outside the repository. --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>	2026-09-28 19:19:39 +00:00
Marc Schier	fa8d45f2cf	Fix server/core validation, lifecycle and protocol regressions (#4477) ... # Description **Server/core audit fixes with regression tests. Latest review-fix validation, merge validation and earlier acceptance results are distinguished below.** This addresses a 95-finding server/core report. Every finding was reviewed with the OPC UA specification knowledge base or, where the standard does not prescribe a C# implementation, the corresponding ownership/configuration contract. Incorrect or withdrawn subclaims remain qualified rather than being presented as additional fixes. The original checkpoint covers session identity/certificate validation and revocation; certificate/key ownership and transactional updates; TCP reconnect, receive/admission and buffer lifetime; HTTP quotas; subscription admission, durability and pooled payloads; file-operation lifecycle; historian aggregates; fluent/state-machine behavior; and related utilities. It includes targeted regressions and directly related documentation. The approved acceptance cleanup is separate in the commit history: | Cleanup | Verified result | | --- | --- | | Invalid identity-policy and KeyCredential fixture inputs | Fixtures explicitly advertise Username and use its generated policy ID. Credential persistence uses valid clear mode inside the existing encrypted admin context. Original permission, lockout and negative encryption assertions remain. | | Native GDS lifetime and concurrent connection failures | Retain ApplicationInstance until client teardown. A deterministic native reproducer proved the test-only channel cap of 10 was exhausted; removing that override restores the existing bounded default of 1000. No global serialization or production quota change. | | Stress certificate ownership and close accounting | Balance two helper references and the fake transport's server-certificate ownership. Replace the invalid event-count bound with exactly-once physical disposal, opens = closes, zero active entries and one logical entry lifetime. | | Participant deadlines | Use the injected TimeProvider with the existing cross-framework WaitAsync overload. Tests pin one tick before, exact expiry, terminal notification, recovery and timely completion. | | Reproducibility and platform assertions | Preserve canonical WoT bytes/hashes, explicit display-culture contracts and exact numeric-vector assertions. Accept Apple's CryptographicException subtype without weakening disposal balance. | | Missing user-signature proof | Reject null/empty proofs before OS crypto. Return BadUserSignatureInvalid per Part 4, 5.7.3.3. None-policy and valid-signature controls remain. A CI-only test nullable-context error was corrected without changing production behavior. | | Durable sample restore and shared test storage | Dequeue waits for actual batch residency instead of treating failed restore completion as success, and restored files close before deletion. Five deterministic regressions failed before the fix. The two fixtures that clear the shared batch directory are isolated; all original 3,000-item assertions remain unchanged. | ## Latest review follow-up Commit `828856850219518970e8e2f580b8f94b3c1fc748` fixes the deferred robotics disposal reported in the latest review. `RobotIntentNodeManager.DisposeAsync` now joins a shared controller-host drain and then explicitly awaits base node-manager disposal. A controller's bounded shutdown wait may defer its cleanup, but no longer lets the node-manager override finish early. Concurrent callers, including an asynchronous call after synchronous `Dispose`, cannot bypass the drain after the host list has been detached. Synchronous disposal remains nonblocking for deferred work. Deferred initialization failures are logged and retained, and base cleanup failures propagate to asynchronous callers. The existing controller-level bounded disposal contract is unchanged; the node-manager contract is documented in `docs/Robotics.md`. | Regression requirement | Evidence | | --- | --- | | Wait for deferred hosts; preserve synchronous compatibility and concurrent joins | `NodeManagerAsyncDisposalWaitsForDeferredHostsAsync`: four cases covering both entry-point orders and zero/positive host shutdown waits. All four failed before the fix. | | Wait through base cleanup and observe failures | `NodeManagerDisposalWaitsForBaseCleanupAndReportsItsFailureAsync`: four cases hold the actual base-resource semaphore, verify pending callers after the host finishes, then check success or the same propagated exception and exactly-once cleanup. | The focused `IntentHostingCoverageTests` and `IntentControllerHostTests.Dispose` selection passed **30/30 on net10.0 and 30/30 on net48**, with no failures or skips. The final net10 solution build passed with zero errors and only the four previously documented CA2249 warnings in unchanged fuzz-test code. No new warnings, analyzer suppressions, dependencies, or weakened assertions were added. The review thread received a commit-specific reply and was explicitly resolved. This verification is scoped to the robotics feedback; the earlier full Subscriptions-run limitation remains recorded in the merge section below. ## Documentation review follow-up (2026-09-14) Commit `f9a9686fcc5d3cfd19cbbc8c2d826e20f5c7e72f` addresses the six follow-up threads on documentation and implementation rationale. Each has an in-thread reply citing the commit and an explicit resolution. Multiline XML documentation now covers the declarations introduced or modified throughout the entire PR, including internal contracts, samples, tests, and public members of related private helpers. A syntax-aware inventory checked **2,031 declarations across all 256 PR C# paths with zero documentation gaps**. A supplementary check also covers **75 previously unchanged public members** of private helpers involved in the changed code. Token comparison across the conditional-compilation branches proves this follow-up changes **no executable C# or test assertions**. Project-file changes are rationale comments only. The implementation questions are documented at their source: | Question | Resolution | | --- | --- | | Certificate assembly friendship | Server Push configuration reuses the internal explicit-subject CSR helper with the existing key; no public crypto API was added. | | Core.Types assembly friendship | Server builders use internal transition callbacks/revision guards; Server.Tests checks the revision deterministically without creating a public compatibility contract. | | Always-single-reader notifications | One dequeuer preserves event order; optional concurrency fans out within one event and joins before the next event. | | Asynchronous disposal completion | `DisposeAsync` already joins the completion published after admitted operations and all cleanup attempts. The compatibility `Dispose` remains nonblocking to avoid deadlocking an admitted callback against its own drain. | The requested detailed review disposition follows. It distinguishes actual fixes from confirmed policies and incorrect subclaims rather than counting every comment as a new runtime change. ### Detailed disposition of review 5191795284 The [SDK review](https://github.com/OPCFoundation/UA-.NETStandard/pull/4477#pullrequestreview-5191795284) was submitted against `1c4a9df6c`, before the subsequent merge and feedback fixes. Its **15 inline threads** have each received an action-specific reply and an explicit resolution. A fresh GraphQL query verified those replies and resolution states; the fixes in `b8a59990f` remain ancestors of the current branch. | Review concern | Action and disposition | Concrete regression evidence | | --- | --- | --- | | Injected certificate-store providers bypassed | **Fixed.** Registration, configuration snapshots, and validation use the injected providers. Explicit custom types remain authoritative; the built-in Directory catch-all is deferred so native X509 paths and later custom providers are not captured. Failed store opens dispose the created store. | `InjectedProviderResolvesRegisteredAndConfiguredTrustStores` covers default-provider ordering and both registration paths; provider validation/open-failure cases and the unchanged `TrustedCertificateInjectedViaIndependentX509StoreIsObservedAsync` cover real use and independent-store visibility. | | Unguarded timer-thread leadership callbacks | **Fixed.** Each subscriber's exception is logged independently and cannot suppress subsequent subscribers or fail lease operations. `IsLeader` reads the deadline without invoking application callbacks. | `ThrowingLeadershipSubscriberDoesNotFailAcquireOrDisposeAsync`, `ExpiryNotifiesOtherSubscribersWhenOneThrowsAsync`, and `IsLeaderDoesNotDispatchExpiryNotificationsAsync` were all demonstrated failing before the fix. | | Legacy pending-key provider accepts an unfinishable regenerated CSR | **Fixed by explicit capability validation.** A provider implementing only `IPendingCertificateKeyStore` receives `BadNotSupported` before key generation or persistence when regeneration is requested. Existing-key CSR/update remains supported. Regeneration requires matching-only consumption; no unsafe destructive probing was introduced. | `LegacyPendingProviderRejectsRegenerationBeforeCreatingOrSavingAKeyAsync` checks no key or store mutation; `LegacyPendingProviderCompletesExistingKeySigningAndUpdateAsync` proves the supported flow completes. | | Shutdown waits behind user deactivation | **Fixed.** Accepted deactivations drain before the master's lifecycle gate is taken. Configuration retains its binding until the shared drain completes, including concurrent shutdown callers and direct master disposal. | Four cases of `ShutdownDrainsDeactivationOutsideTheSessionClosingGateAsync` exercise real configuration/binding/ServerInternalData/master reentry, retained address space, exact session/subscription closure, and no production cancellation shortcut. | | Subclass cleanup runs under the operation-lifetime lock | **Fixed.** Cleanup starts outside that lock. A pre-published completion joins all disposers, and only the active asynchronous teardown context may use guarded helpers. Captured contexts lose that privilege when the callback exits. | `SynchronousOwnedCleanupLetsSamplingWorkerReachClosedAdmissionAsync`, `DisposeCoreCanUseGuardedMembersWithoutReopeningCallerAdmissionAsync`, captured-context rejection, and exact cleanup-failure/ownership assertions cover both synchronous and suspended cleanup. | | Discovery requestId-zero chunk read after pool return | **Fixed by the earlier merge.** Discovery validation precedes `SaveIntermediateChunk`; no read occurs after that path can return the buffer. The ordering is retained. | `DiscoveryChannelReadsTheFirstChunkBeforeItIsReturnedAsync` uses a poisoning pool and the requestId-zero path. | | T1.8 OPN cleanup misses post-decryption throws | **Fixed by the earlier merge and pinned with new regressions.** Both sequence rejection and certificate mismatch release the decrypted body and input ownership. | `OpenSecureChannelRejectionAfterDecryptionReturnsEveryRentalAsync` checks the exact audit status and pool conservation. Omitting either corresponding release in an isolated snapshot made its case fail; no mutation remains. | | T1.2 mount-root protection depends on the provider | **Fixed at the host boundary.** Separator-only aliases resolve to the protected root. Traversal, empty/whitespace segments, backslashes, and drive/stream qualifiers are rejected before arbitrary providers are invoked. Valid nested paths and root destinations remain supported. | A deliberately permissive provider is used by `NonCanonicalObjectPathsCannotDeleteMoveOrCopyAsync` and invalid-target cases; exact zero-call checks are paired with legitimate nested-path/root-destination controls. | | Inline trusted/issuer entries now face CRL checks | **Intentional strict behavior, documented and tested.** A configured backing store with strict unknown-status rejection requires current revocation information. Explicit-only lists without a store retain their no-store behavior. Actual revocation cannot be suppressed; a matching store entry's policy takes precedence. | `InlineIssuerWithStoreHonorsStrictUnknownRevocationPolicyAsync`, `InlineIssuerRevocationIsNeverSuppressedAsync`, store-precedence cases, and explicit-only controls preserve the missing-information versus actual-revocation distinction in Part 4 6.1.3. | | RSA minimum applied to unspecified ECC identifiers | **Fixed at the application-certificate check.** The RSA minimum is compared only with an actual RSA public key. An unspecified ECC identity is not replaced simply because its key size is below an RSA threshold. | `SilentCertificateCheckPreservesUnspecifiedEccIdentityAsync` checks DER, thumbprint, store contents, and private-key retention; explicit RSA and HTTPS minimum controls remain. | | Failed directory refresh wedges corrective mutations | **Fixed.** Recoverable automatic pre-refresh failures are logged and leave reconciliation pending, but do not block corrective provider mutations. Explicit refresh errors, capacity admission, caller cancellation, and actual provider denials remain enforced. | `CorrectiveDeleteRecoversAfterPersistentOverLimitRefreshFailureAsync` converges an externally over-limit directory back to its exact allowed contents. Capacity, cancellation/token, and six refresh-error controls check negative paths. | | Timed-transition rejection logs at 10 Hz | **Fixed.** Repeated `(state, revision, status)` warnings are deduplicated without changing the retry cadence. A different status or state entry permits another warning. | `RepeatedTimedRejectionLogsOnceAndRecoversAsync` checks one warning over eleven rejections and success on the next attempt. Status-change and same/different-state reentry controls pin reset behavior. | | Bad unsubscribe strands retired-generation bookkeeping | **Fixed.** Retired all-event bookkeeping completes even when unsubscribe reports Bad; the first Bad is still returned to the caller. | Good and BadCommunicationError cases of `RetiredAllEventsDeletionCompletesBookkeepingAndReleasesGenerationAsync` check event/snapshot removal, generation release, and exactly one unsubscribe without finalization replay. | | CSR subject parsing and fallback | **Fixed for existing and regenerated keys.** Omitted subjects fall back to the actual stored certificate. Regeneration resolves the public certificate's subject before creating a key. Malformed or unresolvable subjects return `BadInvalidArgument` before pending-key mutation. | Store-only fallback, real-generator null/empty cases, and missing-subject/malformed-DN controls verify the signed CSR, matching fresh pending key, unchanged active identity, and no destructive side effects. | | Committed RemoveUser change reported as failed | **Fixed for RemoveUser and ModifyUser.** Accepted cleanup is still awaited and close failures remain logged, but cannot replace the committed mutation result. Precommit failures retain their original result and side effects. | `CommittedUserChangeKeepsResultAndPublishedUsersWhenCloseFailsAsync` checks published Users, Good result, logging, and continued closes. `FailedUserChangeKeepsPublishedUsersAndDoesNotCloseSessionsAsync` checks BadNotFound with no publication or close. | | Alleged pooled decoded-request aliasing | **No runtime redesign needed; reviewer rebuttal confirmed.** The decoder copies the relevant input data. Misleading ownership comments were corrected rather than introducing a new dispatch model. | `DecodedRequestRetainsValuesAfterInputBuffersAreReturnedAsync` checks the exact decoded NodeId and ByteString after returned arrays are poisoned. | The current documentation-only follow-up rechecked **104 Core, 473 Server, and 4 Configuration cases** covering these concerns: **581 passed, zero failed or skipped**. The final net10 solution build also passed with **zero warnings and errors**. The complete earlier Core/Server/Configuration and net48 results remain listed separately rather than being presented as rerun current-head acceptance. ## Earlier review follow-up Commit `b8a59990fe2e8e967a12ffd5d9158beed7831143` addresses all 19 review threads. Each thread has an in-thread reply naming this commit and was explicitly resolved after verification; the final paginated query found 19 resolved and zero unresolved threads. The follow-up fixes injected certificate-store selection (including default provider ordering and native X509 paths), actual-RSA minimum enforcement, and CSR capability/subject validation before key mutation. Node-manager teardown uses simpler scoped ownership and drains accepted user revocation outside the master gate; committed user results and retired-event cleanup remain correct when cleanup reports failure. File mutations can recover after failed refresh without bypassing capacity or cancellation, provider paths protect mount roots, and repeated timed rejections no longer flood logs. Leadership subscriber failures are isolated without callbacks from `IsLeader`. Regressions also pin the already-merged OPN/discovery buffer fixes and prove decoded request values do not borrow returned input buffers. The strict inline issuer revocation policy is documented and tested, not weakened. Existing tests were changed only for the reviewed behavior: the incorrect committed-user result was corrected, and inline-issuer/root-alias controls were expanded. ### Review-fix validation | Suite | Scope | Framework | Passed | Existing TRX NotExecuted | | --- | --- | --- | ---: | ---: | | Core | Complete project | net10.0 | 4,970 | 88 | | Server | Complete project | net10.0 | 6,414 | 69 | | Configuration | Complete project | net10.0 | 231 | 0 | | Core | Certificate, lease and buffer compatibility slice | net48 | 153 | 0 | | Server | Reviewed lifecycle, user, file, timer and CSR compatibility slice | net48 | 692 | 0 | | Configuration | Complete project | net48 | 231 | 0 | | CSR provider regressions | Final portable-mock follow-up | net10.0 | 11 | 0 | All runs exited successfully with normal concurrency and leak detection. The Server console reports 5 skips; its TRX additionally records existing assumption/explicit cases, hence the 69-record count above. The Framework build caught two modern-only `ValueTask.CompletedTask` usages in new mock setup; only those expressions changed to the equivalent portable `default(ValueTask)`. The complete modern suites precede that test-only correction; all production files remained byte-identical, and the corrected fixture passed on both targets. The final net10 solution build succeeded with 0 errors and the same 4 CA2249 warnings in unchanged fuzz-test code. Diff checks and changed-line whitespace checks are clean; whole-file formatting still identifies 10 unchanged baseline lines, which were not reformatted outside the feedback scope. The committed 35-file tree was hash-verified against the validation inputs. This is the review-feedback verification scope, not a rerun or sign-off of the historical complete platform/native/soak acceptance campaign below. ## Latest upstream merge Merge `9d9bf679f317164c5b2b90924cd3cdc27a86d451` integrates `master` through `162fc5ebb` (#4486), including the AddNodes child-name index, shared certificate-error reporting, CTT sample-data corrections, and the accompanying regressions and documentation. The CreateSession conflict preserves this branch's certificate ownership, required certificate, application-URI, and channel-certificate checks. The validation result now retains nested errors through `ThrowIfInvalid`, allowing the upstream shared reporting helper to mask trust, policy, and revocation failures consistently without losing audit detail. The new indexed AddNodes regression initially attempted to reuse a deterministic NodeId after renaming its existing node. Renaming frees the BrowseName, not that NodeId. `IndexedBrowseNameReusePreservesExistingNodeIdentityAsync` now proves both contracts: the derived-ID collision leaves the original node intact, then a fresh explicitly requested ID can reuse the old name while the new name remains protected against duplicates. No production identity rule was relaxed. The incoming seeded random-index test uses the existing `UnsecureRandom` wrapper with the same seed and sequence; no new analyzer suppression was added. | Local merge validation | Framework | Passed | Existing exclusions | | --- | --- | ---: | ---: | | Core, complete project | net10.0 | 5,081 | 88 | | NodeState / BaseInstanceState | net10.0 | 579 | 0 | | Server node management, certificate and session-security selection | net10.0 | 112 | 0 | | InformationModel node-management services | net10.0 | 29 | 1 | | NodeState / BaseInstanceState | net48 | 578 | 0 | | Core certificate validation, error reporting and TCP buffers | net48 | 111 | 0 | | Server node management, certificate and session-security selection | net48 | 112 | 0 | All selected runs exited successfully at normal concurrency: **6,602 passing test executions**. Modified test assemblies were explicitly rebuilt, and the combined name/identity regression was verified by name in both net10 and net48 results. No skips or weakened assertions were introduced. The final `dotnet build UA.slnx -c Release --no-restore -m:1` with `CustomTestTarget=net10.0` succeeded with **zero warnings and zero errors**. The resolved source and adjusted tests pass whitespace verification, and their source hashes match the validation inputs. This is merge-specific verification. Earlier review results and the previously reported incomplete full Subscriptions runs below remain scoped to their own commits; they were not reopened or relabeled as passing by this operation. ## Previous upstream merge (2026-09-15 morning) Merge `c4694e20ab089c555af233642042133ff3a03ac8` integrates `master` through `484d6c887`, retaining #4481's shared Like parser/GDS query fixes, #4488's RequestHandle recovery in ServiceFaults, and #4487's expired-session and durable-transfer corrections. Three conflict resolutions preserve both sides: - Alias searches now use the shared `LikePattern` implementation, including upstream malformed-list validation. A timeout overload retains this branch's 100 ms per-alias deadline and `BadTimeout` reporting without keeping a second wildcard translator. The shared matcher's original unlimited overload remains unchanged for existing GDS/ContentFilter callers. New regressions cover bounded prefix/list scans, reuse after timeout, and the alias service result. - Expired activation closes outside the session-manager gate using upstream's once-only timeout claim, audit, and diagnostic accounting. This branch's original-channel and security-policy checks remain in place. - TCP buffer tests retain this branch's ownership, poisoning-pool and post-decryption checks alongside the upstream RequestHandle/fault overload tests; neither set was discarded. The upstream HTTPS binary behavior is intentionally retained: a decoder `ServiceResultException` produces HTTP 200 with an OPC UA ServiceFault carrying the decoder status, response timestamp, and recoverable RequestHandle, rather than the previous HTTP 500 text response. Other exceptions retain their existing HTTP error handling. | Local validation | Framework | Passed | TRX NotExecuted | | --- | --- | ---: | ---: | | Core, complete project | net10.0 | 5,054 | 88 | | Sessions, complete project | net10.0 | 780 | 610 | | Server aliases, expiry/security and subscriptions | net10.0 | 288 | 0 | | GDS database, paging and live directory calls | net10.0 | 263 | 0 | | Shared Like patterns and bounded evaluation | net10.0 | 109 | 0 | | Subscriptions transfer/durability/service selection | net10.0 | 23 | 1 | | HTTPS WebApi, complete project | net10.0 | 346 | 0 | | InformationModel aliases | net10.0 | 54 | 5 | | Shared Like patterns and bounded evaluation | net48 | 109 | 0 | | Core fault handles, TCP/HTTPS and filters | net48 | 268 | 0 | | Server aliases, expiry/security and subscriptions | net48 | 288 | 0 | These selected runs exited successfully with normal test concurrency: **7,582 passing test executions**. Sessions' console reports 379 skips; the TRX also contains conditional/assumption exclusions, so the table uses the actual 610 NotExecuted records. No skips or weakened assertions were added. The new `EvaluationTimeoutBoundsWorkAndPreservesPatternReuse` and `SharedPatternTimeoutRemainsAnAliasServiceError` tests passed on both targets. **Validation limitation:** two unfiltered Subscriptions runs did not produce a final result and were stopped, including a retry with a hang guard. They are not counted as passing. The isolated failover fixture passed 2/2, and the transfer/durability/service selection above passed. The stall's cause was not established; no unrelated code or test was changed to conceal it. The final `dotnet build UA.slnx -c Release --no-restore -m:1` with `CustomTestTarget=net10.0` succeeded with **0 warnings and 0 errors**. Whitespace verification passed for all hand-reconciled files, and staged source hashes match the validation inputs. These are merge-specific checks, not a new full platform/native/soak acceptance sign-off. Earlier review and acceptance evidence below remains dated to its own commit. ## Previous upstream merge (2026-09-14) Merge `c3e09553e4d1509502d4ba751960d58491bea2cf` integrates `master` through `6313e38a0` (#4478), including the CTT-driven Part 13 aggregate corrections and FindAlias argument validation. The upstream tests and CTT documentation are retained. The single conflict in `AliasNameWildcardMatcher` is reconciled through the branch's shared regex compiler: upstream malformed-pattern rejection and `IsValidPattern` coexist with OPC UA character escaping, whole-string/newline matching, the 100 ms timeout, and service-level error reporting. The upstream ReferenceTypeFilter checks and chronological aggregate behavior are preserved. Local merge verification: | Suite / selection | Framework | Passed | Existing skips | | --- | --- | ---: | ---: | | Server aliases, aggregates and historian | net10.0 | 1,011 | 0 | | Server aliases, aggregates and historian | net48 | 1,011 | 0 | | InformationModel aliases | net10.0 | 54 | 5 | | Features aliases | net10.0 | 11 | 0 | | Client aliases | net10.0 | 28 | 0 | | History aggregate/historical-access consumers | net10.0 | 265 | 0 | All selected tests passed at normal concurrency. The final net10 solution build passed with 0 errors and 0 warnings. The resolved file's whitespace check and the staged diff check passed. These are merge-specific checks, not a new full platform/native/soak acceptance claim. ## Previous upstream merges Integrates `master` through `8e874d073`, including the Client, Types, Core and source-generator audit fixes in #4471, #4473, #4474 and #4475, plus the event queue-size revision from #4480. The merge commits are `150ea0439` (26 conflict resolutions) and `a0e17c07c` (the base update that arrived during validation). The overlapping fixes are reconciled rather than replacing either branch: - **Rejected-certificate retention follows this branch, as explicitly requested:** zero means unlimited history; negative values disable new storage while preserving existing backend trimming behavior (Directory clears prior history; shared key/value leaves it intact). The processor and manager policy are not redefined, and documentation/tests describe the distinction. - Preserve owned certificate snapshots and borrowed validation-core lifetimes alongside upstream cache invalidation, store-first CRL checks and `BadCertificateRevocationUnknown` for unsupported revocation lookup. - Combine exactly-once chunk ownership, receive-loop cancellation, stale-epoch rejection and detach-before-adoption with upstream signature-before-padding verification and secret cleanup. - Preserve pooled `HttpClient` per-request configuration together with bounded response reads and deadlines that remain active through body consumption. Regression cases exercise already-used clients and both timeout precedence cases. - Retain the binary-compatible channel-key constructor and normalize omitted profiles; preserve exact profile filtering and upstream binary-first HTTPS/WSS endpoint ordering. - Preserve monotonic lease expiry and stale-confirmation fencing while adding ordered, non-reentrant leadership notifications outside the state lock. ## Validation Local validation of the conflict-resolution merge: | Suite | Framework | Passed | Existing skips | | --- | --- | ---: | ---: | | Core | net10.0 | 4,940 | 88 | | Client | net10.0 | 2,278 | 0 | | Server | net10.0 | 6,088 | 5 | | Types | net10.0 | 10,394 | 1 | | SourceGeneration.Core | net10.0 | 3,940 | 8 | | SourceGeneration | net10.0 | 185 | 0 | | Core | net48 | 4,855 | 104 | After the subsequent four-file #4480 update, the related Server slice passed 811 tests with 5 existing skips, the real durable queue-size cases passed 6/6, and EventManager's 21 cases passed again after analyzer-only expected-array cleanup. The final `dotnet build UA.slnx -c Release` with `CustomTestTarget=net10.0` succeeded: 0 errors and 4 pre-existing CA2249 warnings in unchanged fuzz-test code. Whitespace verification passed for the resolved files and the follow-up. Merge-specific proof includes `RequestTimeoutRemainsActiveWhileReadingTheOpenApiBodyAsync` on already-used shared clients with either the request or HttpClient timeout shorter, the existing ownership/expiry regressions from both branches, and both branches' retention tests adjusted only to the explicitly chosen zero/negative contract. Earlier acceptance at `1c4a9df6c` passed hosted Linux/macOS CI, CodeQL, image builds and the canonical coverage gate (87.15% line, 77.27% branch, 92.14% patch). Both Framework project matrices, all three Windows native suites (183 cases), and the unfiltered net10 stress project (230 cases, including full 60-minute chaos and 30-minute memory soaks) also passed. Those are **pre-merge results**, not a claim that the full framework/platform/native/soak matrix has been rerun on this merge. The previous acceptance workflow remains separate from this review-feedback operation. Security checks, meaningful assertions, leak detection, default native concurrency, full soak durations and coverage thresholds remain intact. The user-set ready-for-review state is unchanged. No architectural or complete merged-head acceptance sign-off is claimed. ## Related Issues - Fixes #4476 ## Checklist - [ ] I have signed the [CLA](https://opcfoundation.org/license/cla/ContributorLicenseAgreementv1.0.pdf) and read the [CONTRIBUTING](https://github.com/OPCFoundation/UA-.NETStandard/blob/master/CONTRIBUTING.md) doc. - [x] I have added tests that prove my fix is effective or that my feature works and increased code coverage. - [x] I have added all necessary documentation. - [x] I have verified that my changes do not introduce (new) build or analyzer warnings. - [ ] I ran **all** tests locally using the **UA.slnx** solution against at least .net **framework** and .net **10**, and all passed. - [ ] I fixed **all** failing and flaky tests in the CI pipelines and **all** CodeQL warnings. - [x] I have addressed **all** PR feedback received.	2026-09-16 04:42:09 +00:00
Marc Schier	2b44fcad22	Robot intent: a task-level command API with a Part 10 lifecycle (#4165) ... # Description Implement the draft **OPC UA — Robot Intent** companion model end to end: task-level motion verbs, a Part 10 lifecycle, a server hosting surface, a client, two samples and a live integration suite. It replaces the opt-in convention API merged in #4127 with an implementation generated from a companion information model. ## Why OPC 40010-1 *Robotics* describes robot **topology** in detail and defines **no motion verbs at all** — its entire actuation surface is `Start`, `Stop` and loading a named program. A conformant client can discover everything about a robot's construction and cannot ask it to move anywhere. #4127 filled that gap with ten verbs in an application-owned namespace, resolved by BrowseName, and the file said what it was: *"opt-in, explicitly non-normative industrial operation conventions"*. That contribution established a **vocabulary**. It established no **lifecycle**, and the lifecycle is the harder half. A motion takes seconds; a pick takes a minute. OPC 10000-4 §5.12.2 discards a method result when the Session ends *"independent of the task actually performed at the Server"* — so a synchronous motion method does not merely time out, it **loses the outcome of work that has already physically happened**. OPC 10000-10 §4.1 gives the OPC Foundation's own resolution: a Method performs a calculation, a **Program** runs a batch process or a machine tool part program. So `SubmitIntent` returns as soon as the intent is *admitted*, and what it returns is a NodeId — an `IntentOperationState` (a Part 10 program instance) the client subscribes to for progress and reads for the result. ## What changed **Model and shared code** — `Opc.Ua.RobotIntent.NodeSet2.xml` is source-generated in `Opc.Ua.Robotics`, so the enums, the polymorphic intent structures, `IntentOperationState : ProgramStateMachineState`, the method states and the typed clients derive from the model rather than being hand-written. Its only `RequiredModel` is the base UA namespace, so a server can adopt it without OPC 40010 or DI. `PoseMath` implements the specification's Annex C conversion between its unit quaternion and the core `ThreeDFrame` — including the `asin` clamp that stops a pole orientation becoming a domain error, and the non-negative-`w` representative that makes two servers agree on four numbers. `FrameTree` composes transforms along the frame tree. **Verbs are a DataType hierarchy, not one Method each.** A single submission and a mission step are then the same shape, and a new intent is a subtype rather than a new method — which is what `AddOperation<TRequest,TResponse>` was working around. **Server** — `IntentControllerHost` owns admission in the specification's order, the queue with PLCopen buffer modes, blending, cancellation *with the server's right to refuse*, missions with a committed base and a revisable horizon plus an IEC 61131-3 step graph, safety-aware refusals, real-time channel brokerage, and the capability declaration. All thirteen Methods are wired; command authority and channel leases are released when the holding Session closes; every client-supplied NodeId is validated against the controller being commanded (clause 11.3). `RobotIntentNodeManager`, the fluent `IIntentControllerBuilder` and `AddRobotIntent`/`ConfigureRobotIntent` make it reachable, and `RobotIntentFacetCalculator` computes which of the specification's facets an instance actually satisfies. **Client** — `RobotIntentClient` discovers `Server/RobotIntent/Controllers` and reads what a robot accepts; `IntentOperationHandle` subscribes and completes on a terminal state, recovering the result after a reconnect because clause 6.7 promises it survives; `CommandAuthorityLease` and `RealTimeChannelLease` manage the two exclusive resources; fluent builders cover every intent and mission. **Samples** — all robotics samples move under `samples/Robotics/`. `IntentEnabledRobot` is one UR5e-style offset-wrist arm on a bench, declared completely enough to show what a conformant server publishes, with a simulated safety source so the clause 10.4 refusals are demonstrable. `IntentViewerClient` turns a **click on a target prim in the OpenUSD viewport** into an intent and watches the arm execute it; it also runs headless, which is how CI exercises it. **Intents execute serially**, which satisfies every `BlockingMode` constraint by construction: the specification forbids beginning a `Single` or `Hard` intent while another executes and merely *permits* `None` and `Soft` to overlap. The convention API (`RoboticsOperationConventions`, `RoboticsOperationsBuilders`, `RoboticsOperationsClient`) is removed. ### On safety — what this deliberately does *not* claim The interface is **non-safety-rated**, and that is a property of the technology rather than a scoping choice. OPC 10000-15 carries cyclic safety data from a SafetyProvider to a SafetyConsumer; the consumer's `RequestSPDU` holds an identifier, a monitoring number and one octet of explicitly **non-safety** flags, so a caller has no channel through which to supply safety-rated arguments. Every safety fieldbus (PROFIsafe, CIP Safety, FSoE, openSAFETY) expresses a safety command as a **continuously asserted cyclic signal**, because the integrity argument rests on the fail-safe state that follows when assertion *stops* — and a Method call has no defined behaviour when it stops being called. What the host does instead is **observe and refuse**: `UpdateSafetyState` is how the application reports what the safety system is enforcing, and admission then refuses on the same values a client can read, so a refusal is explainable from the address space rather than from Server-internal state. It may never *instruct* the safety system, and no Method here commands a safe motion function, changes an operational mode or clears a stop. ## Defects this found in the specification, fixed upstream Implementing a specification is the only way to find out whether it can be implemented. Seven defects went back to [marcschier/opcua-drafts#47](https://github.com/marcschier/opcua-drafts/pull/47) rather than being worked around here: - **Refusal was unobservable.** Clause 6.2 orders six distinct refusals and clause 5.8 calls the failure set "small and diagnosable on purpose" — but `SubmitIntent` returned only `IntentId` and `Operation`, so a client could see *that* something was refused and never *which*. It now returns `Accepted`, `Failure` and `Message`, and clause 6.2 states that a refusal returns `Good` rather than substituting a Bad `StatusCode`. - **The Part 10 promotion was illegal.** `IntentOperationType.ProgramDiagnostic` was declared as a Property of `PropertyType`; OPC 10000-10 declares it a Variable of `ProgramDiagnostic2Type` reached by `HasComponent`. The declaration added a *second* member beside the inherited one instead of promoting it — which is precisely why an earlier version of this branch had deleted it. Correcting the TypeDefinition made it generate cleanly with **no change to the curated Core**. - **Clause 9 said nothing about the Method surface.** A server could declare `MissionsSupported` true and omit `SubmitMission` entirely, because the mission and channel Methods are Optional. This implementation did exactly that until an integration test caught it. A fourth honesty rule and a table now fix which Methods each declaration implies. - **Conformance was not machine-readable, and two implementations disagreed.** Clause 12 defined conformance in terms of facets and gave a Server nowhere to publish which ones it satisfied, so every client had to re-derive Table 12.2 from the address space. This repository proved why that fails: the server''s `RobotIntentFacetCalculator` and the client''s `RobotIntentRules.DeriveFacets` each implemented clause 12.2 independently and **disagreed on essentially every row** — the client''s `Blending` was `BlendingSupported` alone where the server also requires all four blending buffer modes, its `QueuedIntents` was `MaxQueueDepth > 0` where the server also requires `Buffered`. A client and server from the same release answered "does this controller conform?" differently, and both were reading the specification correctly, because several rows are behavioural and no amount of browsing settles them. `IntentCapabilitiesType` now carries **`SupportedFacets`**, exactly as OPC 10000-5 does with `ServerCapabilitiesType.ServerProfileArray`, RI-Base requires it, and clause 12.2 separates structural requirements a Server shall meet before listing a facet from attested ones governed by clause 9. - `WaitIntentDataType.Signal` was unbounded where clause 11.3 has to check it; §11.3 gained a table fixing the expected type of every NodeId-valued member; §5.7.0 gave `Ready`/`ActiveIntent`/`ActiveMission` normative meaning; §6.9 bounded `RequestedLease`; §6.5 and §6.4 now say what a server that cannot differentiate `StopMode` must do, and which stop a superseded intent gets. ## Bugs the tests and reviews caught Each of these would have been silent in the field: - **The execution engine was never wired into the public API.** `IntentControllerBuilder.RegisterAsync` built the address space and never started an `IntentControllerHost`, so through the documented `AddRobotIntent` → `ConfigureRobotIntent` path **every Method returned `BadNotImplemented`** and the registered `IIntentExecutor` was never resolved. A browsable address space is not a working robot interface, and only a live integration test showed the difference. - **NodeId scoping failed open on an empty index.** A controller advertising `CallProgramIntentDataType` with no published `ProgramType` accepted an *arbitrary* NodeId as `CallProgram.Program` — and `CallProgram` runs code the server holds. - **Blending completed the predecessor at submission time** and abandoned its motion, telling the client it succeeded and publishing an all-zero pose at the origin as a genuine `AchievedPose`. - **Mission base immutability compared only identifiers**, so a client could keep the ids and swap the *motion* of an already-committed step. - **`FinalResultData/Result` was never registered** with the node manager: Browse showed it, Read returned `BadNodeIdUnknown` — so clause 6.7's promise to a Part 10 client did not hold. - `DisposeAsync` disposed primitives out from under in-flight executor code; re-using a terminated `IntentId` destroyed the retained result and duplicated a NodeId; neither side registered the Robot Intent encodeables, so `Pose3DDataType` did not decode; host startup was hooked to a task that ran in only one hosting shape. - The result was published **after** the state went terminal; capabilities were resolved against a stale namespace table; an empty `ContentFilter` arrives as an empty element array rather than a null filter, so testing only for null made every unconditional mission transition silently untaken — a mission would run its first step and stop. ### Found by a later test-quality audit, after the above was written An audit of the test suite itself found five tests whose **names** asserted a normative requirement while their **code** asserted something weaker or nothing at all. The worst **fabricated the answer it checked**: a helper caught a decode failure and invented "5 supported intents, 6 axes, all facets true", so six capability-honesty assertions across four tests could pass while reading nothing from the server. The fallback is gone and the suite passes with honest reads. Chasing the facet gaps it reported led to the clause 12 defect above. Two further defects followed from completing that work: - **`RI-Interop-40010` was never computed**, and the code documented the omission as impossible to fix "because the calculator receives only a Robot Intent controller, not the linked OPC 40010 model". That was wrong: Annex B's structural requirement is an **inverse** `HasIntentController` reference, reachable from `IntentControllerState` — and the integration suite was already browsing exactly that. A server implementing Annex B could not claim Annex B. - **The published claim could go stale.** `SupportedFacets` was a snapshot taken during `RegisterAsync`, so a reference attached afterwards left it wrong. It is now bound through `BindRead` and recomputed on read, so the claim tracks the address space by construction rather than by discipline — which matters for anyone bolting Robot Intent onto an existing OPC 40010 node manager, where the attach ordering is often not theirs to choose. Two tests that **could not fail** were also replaced: one asserted `AccessLevel` equals `CurrentRead` to pin a read-only marking, but `BaseVariableState` initialises every variable to exactly that, so deleting the marking left it green; it is now a write expecting `BadNotWritable`, including a real OPC UA `Write` service call over a live session. Finally, a build break that a plain build hides: `RoboticsAotTests` used `out string?` in a project declaring `<Nullable>disable</Nullable>`. Building the project **without** `-f` suppresses `CS8632` through `NoWarn=nullable` and succeeds; building it **with** `-f net10.0` resolves `NoWarn` differently, `CS8632` fires, and `TreatWarningsAsErrors` makes it an error. CI builds per-TFM, so this would have failed there while passing every local build to that point. ## Testing and coverage | | | |---|---| | `dotnet build UA.slnx -t:Rebuild` | **0 errors, 2 warnings** — both pre-existing `CA1861` in `tests/Opc.Ua.Tools.Tests`, a file this PR does not touch | | **Whole `UA.slnx` test suite, net10.0** | **50 of 52 assemblies fully green** (measured at `40d9cf213`, before the `master` merge; the other two are explained below) | | `Opc.Ua.Robotics.Tests` | **467** net10.0, **447** net48 | | `Opc.Ua.Robotics.Intent.Tests` (live client <-> server) | **20** on net10.0 and net48, run repeatedly | | `Opc.Ua.OpenUsd.Tests` | **904** after merging `master` (664 before; the rest arrive with #4160 / #4162 / #4180) | | `Opc.Ua.Aot.Tests` | **121/121** | | `Opc.Ua.Di.Tests` (regression from the sample move) | **364/365**, one pre-existing skip | | **Changed-line coverage** | **90.7 %**, no file below 80 % — comfortably above the enforced band, which after #4158 applies only to patches larger than 100 changed lines | The two non-green assemblies are **not** caused by this branch. Rather than assert that, I ran the same selections at the merge-base `ae241b662` on the same machine: - `ServiceCallReassemblerTests.PrivateRequestSummaryFormatsKnownRequestKinds` expects `12.5` and gets `12,5` — a culture-sensitive assertion failing on a European locale. Fails 4/4 on **both** commits. - `CertRotationLiveTests.L2Cert2RotateCertificateDuringServerRestartRecoversSharedChannelAsync` fails on a teardown count. Fails 4/4 on **both** commits. - A third failure seen once, AOT `FindServersAsync` with `BadSecureChannelClosed`, did not reproduce: 4/4 on retest and 121/121 in the final run. Environmental. Two things are worth calling out because they would otherwise be invisible: - `tools/**` is **not** in the `coverage-thresholds.json` ignore list, and no test project referenced the OpenUSD tools assemblies — so their changed lines counted as uncovered and the real patch figure was 75 %, exactly the blocking threshold. Rather than widening the ignore list, the pure decisions in the viewport host (pointer-to-physical-pixel conversion, `RenderPickRequest` construction, stale-retry, backend discovery, pick-mode selection) were separated from the Avalonia/native shell and tested headless against a fake picking backend. - `dotnet build UA.slnx` **hides warnings on unchanged projects**; only `-t:Rebuild` surfaces them. That is how a `CA2263` introduced by a net48 portability fix survived several "zero warning" builds. The multi-target requirement earned its keep repeatedly: it caught a default interface implementation, `ArgumentNullException.ThrowIfNull`, `string.Create` with an interpolated handler, `ValueTask.FromResult`/`CompletedTask`, `Task.WaitAsync`, generic `Enum.GetValues` and generic `Enum.IsDefined`, and a non-generic `TaskCompletionSource` — none of which the net10.0 build complained about. A net10.0-**only** hang in the simulated executor and two load-sensitive flaky tests were also found and fixed at the cause. ### Merged with `master` `master` (through `e73e71184`) is merged in as `08205d81d`. Four conflicts, all where the two branches touched the same robot and OpenUSD surfaces, and none resolved by dropping a side: - #4162 added six files to `samples/MinimalRobotServer/` while this branch moved that directory to `samples/Robotics/MinimalRobotServer/`. They are kept at the moved path, and `UA.slnx` takes the union of both sides' new projects. - #4160 replaced `object` with a `UsdValue` union and rewrote `Flatten`; this branch had reformatted the same method and fixed a path in its doc comment. Git produced a hybrid that did not compile. The resolution keeps `master`'s `UsdValue` arm and `Flatten(UsdValue)` overload in this branch's block-bodied form, with the path fix retained. - `master` inserted `FindStageCamera` directly before two methods this branch had relocated, so the merge duplicated `WriteStageUsda` and `GetPrivateStateRoot`. Only `FindStageCamera` is genuinely new — `master`'s diff shows the other two as unmodified context — so the duplicates are dropped and this branch's `internal` versions kept, including the `GetPrivateStateRoot(string?)` overload the connector tests use to stay out of the real user profile. - `master` moved the OpenUSD stack to `0.4.0-alpha`; this branch pins `OpenUsd.Rendering` in the test project so the renderer-pick tests can reach the picking backend. Left at `0.1.0-alpha` that pin is below what the viewer now resolves transitively, which is `CS1705`. The pin follows `master`. CI was green on `baaf35e9` with **190 checks passing and none failing**, across every build leg (net472 / net48 / netstandard2.0 / netstandard2.1 / net8.0 / net9.0 / net10.0, Debug and Release) and the full test matrix on Windows and Linux. Since then `master` has been merged twice more and two CI-stability fixes landed (see below), so the current head is re-running. Locally, `dotnet build UA.slnx -t:Rebuild` gives **0 errors** and the 2 pre-existing `CA1861` warnings; Robotics **467** net10.0 / **447** net48, Robot Intent **20** on both, OpenUSD **904**, AOT **121/121**, source generation **3771**. ### Review round Five reviewers over disjoint areas found defects worth calling out, all fixed in `3ffec2c1`: - **A refused mission step was reported `Succeeded`.** The advance path returned the same `false` for "steps exhausted" and "step refused", so a protective stop between steps told a supervisory system the mission had completed while the robot stood halted with work unexecuted. - **Three attacker-controlled NodeIds reached the executor unvalidated** — `Pick.Tool`, `Place.Tool`, `ToolChange.DockStation`. `DockStation` drives a physical tool-exchange motion to a location the server never authorised. The replacement test enumerates NodeId members by reflection so the next one added cannot be missed. - **A lock-order inversion that loses a stop.** `CanCancel` and the mission condition evaluator ran under the host lock while the executor's own thread re-entered it via `ReportBlendBegin`. - **A non-terminal executor outcome killed the pump** from outside the `try/catch` that exists because the executor is untrusted — `Ready` stayed true and submissions kept being accepted while nothing moved. - **`Pause` published `Suspended` while the robot kept moving.** Now queue-only and honest about it; the specification gained the matching rule ([opcua-drafts `357a558`](https://github.com/marcschier/opcua-drafts/pull/47)). - **`RI-RealTimeChannel` and `RI-Safety` were false claims** — granted on an empty folder with no methods, and on the mere presence of a Mandatory node. - **The Part 10 promotions never promoted.** Namespace-1 BrowseNames declared second members beside the inherited ones; the conformance test could not see it because its lookup stripped the prefix. Fixed upstream and regenerated. - **Renderer picking never worked.** The reflective probe bound a renderer that is not a picking backend and throws off its owner thread. It now binds only `IRenderPickingBackend`, falls back immediately and loudly, and the docs say plainly that renderer picking is unavailable with this package version. - **The client lost command authority the instant it gained it** — monitored items report the current value first, and the lease treated every notification as a loss. ### CI stability fixes for master-side failures The CI split in #4158 turned on legs that had never run, and two of the failures they exposed were real bugs on `master` rather than anything this branch introduced. Both are fixed here because they were blocking every branch: - **ECC key generation was broken on macOS.** `ExportExplicitParameters` throws `PlatformNotSupportedException` there — Apple's SecurityTransforms supports named curves only — and it was called for exactly one value, the curve order `n`. The four curves OPC 10000-12 admits have published orders, so those are carried directly, with `CurveOrderTableMatchesThePlatform` checking each against the platform's own exported order wherever export works, so the constants cannot silently drift. This accounts for the two ECC failures in `test-macOS-latest-Server`. - **The certificate-leak detector raced asynchronous disposal.** It polled a fixed budget and reported whatever it saw, which cannot distinguish a genuine leak (count steady) from a suite still draining fire-and-forget disposals (count falling) — on a loaded agent that produced `Certificate leak detected: 2 instance(s)` with every test passing. It now waits for the count to **settle**, so a real leak is reported sooner than before while a slow drain gets as long as it keeps progressing. Shared by every suite that asserts no certificate leaks. The remaining macOS failures on `master` (`Gds`, `Tools`, `Redundancy.Samples`, `aot-macos`) have different root causes, are not reproducible without a macOS host, and are **not** addressed here. ### Merged with `master` again `master` through `416d619c4` (#4158, the CI matrix split and graduated coverage bands) is merged in as `08ae4528`. One conflict, in `docs/DeveloperGuide.md`, where both sides had deliberately rewritten the coverage-gate section: - `master`'s rewrite is kept in full — graduated `patch.bands`, Codecov being informational-only, and where the numbers surface per CI system. - This branch's paragraph about the `ignore` globs is kept too, re-sited ahead of those subsections. I re-checked it against the merged `coverage-thresholds.json` rather than assuming it still held: the list is still `tests/**`, `samples/**`, `obj`, `bin`, `*.g.cs`, with **`tools/**` absent** — so the warning that anything under `tools/` is measured like product code, and that an assembly no test project references contributes changed lines counted as *uncovered*, is still accurate and worth keeping. - `master`'s "reproduce a coverage failure locally" line supersedes this branch's near-identical one, so only `master`'s survives. Post-merge: `dotnet build UA.slnx -t:Rebuild` **0 errors**, 2 pre-existing `CA1861`; Robotics **467** net10.0 / **447** net48; Robot Intent **20** on both. ### Getting CI green The pipeline had never actually run on this branch until now (it was waiting on the fork-PR approval gate), so the first run surfaced four real problems, each fixed at source: - **Seven build legs failed** because `IntentEnabledRobot` pins `net10.0` for the OpenUSD payload but never opted into `RestrictForLegacyTfm`. On the legacy legs the libraries build as net472/net48, where `Opc.Ua.Types` exposes the `System.Threading.Lock` polyfill publicly, and that collides with the sample's own net10.0 BCL (`CS0433`). `Opc.Ua.OpenUsd.Connector.Viewer` was already using the opt-out for the same reason. - **A Linux-only test failure** turned out to be a real defect, not a platform quirk: `SetPose` published the *commanded* interpolated pose beside joint frames derived from the *solved* joints, so the two disagreed by the inverse-kinematics residual — about 8 mm, constant after any real motion. That is the lying-digital-twin defect one level deeper than the per-step IK fix reached. `SetPose` now derives both from the joint angles. - **Three source-generator tests** asserted the old emitted shape. The clause 6.2 Null-Variant fix was implemented in `ObjectTypeProxyGenerator` so every generated proxy benefits, which changed that shape; the tests are updated and strengthened to pin the `IsNull` branch as well. - **A CI-only timeout** in the simulated arm drain: the executor runs on a manual clock so the tests do not depend on machine speed, but the drain guarded itself with a wall-clock deadline, which put that dependence back. CI runs with coverage instrumentation, which is enough to take a per-step IK probe from ~0.6 s to over 5 s. The guard is now a simulated step budget. One failure was **not** from this PR and did not recur: a Roslyn `AccessViolationException` compiling `Opc.Ua.ISA95` on one leg, while the Debug leg of the same target passed on identical code and the Release build succeeds locally. ## Related Issues - Relates to #3827 — the request that prompted the robotics intent work. - Builds on #4127. The companion specification is drafted in the open at [marcschier/opcua-drafts#47](https://github.com/marcschier/opcua-drafts/pull/47) (`metaverse-specs/robot-intent/`), with the prior art and the reasoning behind each decision in the research document beside it. **Nothing in it is normative or endorsed by the OPC Foundation, and its NodeIds and namespace URI are provisional** — which is the main reason this is a draft. ## Checklist - [x] I have signed the [CLA](https://opcfoundation.org/license/cla/ContributorLicenseAgreementv1.0.pdf) and read the [CONTRIBUTING](https://github.com/OPCFoundation/UA-.NETStandard/blob/master/CONTRIBUTING.md) doc. - [x] I have added tests that prove my fix is effective or that my feature works and increased code coverage. - [x] I have added all necessary documentation. - [x] I have verified that my changes do not introduce (new) build or analyzer warnings. - [x] I ran **all** tests locally using the **UA.slnx** solution against at least .net **framework** and .net **10**, and all passed. - [ ] I fixed **all** failing and flaky tests in the CI pipelines and **all** CodeQL warnings. - [ ] I have addressed **all** PR feedback received. On the test checkbox, precisely: the whole `UA.slnx` suite now runs on net10.0 with **50 of 52 assemblies fully green**, and `Opc.Ua.Robotics.Tests` passes on **all five** target frameworks including net472, net8.0 and net9.0 which had never previously been exercised. The two remaining failures are reproduced identically at the merge-base and are detailed above, so I have ticked the box; if you would rather it stayed unticked until those two are green, say so and I will revert it. ## Points I would most like feedback on 1. **The namespace and NodeIds are provisional.** They come from a draft specification, not from the OPC Foundation. If this lands before the model is registered, the identifiers will move. 2. **The model lives in `Opc.Ua.Robotics`.** It is standalone on the base UA namespace and takes no dependency on OPC 40010, so a separate `Opc.Ua.RobotIntent` package would arguably be cleaner. Keeping it here was a deliberate call — this is where the robot-facing API already is — but it is the easiest thing to change now and the hardest later. 3. **Removing the convention API from #4127 is a breaking change** for anyone who adopted it. It was explicitly marked non-normative, so I have assumed that is acceptable — please say if a deprecation period is wanted instead. 4. **Serial execution** is a deliberate simplification. Concurrent `None`/`Soft` intents would be an optimisation, not a correction, but it is worth agreeing that reading. 5. **`samples/Robotics/` reorganisation** moves `MinimalRobotServer`. Happy to split that into its own commit if it makes review easier. --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa Copilot-Session: a248a589-9a20-4372-868e-5d347e57001b	2026-08-08 09:08:40 +02:00
Marc Schier	c48c8b93dd	Positioning: OPC 10000-210 RSL and 10000-211 GPOS on one geolocation provider (#4125) ... **Stack 3/5** — base #4124. Part of the #4096 split; see #4096 for the overall picture. > Review after #4123 and #4124. ## What this is The OPC 10000-210 Relative Spatial Location and OPC 10000-211 Global Positioning companion models, with their server and client libraries, plus the ISA-95 migration onto the shared geolocation seam. ## Why it is one change A deployment writes **one** provider implementation and both OPC 10000-211 and OPC 10030 are served from it. The specifications disagree on representation, not on content: - GPOS publishes the structured `GlobalLocationDataType` and validates the EPSG code against the configured CRS. - ISA-95 publishes the same sample as the `String` array that OPC 10030 §8.3.2.2 requires. Splitting them would mean two provider interfaces for one physical sensor, which is exactly what this avoids. The seam itself lives in `Opc.Ua.Server` and landed in 1/5. ## Contents - `Opc.Ua.Positioning`, `.Server` and `.Client`. - `Opc.Ua.ISA95.Server` moves onto `IGeoLocationProvider`; the three ISA-95-specific provider files are removed because the shared seam and its in-memory implementation replace them. - **Fixes a conformance gap**: the ISA-95 binder wrote a scalar where the type declares `ValueRank` OneOrMoreDimensions. It now writes `String[]`. - **Fixes a liveness bug**: a provider that cannot push is polled at the Variable's `MinimumSamplingInterval` rather than installed once, so a non-pushing provider no longer serves its start-up sample with `Good` status forever. - `samples/MinimalIsa95Server`. ## Validation `dotnet build UA.slnx` — 0 errors. | Suite | Result | | --- | --- | | Opc.Ua.Positioning.Tests | 69 / 0 | | Opc.Ua.ISA95.Tests | 136 / 0 | | Opc.Ua.Di.Tests | 304 / 0 | --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Copilot-Session: 8cbb8cd0-f0cb-4ab0-bea2-6202fbf69485	2026-08-01 07:55:58 +02:00