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41 Commits
| Author | SHA1 | Message | Date | |
|---|---|---|---|---|
 Marc Schier
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0374e19121 |
Add MachineTool, WMTP, GMS and CranesHoists companions (#4765)
# Description _Describe the changes here to communicate to the maintainers why they should accept this pull request. By default - this will become the Commit message after merging and thus define history._ Add provider-backed MachineTool, bundled WMTP, GMS and CranesHoists companions using the existing Machinery/MachineVision fluent, DI and typed-client approach. **The PR is open/non-draft by user choice. Current head `ecc4a7d6ca3e8004cf28ab54da605da302d026bf` is mergeable and has 108 successful checks, six intentionally skipped checks, zero failures and zero pending checks. All five primary workflows completed successfully at that exact head.** | Family | Released specification/model | Packaging | | --- | --- | --- | | MachineTool | OPC 40501-1, 1.02.0 | Model, Server, Client and MCP; normal root versions | | WMTP | OPC 40505, 1.0.0 | Bundled in MachineTool; distinct CLR/wire namespace and independent WMTP-only hosting | | GMS | OPC 40210 reference 1.0.1, normative model 1.0.0 | Model, Server, Client and MCP; normal root versions | | CranesHoists | OPC 40020-1, 1.00 | Model, Server, Client and MCP; all four plus Debug variants forced preview | There are **12 new packable projects**. No separate WMTP package/profile/guide, root version bump, tag, release or package publication is included. Mandatory instance structure is the default; selected optional features require explicit providers. The implementation reuses Machinery results/jobs/files/ProcessValues and Robotics topology, including retained MachineTool Production, defined GMS jobs/parts, modern ISA95/Machinery jobs, shared-owner hosting and isolated instances alongside MachineVision. Runtime and integration fixes preserve raw quality/timestamps, coherent acquisition, namespace ownership, accepted-configuration state, borrowed-resource lifetime, session/node/file cleanup, terminal-value publication, event propagation and endpoint-aware capability publication. Firmware/licence transfer means provider acceptance, not installation/activation. Cancellation does not silently abort another caller's operation. The later upstream MCP expansion is integrated without losing either family set or its default-off privileged/live execution policy. ### Conformance and scope Canonical model inputs are pinned to UA-Nodeset revision `96a08945425d0295edb3607d2a38f6841ef44046`. **GMS upstream exception:** [Annex A.1](https://reference.opcfoundation.org/specs/OPC-40210/annex-a) makes the released NodeSet normative, but §12.3.2.7 requires undefined `GMS_ProductionStatisticsType`. Inherited statistics and defined jobs/parts are implemented without inventing a standard type/NodeId; the complete GMS Production facet is withheld. The requirement ledger records **102 positively evidenced CU rows, 96 directly negative-tested rows and six explicit negative-evidence limitations**. All 648 test-class/name/TRX links were independently resolved to passing cases. The six limitations concern Stacklight, retained legacy PowerOnDuration, Machinery PowerOnDuration, WorkingUnit, Obligation and MaintenanceMode. They are not claims that every invalid-input or hardware-control behavior was tested. The undefined GMS requirement is outside the 102 defined CUs. No external certification claim is made. Retained baseline complete-assembly line coverage, with generated code retained and no source exclusions: | Family | Model | Server | Client | | --- | ---: | ---: | ---: | | MachineTool/WMTP | 83.80% | 91.98% | 84.74% | | GMS | 95.51% | 90.63% | 88.38% | | CranesHoists | 92.76% | 94.45% | 92.24% | These nine measurements predate the later focused review fixes and merges; they are not relabelled as new `ecc4a7d6c` percentages. The current head's separate CI code-coverage check succeeded. No new exclusions or threshold relaxations were introduced. ## Related Issues - Fixes [#4764](https://github.com/OPCFoundation/UA-.NETStandard/issues/4764), the implementation/design and acceptance tracker. ## Checklist _Put an `x` in the boxes that apply. You can complete these step by step after opening the PR._ - [ ] 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. - [ ] 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. |
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Marc Schier
|
15d0ce7bd5 |
Implement OPC UA Part 10 Programs (#4789)
# Description Implement OPC UA Part 10 Programs across `Opc.Ua.Core`/`Core.Types`, `Opc.Ua.Server`, and `Opc.Ua.Client`, reusing the existing state-machine, source-generation, node-management, auditing, and streaming-subscription infrastructure. - Add asynchronous provider-backed execution, standard controls, internal/autonomous transitions, generation checks, and nested-state activation/resumption. - Add checked creation/adoption, vendor Create adapters, deletion, recycling and instance limits, auto-delete, DI, and direct-construction paths. - Maintain ProgramDiagnostic2 and retained final results; publish captured intermediate results and concrete transition/audit events with access controls. - Add generated SDK models/proxies, typed client discovery and reads, event streams, and subscribe-before-call readiness handling. - Add unit, connected client/server, generated Annex A-style model, and NativeAOT coverage. Document usage and migration in `docs/Programs.md` and related guides. ### Compatibility and design decisions The linked Part 10 document is v1.05.00; namespace-zero definitions remain aligned with 1.05.07. Documentation distinguishes normative requirements from conflicting specification text and SDK conventions. - Correct state numbers to Halted=11, Ready=12, Running=13, Suspended=14. Generated subtypes retain inherited namespace-zero state/transition identifiers. - Managed Reset is Halted-to-Ready only. Preserve the existing low-level Reset-from-Suspended behavior for compatibility. - Preserve UInt32 limit types; use `UInt32.MaxValue` as a documented SDK unlimited convention. RecycleCount overflow reports BadOutOfRange without stopping unlimited execution. - In-memory default with injectable providers. Durable recovery, distributed execution/failover, and a production Annex A download engine are excluded. ## Checklist _Put an `x` in the boxes that apply. You can complete these step by step after opening the PR._ - [ ] 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. - [ ] 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. - [ ] I have addressed **all** PR feedback received. Tests and focused coverage evidence are above; the combined tests/coverage checkbox remains open because a whole-repository coverage increase has not been established. CLA status, CI/CodeQL results, tracking-issue approval, and PR feedback are not asserted. |
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Marc Schier
|
724757122b |
Add recycling simulator and plastics/rubber companion packages (#4772)
# Description Add a generic, company-neutral recycling simulation sample and reusable plastics/rubber companion-model packages. One durable causal coordinator and ten separately launched OPC UA process views provide deterministic material balances, finite buffers, genealogy, utilities, quality holds/disposition, authenticated controls and crash recovery. Process views consume committed state instead of running independent simulations. Real companion-model equipment instances use DI/Machinery/AMB discovery, Machine Vision, Pumps/Scales, granulate drying, extrusion, filtration and pelletizing. Vendor/process extensions remain sample-local. Connectors and WoT conversion are out of scope. **External source-contract parity and complete deployment qualification are not claimed complete.** The sample and managed tests target **.NET 8, 9 and 10**. The consolidated [recycling guide](samples/Recycling/README.md) explains the actual composition, simulation, observation paths and exposed data; the application-directory README points to that guide. Typed client member extensions are emitted at build time through the default-false `ModelSourceGeneratorClientAccessorsOnly` opt-in. Extrusion uses it for all twelve parts instead of checked-in generated C# and a Python generator. The shared client runtime retains typed values, quality, timestamps and streaming behavior. ### Package layout Six packages contain fourteen models in two model-producing assemblies: | Specifications | Model | Typed client | Server runtime | | --- | --- | --- | --- | | OPC 40083 and OPC 40082-6 | `Opc.Ua.PlasticsRubber` | `Opc.Ua.PlasticsRubber.Client` | `Opc.Ua.PlasticsRubber.Server` | | OPC 40084 parts 1–12 | `Opc.Ua.Extrusion` | `Opc.Ua.Extrusion.Client` | `Opc.Ua.Extrusion.Server` | NuGet IDs use the `OPCFoundation.NetStandard.` prefix. All six packages are registered in `.azurepipelines/expected-packages.txt` and the generated preview-pack solution. Granulate-drying code lives in `GranulateDrying` folders in the PlasticsRubber projects; extrusion uses per-part folders. There are no standalone granulate-drying or per-part extrusion packages. Published model identities and CLR namespaces remain distinct and unchanged. The common 1.03 interface is independently authored on the explicitly MIT-licensed 1.02 implementation basis; the official 1.03 XML is not redistributed. The other imported models retain their individual MIT notices. All 42 pinned model, identifier and basis files retain their manifest-backed bytes, including their staged Git blobs. No formal companion certification is claimed; the disputed Filter profile is not advertised. ## Related Issues No tracking issue is currently linked. ## Checklist _Put an `x` in the boxes that apply. You can complete these step by step after opening the PR._ - [ ] 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. - [ ] 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. Current-head CI and coverage remain pending; the full local `UA.slnx` test matrix is not claimed complete. |
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Marc Schier
|
be50f02700 |
Add additional companion spec MCP tool profiles (#4731)
# Description Expose existing stack APIs through **337 additional domain MCP tools**: 114 industrial-companion tools, 35 WoT/xRegistry/document tools, and 188 higher-level stack-workflow tools. The fully enabled catalogue contains **492 tools**; profile selection is not an execution grant. The packages now follow the reviewed structure: **`Opc.Ua.Mcp.Workflows`** contains roles/users, files, alarms and history; **`Opc.Ua.Mcp.WotCon`** contains management/documents and independently registered live WoT execution. GDS and schema tools remain separate packages. The executable composes **18 libraries**. | Workflow | Added domain tools | Profiles | | --- | ---: | --- | | GDS directory, certificates, reference-only credentials/tokens and Part 21 onboarding | 46 | `gds`, `certificates`, `credentials`, `onboarding` | | Roles/users, regular and temporary files, alarms/conditions and historical access | 74 | `roles`, `users`, `files`, `alarms`, `history` | | Bounded runtime types, XSD/BSD/UA JSON, PubSub and REST OpenAPI artifacts | 6 | `schemas` | | Named PubSub transports, remote configuration, declarative adapters/bridges and SKS | 52 | `pubsub-runtime`, `pubsub-configuration`, `pubsub-bridge`, `pubsub-security` | | Live HTTP(S), MQTT, Modbus TCP and OPC UA WoT forms | 10 | `wot-runtime` | - Reuse typed clients, generated proxies, SDK transports, schema providers and injected services rather than introducing another session manager or protocol engine. - Require host enablement plus exact caller/session/secret/network grants. Protected generic Call/Write/node-management/history/file paths enforce the same policy. - Bind classifications, dispatches, file handles and historical cursors to actual UA generations. Recovery cannot retarget an old handle or authorized mutation. Preserve acknowledged results after late cancellation; do not imply atomicity or retry business commands. - Use opaque secret-store references, explicit writable-store registration, issuer/resource/caller binding and reserved capacity before issuance. Report remote success/local persistence failure as partial completion; redact provider-controlled diagnostic text. - Bound new named runtimes to eight per host, two per caller, five-minute idle expiry and a thirty-minute absolute lease by default. Pending/closing resources consume quota; failed cleanup remains visible. Credential invalidation and session recovery close dependent runtimes. - Keep document planning separate from execution, artifacts root-confined and real JSON inputs typed. Preserve old profile ordinals while widening the set to 64 bits. CI grades fully enabled privileged catalogues rather than connection-only views. **Limitations:** live Kafka remains explicitly unavailable because the backend cannot enforce policy on broker-discovered connections; configuration/schema/capability inspection stays available. The latest public Dekaf v1.23.5 was also checked and its DNS injection remains internal. No private-API workaround or bootstrap-only security claim was added. Full legacy Core registration retains its documented JSON-reflection limitation: native tests isolate its four connection descriptors and validate the expanded production registrations, not whole-host NativeAOT support. ## Related Issues - Fixes #4730. ## Checklist _Put an `x` in the boxes that apply. You can complete these step by step after opening the PR._ - [ ] 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. |
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Marc Schier
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7c965fd636 |
Capture metadata images and generation-bound session clients (#4752)
# Description - Add isolated NodeState reference images, TypeTable graph snapshots, EncodeableFactory registration forks/views, StringTable mutation versions/private copies, and ServiceMessageContext mapping-holder generation tracking. Reference images are lazy for empty nodes; selected-image clones own independent storage and publication ownership. - Add the complete generic NodeBrowser continuation-dependency capability. This does not implement server browse-history retention, NodeManager read images, or server batch/readiness admission. - Add optional client binding capture for SessionClient, native Session and ManagedSession, with managed-lease/native-channel generation composition. Bindings capture authenticated-session identity, mapping holders/versions and owned endpoint/policy/configuration observations. Replacement, reconnect, mapping ABA and disposal permanently invalidate stale bindings; disposing a binding does not dispose its owner. - Preserve cancellation and master pooled-response ownership: a rejected pooled response is released exactly once; an accepted response remains caller-owned. Keep native transport submission under its replacement gate and completion outside the gate, without routing ordinary unbound requests through binding machinery. - Rename the existing server lookup interface and all actual consumers with minimal hunks; add focused fixtures, generated FileTypeClient usage guidance, and package/transport documentation. **Breaking preview type identity:** the existing 2.0-preview server lookup `Opc.Ua.ISessionBindingProvider` becomes `Opc.Ua.IServerSessionBindingProvider`. Server lookup consumers must update their referenced type and rebuild. This is neither source-compatible nor binary-additive for that preview type. The new client capability is optional and adds no mandatory members to existing ISession/ISessionClient/ITransportChannel contracts. This preview-to-preview rename is documented in SessionBindings/Transports, not in the 1.5-to-2.0 MigrationGuide. **Ownership boundary:** no RequestLifetime changes, certificate-manager/channel-entry adoption, BaseVariableState changes, Method-result feature extraction, NodeManager batch/readiness or browse-history retention, session restoration, registry federation, WoT conversion, or WoT runtime/planners/events. DependencyInjection/ResourceIsolation/index changes are lookup/link closure only. SessionManager's PR hunk changes only its implemented lookup-interface name; newer master public diagnostic masking is not replaced. ## Related Issues _Reference all GitHub issues this PR addresses. If there is no issue yet, open one and link it here._ _If this is a relatively large or complex change, a design must have been discussed in the related tracking issue and signed off (which becomes the Architectural Decision Record (ADR))._ - Part of #4511: user-approved combined groups 5+6 Wave A extraction. This PR does not close the umbrella or publish Wave B. ## Checklist _Put an `x` in the boxes that apply. You can complete these step by step after opening the PR._ - [ ] 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. - [ ] 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. ### Review qualification Review fixes are published at **`6b0eb1d5c32a439300fbcaff974b9af8b909161b`**, changing eight already-owned files. All five received review threads were replied to and resolved after verification. Factory selector installation and target-selection-plus-commit share the root publication gate, with consistent root→image release/capture ordering. TypeTable selector installation and final mutation routing share its existing gate. Native bound channel validity uses volatile observations; the two owned XML defects are corrected. | Requirement | Evidence | |---|---| | Selector installation must not hide TypeTable mutations | `SelectorInstalledDuringNodePreparationReceivesMutation`: old Add routing failed on both TFMs; corrected routing passes on both within **148/148** factory/TypeTable controls | | Selector installation must not race factory commit routing | Static common-root-gate/order proof plus baseline-GREEN `BuilderCapturedBeforeOwnershipUsesSelectedFactory`, `ViewOwnerReleasePreservesRegistrationsAndAllowsReuse`, `ViewOwnerReleaseCanRetryAfterPendingPublication`, `PublicationProtectsPendingAndRetiredFactoryImages` | | Lock-free validity must observe owner transitions | Static volatile-read reasoning plus native `BoundRequestCannotDispatchWhileNativeReplacementIsPendingAsync`, `BoundResponseRejectsInvalidationAfterNativeDispatchAsync`, `BoundClientCannotRetryAcrossFaultedManagedEntryReplacementAsync`: **12/12 each TFM**; Core binding/pooled ownership controls **17/17 each TFM** | | Correct owned XML documentation | “an unmanaged” and one multiline `ReferenceUpdate.Next` summary; scoped whitespace/INFO and build evidence below | Factory controls are **not** claimed as a deterministic factory RED, and public transport controls are **not** claimed as a deterministic weak-memory RED. No private-lock reflection, artificial production seam, or source-name assertion was added. The TypeTable RED uses the real `ILocalNode.NodeClass` callback during node preparation, and both expected RED receipts/TRX were retained. All accepted review runs use the unchanged admitted SDK wrapper, normal project references, sole mutex, one node/no shared compiler, finite resource guards and canonical short-C build outputs. Source hashes were frozen per command and matched the committed bytes afterward. SDK ownership was released **before** commit/push/review replies. No automatic merge was requested. Scoped whitespace passed across the four affected projects. Review INFO classification is **0 owned findings / 13 untouched baseline findings excluded** (whole-file formatter exits 1,1,0,0); no baseline RCS1140/RCS0055 expansion or suppression. The final normal net10 public Client/Core/Types trim/AOT-analyzer closure passed **0 warnings / 0 errors**. This is not a NativeAOT publish/run. <details> <summary>Accepted review command payloads and results</summary> These exact argument payloads were executed through the unchanged guarded SDK wrapper. `$proof` expands to the protected results-directory below. Successful explicit builds of the same source preceded the `--no-build` runs. ```powershell $proof = 'C:\Users\mschier\.copilot\session-state\a3b74048-c52f-4c87-8773-7a46c9ab0087\files\qualification-review-4752' # Exit 0: 148 passed, 0 failed dotnet test tests\Opc.Ua.Types.Tests\Opc.Ua.Types.Tests.csproj -f net48 -p:CustomTestTarget=net48 -p:UseArtifactsOutput=true -p:ArtifactsPath=C:\cp56-a3b7-v2 -nr:false --no-restore --verbosity minimal --filter "FullyQualifiedName~EncodeableFactorySnapshotTests|FullyQualifiedName~TypeTableTests" --logger "trx;LogFileName=review-types-green-net48.trx" --results-directory $proof # Exit 0: 148 passed, 0 failed dotnet test tests\Opc.Ua.Types.Tests\Opc.Ua.Types.Tests.csproj -f net10.0 --no-restore --no-build --filter "FullyQualifiedName~EncodeableFactorySnapshotTests|FullyQualifiedName~TypeTableTests" --logger "trx;LogFileName=review-types-green-net10.trx" --results-directory $proof -p:CustomTestTarget=net10.0 -p:UseArtifactsOutput=true -p:ArtifactsPath=C:\cp56-a3b7-v2 -nr:false --verbosity minimal # The following two per-TFM payloads each exited 0: # Core: 17/17 net48 and 17/17 net10.0; Client: 12/12 net48 and 12/12 net10.0 foreach ($tfm in @('net48', 'net10.0')) { dotnet test tests\Opc.Ua.Core.Tests\Opc.Ua.Core.Tests.csproj -f $tfm --no-restore --no-build --filter "FullyQualifiedName~SessionBindingResponseTests|FullyQualifiedName~SessionBindingContextTests" --logger "trx;LogFileName=review-actual-core-green-$tfm.trx" --results-directory $proof -p:CustomTestTarget=$tfm -p:UseArtifactsOutput=true -p:ArtifactsPath=C:\cp56-a3b7-v2 -nr:false --verbosity minimal dotnet test tests\Opc.Ua.Client.Tests\Opc.Ua.Client.Tests.csproj -f $tfm --no-restore --no-build --filter "FullyQualifiedName~BoundRequestCannotDispatchWhileNativeReplacementIsPendingAsync|FullyQualifiedName~BoundResponseRejectsInvalidationAfterNativeDispatchAsync|FullyQualifiedName~BoundClientCannotRetryAcrossFaultedManagedEntryReplacementAsync" --logger "trx;LogFileName=review-actual-client-green-$tfm.trx" --results-directory $proof -p:CustomTestTarget=$tfm -p:UseArtifactsOutput=true -p:ArtifactsPath=C:\cp56-a3b7-v2 -nr:false --verbosity minimal } # Exit 0: 0 warnings, 0 errors dotnet build src\Opc.Ua.Client\Opc.Ua.Client.csproj -f net10.0 -p:CustomTestTarget=net10.0 -p:UseArtifactsOutput=true -p:ArtifactsPath=C:\cp56-a3b7-v2 -nr:false --no-restore --verbosity minimal ``` The six expanded GREEN commands, exact results/TRX hashes and two expected RED commands are retained in `qualification-review-4752\qualification-summary.json`, SHA256 `C5E71A4D8D37BAC8803F6DF38B6BCE2B70F3D0AFD5DEC8493FAE9DB440DCFB5A`. Committed/qualified byte identity is in `publication-identity.json`, SHA256 `CD9515FE96703F8B241F2B7B9B71F73EF0FF2626C2C8BCCE40307971A8F8E809`. Per-command raw exits, guards, hashes and reports are retained outside disposable build roots. For each record in the protected `format-inputs.json` (Types/Core/Client libraries and Types.Tests), the recorded Project/Include values expand these exact payloads: ```powershell # Workspace properties recorded with the formatter receipts: $env:CustomTestTarget = 'net10.0' $env:UseArtifactsOutput = 'true' $env:ArtifactsPath = 'C:\cp56-a3b7-v2' # All four exit 0 dotnet format whitespace $Project --no-restore --verify-no-changes --verbosity minimal --include $Include # Exits 1,1,0,0 due only to untouched baseline findings; owned=0, baseline=13 dotnet format $Project --no-restore --severity info --verify-no-changes --verbosity minimal --report "$proof\formats\review-info-$i" --include $Include ``` Initial fresh matrix evidence remains separately identified and unchanged: Types274/Core119/Client151/server137 net10; Types274/Core119/Client151/server135 net48, all passing. Qualification base remains `0dff94bd378e79b8cf1a47e1aaf340f9b4b40048`; the initial published head was `9fee4583`. All 16 initial exact command arrays/results/TRX hashes remain in protected `qualification-v2\qualification-summary.json`, SHA256 `88E10240C20049B59A3401BE007C6528A85DF2F3DCFAF9D11D908CEF2946DA4E`. Failures/incidents remain retained rather than relabeled as success: original disappeared-root historical counts are invalidated; the large-TRX controller DOM-parser failure is preserved separately from accepted streaming receipts; the review argument-array defect/default-D-output controls are preserved but excluded from canonical review qualification. Correctly separated argument rechecks produced the accepted short-C Core/Client receipts. The sole SDK wrapper was not changed. Full UA.slnx, measured coverage increase, CLA verification, NativeAOT publication and current-head/master CI/CodeQL remain unclaimed. Actual merge—not resolved review threads—unlocks Wave B. </details> |
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Marc Schier
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184f19a2b0 |
Add complete method invocation results and resolved diagnostics (#4747)
# Description `MethodInvocationResult` carries the operation result, declaration-ordered outputs and optional position-preserving input results. Asynchronous callbacks retain the actual receiver, cancellation token and resolved diagnostic strings. Fluent predefined, typed, instance, reference-child, resolved and virtual method builders reject conflicting handlers in either registration order and never overwrite materialized handlers. Direct configuration remains available. Shared Call-result assembly retains input diagnostics, including useful text on Good input positions, and requested operation diagnostics on Good results. Diagnostic encoding preserves nested Good-status text, status information bits and the outer-inclusive depth limit. Request admission clears client-supplied internal diagnostic permission flags before early returns or validation failures; admitted sessions grant the flag only after the existing administrator-role checks. Includes corresponding unit/integration regressions, complete XML API documentation, and method-result guidance consolidated with the fluent APIs in `docs/NodeManagers.md`. No WoT receiver/projection/remote-execution, event-readiness/native-admission, or bulk/history implementation is included. ## Related Issues Part of the user-approved two-wave extraction plan tracked by #4511. _If this is a relatively large or complex change, a design must have been discussed in the related tracking issue and signed off (which becomes the Architectural Decision Record (ADR))._ - Related to #4511. ## Checklist _Put an `x` in the boxes that apply. You can complete these step by step after opening the PR._ - [ ] 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. - [ ] 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. |
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Marc Schier
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1bb4bdca1d |
Add Machine Vision Parts 1 and 2 (#4733)
# Description Implement the released [OPC 40100-1](https://reference.opcfoundation.org/specs/OPC-40100-1) and [OPC 40100-2](https://reference.opcfoundation.org/specs/OPC-40100-2) specifications with generated models, provider-backed runtimes, typed clients, MCP workflows, and DI/Machinery integration. - **Part 1 stays in `Opc.Ua.Vision`** and its client/server packages alongside the distinct Perception model. Provide control/acquisition state machines, jobs and synchronized steps, recipe/product/configuration/result management, file transfers, diagnostics, events, and conditions. - **Part 2 is in `Opc.Ua.MachineVision`, `.Client`, and `.Server`.** Provide asset categories, identification, image-handling aspects, health/maintenance data, topology, and transactional updates. The base Vision assemblies do not reference these optional packages; the Part 2 wire model does not depend on Part 1. - Preserve the release-pinned model bytes, wire namespaces and NodeIds. Perception types are in `Opc.Ua.Vision.Perception`; the AMCM generated namespace remains `Opc.Ua.Vision.MachineVision.AMCM`, and asset client/server extension namespaces remain `Opc.Ua.Vision.Client` and `Opc.Ua.Vision.Server`. - Use `AddOpcUaMachineVision` and `AddOpcUaMachineVisionAMCM` for model loading and factory registration. Each has node-collection, encodeable-factory-builder and node-state-factory-builder overloads. These short entry points delegate to the generated implementations; existing namespace-derived generated names remain available for compatibility. - Support multiple independent named systems/assets under one namespace-owning manager. Reuse injectable providers, file binding, bounded memory stores, optional transactional `IFileSystemProvider` persistence, state machines, telemetry and conformance infrastructure. - Keep one `docs/Vision.md` guide, titled `Machine Vision (OPC 40100-1 and OPC 40100-2)`, and one `Opc.Ua.Mcp.Vision` package. Include deterministic server/client samples. - Expose 17 Machine Vision MCP tools, including capabilities/status, bounded relationships and observation, complete small-file uploads/downloads, management, explicit control, conditions, and chunked transfers. Catalogue counts: 39 Vision-specific, 43 with connection tools, 81 Vision+Robotics, 155 Full. Every Machine Vision wire parameter has a schema description. **Compatibility and limits:** `AddVision()` remains Perception-only unless released parts are selected. Standalone Part 2 uses `AddVision().AddMachineVision()`; Machinery composition uses `AddVisionToMachinery()`. Existing tool defaults and command signatures are preserved. Observation owns and cleans up its subscription: 5 seconds/50 notifications by default, capped at 60 seconds/100 notifications. Complete-file tools are capped at 1 MiB; larger files use chunked transfers. Domain Error values remain distinct from UA service failures. **Versioning:** the seven Vision/MachineVision/MCP packages and their Debug variants follow the repository root version instead of being forced to preview. Vision.OpenUsd and its descendants remain preview-only. Development builds still inherit the root prerelease version. No release version, tag, release branch, publication policy, or feed promotion is changed. **Review actions:** all fourteen review threads have action/evidence replies and are resolved. Changes include the unified guide, Perception namespace, separate Part 2 packages and final naming, multi-system ownership explanation, interrupted-write cleanup, observer failure isolation, complete MCP parameter descriptions, and explicit package inventory. The preview-layout migration topic and the requested ReleaseProcess caveat were removed. The test Publish collector now retries recognized transient failures within one cancellation budget and propagates other exceptions. Commit |
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|
romanett
|
fa06c66dbb |
Stop versioning DI and ISA95 packages as preview (#4686)
## Summary Removes the **DI** (`Opc.Ua.Di*`) and **ISA95** (`Opc.Ua.ISA95*`) package families from the preview-only set, so they ship with the stable root version (e.g. `2.0.1` instead of `2.0.1-preview.N`). - `version.targets`: drop the two `_IsPreviewPackage` conditions. - `.azurepipelines/package-version-policy.ps1`: drop `ISA95|Di` from `Test-PreviewPackageId`. It must match `version.targets`, because the package-set validator fails if the two disagree. - `PackageVersionPolicyTests`: ISA95/Di IDs are now expected to be non-preview, they are removed from the classifier-agreement token list, and the "already-preview base version" case now uses Robotics. - Docs (`DeveloperGuide.md`, `ReleaseProcess.md`, `docs/README.md`): the preview-family list no longer includes DI or ISA95, and the "preview package" label is removed from the DI, Software Update (part of the DI packages), and ISA-95 entries. ## Test `dotnet test tests/Opc.Ua.Tools.Tests --filter PackageVersionPolicy` (net10.0): 87/87 passed. 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com> |
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|
Klaus Landsdorf
|
cc7908eaa1 |
WebApi: serve a generated OpenAPI document of the REST binding (opt-in) and map the session-less service set (#4657)
Reworked after the review: the OpenAPI document is generated from the code, not embedded; the route is opt-in; `StatusCode` is not accepted. The branch is a new history on top of master (the first version conflicted); master with #4674 is merged in. # Description The REST binding implements the routes of the OPC Foundation OpenAPI mapping (OPC 10000-6 §G.3), but it does not describe them: `GET /openapi.json` is answered with HTTP 405, and a client generator has nothing to read from the server. `docs/WebApi.md` listed a generated OpenAPI document as a deferred follow-up. The coded API is the source of truth, so this PR **generates** the document from the route table and from the structure definitions of the request and response types, and compares it with the document the model compiler publishes in tests. Nothing from `UA-Nodeset/OpenApi` ships in the package. ## Changes ### Service sets (`Opc.Ua.Core`) - `WebApiServiceSet` (`AllServices`, `Sessionless`) and `WebApiServiceRoutes.GetRoutes(serviceSet)`. `Sessionless` is the eight services of `opc.ua.openapi.sessionless.json` (OPC 10000-4 §6.3): Read, Write, HistoryRead, HistoryUpdate, Call, Browse, BrowseNext, TranslateBrowsePathsToNodeIds. ### Generator (`Opc.Ua.Core.Schema`, `Opc.Ua.Schema.OpenApi`) - `WebApiOpenApiGenerator.Generate(serviceSet, includeSchemas, serverUrl)` returns the OpenAPI 3.0 document as a `JsonObject`. It is built at runtime from `WebApiServiceRoutes` and the `StructureDefinition`/`EnumDefinition` of the message types (the same definitions the schema generation uses, resolved through `IDataTypeDefinitionResolver`). No reflection, so it is NativeAOT compatible; the AOT test project covers it. - **Two levels of detail**, because full schemas make big documents: | | Content | All 28 services | | --- | --- | --- | | default | paths, `operationId`s, every body a JSON object | about 12 KB | | `includeSchemas: true` | one component schema per message, structure and enumeration (100), for typed client generators | about 46 KB | The two published files are about 300 KB together. - The schemas describe the Compact JSON encoding, with the property names, types, formats and integer ranges of the published documents. DataValue is the one structure that differs: its status property is `Status`, as in Part 6 Table 42. - `OpenApiBuiltInSchemas` holds the schemas of the built-in types (StatusCode, LocalizedText, Variant, DataValue, DiagnosticInfo, ExtensionObject and the scalar types) as the encoder writes them. Abstract `Structure` fields are ExtensionObjects, abstract number fields are Variants. ### Serving the document (`Opc.Ua.Bindings.Https`) - `WebApiTransportOptions`: `ServiceSet`, `OpenApiDocumentPath` (default `null`: **off**) and `OpenApiIncludeSchemas` (default `false`). - `MapWebApiEndpoints(WebApiTransportOptions)` maps the routes of the service set and, when a path is set, the `GET` route of the document **in the same route group**. The route has no `AllowAnonymous` metadata. When an authentication scheme is registered, the contributor's `group.RequireAuthorization()` covers the document like `POST /read`; only `/findservers` and `/getendpoints` stay anonymous. The existing `MapWebApiEndpoints()` maps all routes as before. - The document is generated once per path base (listed as a relative `servers` URL; without a path base the list is omitted) by the `WebApiOpenApiGenerator` that `AddWebApiTransport` registers, or by a default one. - `Opc.Ua.Bindings.Https` references `Opc.Ua.Core.Schema` on net8.0 and later. ### Documentation - `docs/OpenApi.md` (new, linked from `docs/README.md`): serving the document, the two levels, generating clients, the JSON generated clients send, known issues, how the document is kept correct, troubleshooting. - `docs/WebApi.md`: new section "Service sets and the OpenAPI document"; the deferred follow-up is removed. `docs/SchemaGeneration.md` and both `NugetREADME.md` files describe the generator and the options. ## Comparison with the model compiler documents The two published documents are test resources of `Opc.Ua.Core.Schema.Tests` only (README next to them: source commit and update procedure). `WebApiOpenApiConformanceTests` compares the generated document with them for both service sets: - paths, `operationId`s, and the request and response schema of every operation; - the set of component schemas the operations reach: equal (100 for all services); - every enumeration (members and values); - for every structure: property names, types, formats, integer ranges, and inheritance. Everything both describe is equal. The test lists the differences and fails when a listed one disappears or a new one appears: | Difference | Generated | Published | Reason | | --- | --- | --- | --- | | DataValue status property | `Status` | `StatusCode` | Part 6 Table 42; UA-Nodeset#146 is open. The stack only knows `Status` (encoder and decoder). | | `description`, `default` keywords | not written | spec links, .NET defaults | documentation and defaults, not contract; Compact omits default values | `WebApiOpenApiWireFormatTests` validates what the binding really writes (the default request and response of all 28 routes, plus populated requests and responses with variants, status codes, references, identity tokens and notifications) against the generated component schemas. ## Tests - `Opc.Ua.Core.Schema.Tests` `OpenApi/`: `WebApiOpenApiGeneratorTests` (shape of the document, both levels, both service sets, servers list, sorting and determinism, concurrency, argument and resolver errors, every built-in type, arrays and ranks, enumerations, option sets, unions, base types, self-references, unknown definitions), `WebApiOpenApiConformanceTests`, `WebApiOpenApiWireFormatTests`, `OpenApiBuiltInSchemasTests`: 81 tests. - `Opc.Ua.Bindings.Https.WebApi.Tests`: `WebApiOpenApiDocumentEndpointTests` (TestServer with the startup contributor: off by default, configured path, both levels, service set maps and describes only the sessionless routes, path base, repeated requests, registered generator is used, **a request without credentials gets 401 when an authentication scheme is registered while one with credentials gets 200, the route carries `IAuthorizeData` and no `IAllowAnonymous`**, argument checks), options defaults and DI registration of the generator. - `Opc.Ua.Core.Tests`: `GetRoutes` for both sets and an undefined value. - `Opc.Ua.Aot.Tests`: the generator and a served document under the AOT fixture. - Results (macOS arm64): `Opc.Ua.Core.Schema.Tests` 260/260, `Opc.Ua.Bindings.Https.WebApi.Tests` 457/457, `Opc.Ua.Core.Tests` WebApi tests 110/110, each on net10.0 and net8.0 (Release). `Opc.Ua.Aot.Tests` (JIT run) SchemaAotTests 5/5, WebApiAotTests 8/8. - `Opc.Ua.Core`, `Opc.Ua.Core.Schema` and `Opc.Ua.Bindings.Https` and the three test projects build for net48, net8.0, net9.0 and net10.0 (Release) with 0 warnings and 0 errors (net48 builds only; the Windows legs of the fork CI run its tests). `dotnet format` whitespace, style and analyzers (`--severity info`) are clean on every changed file; the two `RCS1090` hits in `SchemaAotTests.cs` are on lines that master already has. - Patch coverage with `.azurepipelines/check-coverage.ps1` against master (`Opc.Ua.Core.Schema.Tests`, `Opc.Ua.Bindings.Https.WebApi.Tests` and the WebApi tests of `Opc.Ua.Core.Tests`, net10.0): 362/362 changed lines covered. - Fork CI (full matrix incl. macOS) and CodeQL on `f990af5db` (master with #4674 merged in): [CI run 37310622902](https://github.com/biancode/UA-.NETStandard/actions/runs/37310622902) green, [CodeQL run 37310626786](https://github.com/biancode/UA-.NETStandard/actions/runs/37310626786) green. The run on the earlier head `abda0e491` had one failure outside this PR: `McpServerProcessTests.HttpTransportAliasesExposeOnlyMcpRouteAsync("http")` timed out after 30 s on Windows net10.0; this PR does not touch `tools/`. ## Not in this PR - Authentication: the fix discussed in the review is @romanett's #4674. The document route uses whatever the REST routes use; this PR does not change authentication. - `StatusCode` tolerance in the decoder: dropped, the spec text is the reference. The first commit of the previous version is gone. - Samples. - Session-less invocation on the server side (OPC 10000-4 §6.3) is a separate draft PR. With `ServiceSet = Sessionless` this PR only limits the mapped routes and the document. ## Questions 1. `Opc.Ua.Bindings.Https` now references `Opc.Ua.Core.Schema` (net8.0 and later) because the generator lives next to the other schema generators and is trimmed away when unused. Fine, or should it move into `Opc.Ua.Core`? 2. Should `OpenApiIncludeSchemas` default to `false` as here, or should a host get typed clients out of the box? ## Related Issues - Fixes #4656 ## 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. - [ ] I ran **all** tests locally using the **UA.slnx** solution against at least .net **framework** and .net **10**, and all passed. (Affected suites on net10.0 and net8.0 locally on macOS; .NET Framework is covered by the fork CI's Windows net48 legs.) - [ ] I fixed **all** failing and flaky tests in the CI pipelines and **all** CodeQL warnings. - [ ] I have addressed **all** PR feedback received. |
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|
Klaus Landsdorf
|
b0d8ca0d3a |
Server: session-less service invocation (OPC 10000-4 §6.3) with AddSessionlessInvocation (#4659)
Marc answered the five design questions (2026-10-05). This update
implements the answers; see "Design decisions" at the end.
# Description
OPC 10000-4 §6.3 lets a client invoke a subset of the services without
CreateSession/ActivateSession. The request then carries either an Access
Token in `RequestHeader.authenticationToken` or no token at all. The
server today only offers the low-level
`ISessionManager.ValidateSessionLessRequest` event. Without a handler,
every request whose token names no session is answered with
`Bad_SessionIdInvalid`, including a request without a token. That is the
code a client of an expired session expects; for a session-less request,
§6.3.1 has a server that does not support the invocation answer
`Bad_ServiceUnsupported`.
This PR adds built-in session-less invocation behind an opt-in and keeps
the existing event as the way to take over completely.
## Changes
### `AddSessionlessInvocation()`
(`src/Opc.Ua.Server/Hosting/OpcUaServerBuilderExtensions.cs`)
```csharp
services.AddOpcUa()
.AddServer(options => { /* … */ })
.AddSessionlessInvocation(o => o.AllowAnonymous = false) // the default
.AddJwtIssuer(/* … */); // validates the Access Tokens
```
- Registers `SessionlessInvocationOptions`.
`DependencyInjectionStandardServer` applies them to the `SessionManager`
in use, including one created by a registered session manager factory,
unless that manager already has options.
- Without dependency injection: `SessionManager.SessionlessInvocation =
new SessionlessInvocationOptions()`.
- Without either, nothing changes apart from the
`Bad_ServiceUnsupported` answer below.
### `SessionlessInvocationOptions` (new, `src/Opc.Ua.Server/Session/`)
- `AcceptAccessTokens` (default `true`): an Access Token in
`RequestHeader.authenticationToken`, carried as a String NodeId, is
handed to the server's identity registry (`IServerIdentityRegistry`, the
one ActivateSession uses) as an issued JWT token (OPC 10000-6
§7.6.5.2.3). The resulting identity runs the request. §6.3.1 requires an
encrypted channel for the token, so it is only accepted over
SignAndEncrypt or HTTPS.
- `AllowAnonymous` (default `false`): a request without a token runs as
an anonymous user. Without it, such a request is rejected with
`Bad_IdentityTokenInvalid`.
- `MaxConcurrentRequests` (default 64) and
`MaxConcurrentRequestsPerChannel` (default 16): the budget for
session-less requests, see below. Zero does not limit; a negative value
is rejected.
### Budget for session-less requests (`SessionlessRequestBudget`, new,
internal)
#4541 bounds channels and incomplete messages. A session-less request
has no Session to be accounted for, but it occupies a worker and keeps
its channel active. It gets a budget of its own:
- **Two limits**, checked and taken together under one
`System.Threading.Lock`: concurrent requests on the server, and on one
channel. A request refused by the channel limit takes no server-wide
place. The channel is the SecureChannel on opc.tcp. The HTTPS bindings
use one SecureChannel id per listener, so their requests are grouped by
peer address (IPv4-mapped IPv6 addresses count as IPv4).
- **Answer**: `Bad_ServerTooBusy` ("The Server does not have the
resources to process the request at this time."), the code #4541's
request queue uses when it has no room. `Bad_TooManyOperations` means
too many operations in one request, so it does not fit.
- **Lifetime**: the place is taken before the identity is checked, which
also bounds the validations that run at the same time. The lease is
attached to the `OperationContext` and returned when the context is
disposed, which every service does with `using`, however the request
ends (completed, failed, cancelled). A rejected token, a handler error
or exception, and a cancelled validation return it at once. A lease
releases once, however often it is disposed. Channel entries are removed
with their last request.
- **Scope**: it applies to every session-less request on a manager that
has `SessionlessInvocation` set, including requests a
`ValidateSessionLessRequest` handler decides. A handler without
`AddSessionlessInvocation` runs without a limit, as before. Requests
with a Session token and services outside the §6.3.1 set are not
counted.
- The limits are read for each request, so a change of the options
applies to the next request.
### `SessionManager`
- **Service sets:** a request without a session is limited to the
service sets §6.3.1 allows: View (without
RegisterNodes/UnregisterNodes), Attribute, Method, NodeManagement and
Query. Every other service keeps answering `Bad_SessionIdInvalid`.
`IsSessionlessService(RequestType)` is public.
- **Request without a token:** with session-less invocation not enabled
and no `ValidateSessionLessRequest` handler, it is answered with
`Bad_ServiceUnsupported` (§6.3.1). A token that names no session stays
`Bad_SessionIdInvalid`.
- **Precedence:** a registered `ValidateSessionLessRequest` handler
still decides first, unchanged apart from the service-set limit.
`ValidateSessionlessRequestAsync` is `protected virtual` for servers
that need their own rules.
- **Roles:** the identity of a session-less request goes through the
role resolution ActivateSession applies to the effective identity of a
Session (the `ResolveRoles` part of `AddMandatoryRoles`: the
`MustChangePassword` restriction, `IRoleManager.ResolveGrantedRoles`, so
mapped Access Token claims and the built-in AuthenticatedUser role).
This includes an identity a `ValidateSessionLessRequest` handler sets.
There is no client application certificate without a Session, so no
TrustedApplication role and no application-based mapping.
- **Cancellation:** cancelling an Access Token validation propagates as
`OperationCanceledException` so the endpoint maps it to the status of
the request lifetime (previously it became `Bad_UnexpectedError`). The
budget place is still returned.
- **Log:** a rejected Access Token is logged with a dedicated
`[LoggerMessage]` (`ServerEventIds.SessionManager + 18`, the next free
id after #4632).
### Documentation
- `docs/SessionlessInvocation.md` (new, linked from `docs/README.md`):
which services, enabling it, caller identity, the answers without the
feature, the request limits, the handler, calling the server over
opc.tcp and the REST binding.
- `docs/ResourceIsolation.md`: a short section "Requests without a
Session" pointing to the budget.
- `docs/DependencyInjection.md`: `AddSessionlessInvocation` in the
identity extension tables.
## Tests
- `Opc.Ua.Server.Tests/SessionlessInvocationTests` (mocked server
internals):
- `SessionlessRequestIsUnsupportedUnlessEnabled`,
`AnUnknownSessionTokenStaysBadSessionIdInvalid`,
`ServicesOutsideTheSessionlessSetStillNeedASession` (7 services),
`TheServiceSetLimitAppliesBeforeAValidateSessionLessRequestHandler`,
`AValidateSessionLessRequestHandlerTakesPrecedenceAsync`;
-
`SessionlessRequestWithoutIdentityIsRejectedUnlessAnonymousIsAllowedAsync`,
`SessionlessAccessTokenIsValidatedByTheIdentityRegistryAsync`,
`AnAccessTokenNoAuthenticatorHandlesIsRejected`,
`SessionlessAccessTokenRequiresAnEncryptedChannel` (None, Sign),
`SessionlessAccessTokenIsAcceptedOverSignAndEncryptAsync`,
`AccessTokensCanBeDisabled`,
`IsSessionlessServiceFollowsTheServiceSetsOfPartFour` (21 cases),
`ValidateSessionlessRequestRejectsMissingArguments`;
- wiring: `AddSessionlessInvocationRegistersTheConfiguredOptions`,
`AddSessionlessInvocationRejectsANullBuilder`,
`TheHostedServerAppliesTheOptionsToItsSessionManager`,
`TheHostedServerAppliesTheOptionsToAFactoryCreatedSessionManager`,
`TheHostedServerKeepsOptionsTheSessionManagerAlreadyHas`.
- End to end against the reference server,
`Opc.Ua.Sessions.Tests/SessionlessServiceInvocationTests` (opc.tcp,
`SessionClient` on a channel without CreateSession):
- `ReadWithAnAccessTokenNeedsNoSessionAsync` (SignAndEncrypt),
`AnAccessTokenOnAnUnencryptedChannelIsRejectedAsync`,
`ARequestWithoutAnIdentityIsRejectedAsync`,
`SubscriptionsStillNeedASessionAsync`;
- one sample per service set: `ViewServicesRunWithoutASessionAsync`
(Browse, TranslateBrowsePathsToNodeIds),
`AttributeServicesRunWithoutASessionAsync` (Write, HistoryRead),
`MethodServicesRunWithoutASessionAsync` (Call),
`NodeManagementServicesRunWithoutASessionAsync` (AddNodes). They check
that the service runs and reports its operation result, not a missing
session or an internal error, since #4632 hardened only
Browse/BrowseNext against a missing session. Query is not sampled:
`StandardServer` does not implement QueryFirst/QueryNext.
- REST binding,
`HttpsWebApiIntegrationTests.SessionlessReadOverRestRunsWithAnAccessTokenAsync`
(Compact and Verbose): `POST /read` with the Access Token as String
NodeId (`"AuthenticationToken": "s=<token>"`), and the same request
without a token.
- **Budget**, `Opc.Ua.Server.Tests/SessionlessRequestBudgetTests` (22
tests):
- the budget itself: server limit and release, channel limit that takes
nothing from the server, server limit checked first, zero does not
limit, a lease releases once, HTTPS grouped by peer address (IPv4-mapped
form too), 200 concurrent callers against the limits (exactly the limit
granted, none above the channel limit, parallel release leaves zero and
no tracked channel), 16 callers acquiring and releasing in a loop
(high-water mark never above the limit);
- through `SessionManager.ValidateRequestAsync`: `Bad_ServerTooBusy`
over the server and the channel limit, disposing a context twice
releases once, places returned after a rejected Access Token, an
unencrypted channel, a missing identity, a cancelled validation (while
it waits, the place is taken), a handler error and a handler exception;
the budget also limits requests a handler decides, and a handler-only
server has none; requests outside the service set and requests a
disabled server refuses take no place; changed limits apply to the next
request and new options start a new budget;
- options: finite defaults, negative values rejected.
- **Budget end to end**,
`Opc.Ua.Sessions.Tests/SessionlessServiceInvocationTests.SessionlessRequestsRunInABudgetOfTheirOwnAsync`
(opc.tcp, requests held in the Access Token validation): the third
request over a limit of two gets `Bad_ServerTooBusy`; after release,
five sequential reads and five reads of an unknown node (operation
result bad) all pass; a channel limit of one refuses the second request
on that channel while another channel's request is admitted.
`ARequestWithoutATokenIsUnsupportedWhileTheFeatureIsOffAsync`:
`Bad_ServiceUnsupported` for a request without token on a server without
the feature, `Bad_SessionIdInvalid` for a token that names no Session.
- **Fail without the change**: the places-returned tests fail when the
budget does not release on failure (4 of 22 fail with the release in
`SessionManager` removed; the other budget tests use API this change
adds). `SessionlessRequestIsUnsupportedUnlessEnabled` and
`TheServiceSetLimitAppliesBeforeAValidateSessionLessRequestHandler` are
unchanged from the first version.
- **Review follow-up (`e9a35980b`)**:
`SessionlessAccessTokenReceivesTheRolesMappedFromItsClaimsAsync`,
`SessionlessAccessTokenWithoutTheMappedClaimIsNotGrantedTheRoleAsync`,
`AnAnonymousSessionlessRequestIsGrantedTheAnonymousRoleOnlyAsync`,
`TheIdentityOfAValidateSessionLessRequestHandlerReceivesTheMappedRolesAsync`,
`AValidateSessionLessRequestHandlerThatSetsNoIdentityKeepsNoIdentityAsync`;
end to end
`ARoleMappedNodeIsReadWithTheRolesMappedFromTheAccessTokenAsync` (the
ServerDiagnosticsSummary, readable for SecurityAdmin only, is denied for
a token whose claim is not mapped, readable once the rule maps it,
denied for another token) and
`ACancelledAccessTokenValidationAnswersTheTimeoutAndReturnsItsPlaceAsync`.
The anonymous and no-identity tests guard unchanged behavior. With the
`SessionManager.cs` change removed the three claim-mapping tests, the
end-to-end role test (`Bad_UserAccessDenied`), the end-to-end
cancellation test (`Bad_UnexpectedError` instead of `Bad_Timeout`) and
`ACancelledValidationReturnsItsPlaceAsync` fail. Lines of this commit
were not re-measured for patch coverage; the figure below is for
`496f84fce`.
- **`ClientTest`**: the three assertions that accepted
`Bad_ServiceUnsupported` too are back to master (`Bad_SessionIdInvalid`
only), so the PR no longer touches that file. Since #4646 a closed
`Session` refuses a request without authenticationToken itself; the
server code is not reached. The three tests pass with the single code
(12 cases on net10.0).
- Results on macOS: `Opc.Ua.Server.Tests` full run on net10.0 8076
passed / 9 skipped / 1 failed
(`ACancelledValidationReturnsItsPlaceAsync`, which asserted the old
`Bad_UnexpectedError` mapping; updated to the propagated cancellation
and passing); the session-less, SessionManager and role filters 368
passed / 0 failed on net10.0 and on net8.0, and the session-less
invocation and budget tests 73 passed on net10.0 after the last test was
added. `Opc.Ua.Sessions.Tests` with the
HTTPS/WebApi/WSS/OpenApi/Sessionless/ClientTest filter: 400 passed / 241
skipped / 0 failed on net10.0 and on net8.0 (the earlier host-name
failures were an environment issue of the test machine and are gone).
- Builds: `Opc.Ua.Server`, `Opc.Ua.Server.Tests` and
`Opc.Ua.Sessions.Tests` for net48, net8.0, net9.0 and net10.0 and
`Opc.Ua.Server` in Release net10.0: 0 errors, no new warnings (the
CA2213 in `SamplingGroup.cs` and the CA1861/CA2025 in other test files
are on master too).
- `dotnet format` (whitespace, style, analyzers `--severity info`, one
`--include` per changed file): no finding on a changed line. What
remains is on master lines (`SessionManager.cs` 552, 1374, 2205 and
`DependencyInjectionStandardServer.cs` 228) and the line-ending finding
of a macOS checkout.
- Coverage (`.azurepipelines/check-coverage.ps1` against master, only
the session-less tests of `Opc.Ua.Server.Tests` on net10.0): patch
105/116 changed lines (90.5 %). The 11 uncovered lines are Session-bound
lines of `ValidateRequestAsync` and the lockout logger that moved with
the change; the rest of the suite covers them. The project floor is not
meaningful for this subset.
- Fork CI and CodeQL: previous head `0fba9f21d` (master incl. #4674
merged): [CI run
37307824769](https://github.com/biancode/UA-.NETStandard/actions/runs/37307824769)
green (one net48 timing test, `KeepAliveHandlerV2Async`, failed in the
first attempt and passed on the job rerun; the PR does not touch
subscriptions), [CodeQL run
37307829138](https://github.com/biancode/UA-.NETStandard/actions/runs/37307829138)
green. Current head `e9a35980b`: [CI run
37364178979](https://github.com/biancode/UA-.NETStandard/actions/runs/37364178979),
[CodeQL run
37364182697](https://github.com/biancode/UA-.NETStandard/actions/runs/37364182697)
(results pending).
## Design decisions
Marc's answers (2026-10-05) and what the PR does:
1. **Built in** when `AddSessionlessInvocation` was used. Done.
2. **Service-set limit for all paths**: it applies before a
`ValidateSessionLessRequest` handler too. Done, unchanged.
3. **`Bad_ServiceUnsupported`** for a request without a token on a
server without the feature. Done, unchanged. A token that names no
Session stays `Bad_SessionIdInvalid`.
4. **Identity model**: an Access Token in the RequestHeader, validated
as an issued JWT token through the identity registry, anonymous only by
opt-in. Unchanged. The REST authentication is #4674, now in master.
5. **Separate budget** for session-less requests: added, see "Budget for
session-less requests". Open: no limit per identity yet (identities are
claims-defined, so the keys would be unbounded); say if you want one.
## Related Issues
- Fixes #4658
- Relates to #4657 (the REST binding's session-less service set), #4646
(a closed `Session` no longer sends requests without token), #4541
(resource isolation) and #4674 (REST authentication)
## 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.
- [ ] I ran **all** tests locally using the **UA.slnx** solution against
at least .net **framework** and .net **10**, and all passed. (Affected
suites on net10.0 and net8.0 locally on macOS; .NET Framework is covered
by the fork CI's Windows net48 legs.)
- [ ] I fixed **all** failing and flaky tests in the CI pipelines and
**all** CodeQL warnings.
- [ ] I have addressed **all** PR feedback received.
---------
Co-authored-by: Marc Schier <marcschier@users.noreply.github.com>
|
||
|
Klaus Landsdorf
|
b25c1f6ad4 |
Asset Management Basics: the OPC 10000-110 companion SDK (#4662)
# Description Stacked on #4650. Until that is merged, this PR also shows its commits; the six commits of this PR start after `fix(server): keep conformance unit aggregation idempotent and ordered with registrations`. This adds OPC 10000-110 Asset Management Basics 1.01.1 (`http://opcfoundation.org/UA/AMB/`) as a companion SDK, in the pattern of the DI, Machinery, Pumps and Scales packages. The tracking issue #4649 describes the scope, the design and the open questions. In short: | Package | Content | |---|---| | `Opc.Ua.AMB` | the model generated by the source generator from the unmodified NodeSet, plus the contracts server and client share (`AssetFaultSeverity`, `AssetLocationKind`, `MaintenanceStateKind`, `DocumentationLinkProperties`) | | `Opc.Ua.AMB.Server` | a sidecar node manager next to the owner of the Device Integration address space (`AddOpcUaDi`, `AddMachinery`, `AddPumps` or `AddScales`), the asset registry `IAssetManagement` with a fluent builder, `AddAssetManagement()` hosting, memory and file system stores, the AMB conformance units and server facet | | `Opc.Ua.AMB.Client` | `AmbClient`: discovery, identification, health alarm and maintenance streams, documentation links, locations, structure and snapshots, plus `AddAssetManagementClient()` | **Sidecar.** An asset stays in the node manager that owns it. Everything AMB adds to it (`DeviceHealth`, health alarms, maintenance conditions, the DocumentationLinks AddIn, AssetId and the other properties) is created there. The AMB node manager serves the AMB model, the alias categories `Assets`, `AssetsByProductInstanceUri` and `AssetsByAssetId` below `0:Aliases`, the location hierarchies below `0:Locations` and the server-specific alarm and condition types. Owners register assets with the shared registry from their setup, in either startup order. **Implemented conformance units** (Table 54): Asset Identification, Configurable Asset Identification, Discovery by ProductInstanceUri and by AssetId, Health Status Base, Alarms, Root Causes and Alarm Categories, Version Information, Operation Counters (inspected only; AMB defines no counters), DocumentationLinks Base, Edit Base and Edit Advanced, Requirements, Capabilities, Classification, Current and Future Maintenance Activities, Local Time, the three location properties and both location object hierarchies, Sub-assets and Asset relations. The two history units (Health Tracking, Past Maintenance Activities) are not part of this PR. `docs/AMB.md` has the matrix with the rule the server applies for each unit and whether a test checks it over a session. **Dependency on #4650.** The health alarms and maintenance conditions are created through `CreateAlarm<TState>`, and the conformance units follow the registered assets through the recomputation in `ConformanceUnitsManager`. ## Changes Six commits, each building on its own: 1. **`feat(amb)`: model package** (`src/Opc.Ua.AMB/`, about 2.4k lines, of which the NodeSet and the two identifier tables are 1.6k). - The NodeSet is the publication from `UA-Nodeset/latest/AMB`, byte for byte (git blob `21f9475b646e9c5508171277ffe5b74edbeb0a58`). `.gitattributes` checks it out with LF endings, because a test pins its SHA-256. - The published identifier table is vendored unchanged; a derived table pins the symbol-to-NodeId mapping, and the generator fails the build when they disagree. `tools/nodesets/README.md` documents the one new kind of renamed symbol (top-level instances below `0:Aliases` and `0:Locations`). 2. **`feat(amb)`: server package** (`src/Opc.Ua.AMB.Server/`, about 10.7k lines). Node manager, registry and builders, discovery, health, maintenance (`MaintenanceEventStateMachine` with all transitions), documentation links, locations, version information, classification (IRDI dictionary entries below `Server/Dictionaries`) and structure, stores, conformance evaluation, hosting. Log messages use the EventId block 8300 to 8379, after Pumps (8100) and Scales (8200). 3. **`feat(amb)`: client package** (`src/Opc.Ua.AMB.Client/`, about 3.0k lines). Calls AddLink and RemoveLink through the generated `DocumentationLinksTypeClient`. 4. **`test(amb)`: test suite** (`tests/Opc.Ua.AMB.Tests/`, 163 tests, about 8.8k lines; commit 6 adds one more). 5. **`docs(amb)`: guide and samples**: `docs/AMB.md`, links from `README.md`, `docs/README.md`, `docs/Samples.md` and `docs/AliasNames.md`; `samples/AMB/AmbServer` (AMB next to `AddMachinery`: two DI devices and a Machinery press as assets, with a simulation) and `samples/AMB/AmbClient`. The sample server listens on 62553, which no other sample uses. 6. **`feat(amb)`: tell the links users added from the links of the manufacturer.** OPC 10000-110 gives a client no way to see which links `RemoveLink` accepts (§10.5.4: only those `AddLink` created). As §10.5.1 lets vendors add metadata Properties to the links, the server gives every link `AddLink` created, and every such link restored after a restart, the `Boolean` Property `UserLink` (`true`), qualified with its namespace of server-specific types, with a NodeId derived from the persisted link identifier; declared links carry none, and `RemoveLink` deletes it with the link. `DocumentationLinkRecord` gets the additive `IsUserLink`, which `ReadDocumentationLinksAsync` fills with one Browse over all links and one Read of the markers found (comparing the name only, as the namespace is configurable; `false` for a server that does not mark links). The name is shared as `DocumentationLinkProperties.UserLink`. `UA.slnx` and `.azurepipelines/expected-packages.txt` get the new projects and packages in the commit that adds them. All projects target `net48;net8.0;net9.0;net10.0` through the repository properties (`LibTargetFrameworks`, `TestsTargetFrameworks`, `AppTargetFrameworks`); `IsAotCompatible` and `PublishAot` are set from net10.0 on, as in the other companion projects. ## Tests - **`Opc.Ua.AMB.Tests`: 164 tests**, most of them against a hosted server over real client sessions: - the model: the SHA-256 of the NodeSet and the generator behaviours AMB is the first companion model to rely on; - each building block in-process and over a session: discovery through every category with NodeVersion and model change events, AssetId writes, health alarms and maintenance activities through all transitions with acknowledgement, AddLink and RemoveLink, locations and structure, the advertised conformance units and the facet; - a restart with the file system stores (links and AssetId survive); - the `UserLink` marker: present on an added link only, the same NodeId after a restart, removed with `RemoveLink`, and `IsUserLink` on the client in the snapshot, after `AddLink`, after a restart and after `RemoveLink`; - composition with `AddOpcUaDi` (both startup orders), `AddPumps` and `AddMachinery`; - `AmbClient` end to end against a hosted server, including a Machinery machine as an asset. - **Results (macOS, local):** 164 passed / 0 failed on net10.0 and on net8.0. .NET Framework is covered by the fork CI's Windows legs. - **Coverage** of the three AMB assemblies (coverlet with `tests/coverlet.runsettings.xml`, net10.0, generated `*.g.cs`, `*TypeClient` proxies and `*Log` classes excluded): lines 93.9 % (4890 of 5206), branches 84.0 % (1294 of 1539); model 100 %, client 94.5 %, server 93.4 %. - **Build:** the three packages, the tests and the two samples build without warnings for net48, net8.0, net9.0 and net10.0; `UA.slnx` builds in Release (its warnings are all in files this PR does not touch, as on master). `dotnet format` (whitespace, style, analyzers with `--severity info`) reports nothing on the 95 changed C# files. - **Samples:** `AmbServer` and `AmbClient` ran against each other on net10.0: the client discovered the three assets, printed their snapshots and the location hierarchies, added and removed a documentation link and streamed alarms and maintenance. - Fork CI (full matrix incl. macOS) and CodeQL: green on the same five package commits before the rebase onto the current #4650 head — [CI run 37144486107](https://github.com/biancode/UA-.NETStandard/actions/runs/37144486107), [CodeQL run 37144487873](https://github.com/biancode/UA-.NETStandard/actions/runs/37144487873). The run on the current head (rebased, plus the user-link commit; AMB tests 164/164 locally on net10.0) is in progress: [CI run 37203517457](https://github.com/biancode/UA-.NETStandard/actions/runs/37203517457). ## Notes for review - **Size.** About 26.8k lines, larger than each of the companion PRs #4577 to #4580. Without changes to the code it splits into the model, server and server tests, and the client, end-to-end tests, samples and docs on top; the issue asks which you prefer. - **Interfaces on types.** §9.4.1 and §12.1 ask for alarm and condition types that implement `IRootCauseIndicationType` and `IMaintenanceEventType`. The server creates subtypes of the DI alarm types in its own type namespace (`urn:opcua-netstandard:amb:types`); `UseServerDefinedAlarmTypes = false` uses `HasInterface` on the instance instead, and then does not report the units that need the type-level interfaces. - **Conformance unit names** follow Tables 54 to 56; the profile database has no AMB entries yet. The QualifiedNames are in namespace 0, as DI and Machinery publish theirs (question 5 in the issue). - **Generator gap.** Children a NodeSet gives to a top-level instance (here the `NodeVersion` properties of the alias categories) get no identifier constants. The fix changes the identifiers of other generated models, the reference server's among them, so it is not part of this PR; `AmbModelTests.NodeVersionHasNoIdentifierConstant` records it and fails once the generator emits the constants. - **net48.** The code that the SDK so far only built for .NET 8 and later uses the `NET5_0_OR_GREATER` pattern of `JsonEncoder` for `Enum.IsDefined` and API forms that .NET Framework has (`string.Format`, `Guid.ToString(format, provider)`); the tests use a small async file helper instead of `File.WriteAllTextAsync`. - **User links.** The `UserLink` Property is metadata of this server, not an AMB name: commit 6 explains why and how a client uses it. Changed lines of that commit covered: 69/70 (the one line left is the loop continuation for a link that has other Properties but no marker). - **Known limitations** are listed in the guide: the `DeviceHealth` SourceTimestamp across a restart, removing optional maintenance members once set, `PatchIdentifiers`, locations only at the deepest level, and the history units. ## Related Issues - Part of #4649 - Stacked on #4650 ## 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. - [ ] I ran **all** tests locally using the **UA.slnx** solution against at least .net **framework** and .net **10**, and all passed. (The AMB suite on net10.0 and net8.0 locally on macOS; .NET Framework is covered by the fork CI's Windows net48 legs.) - [ ] I fixed **all** failing and flaky tests in the CI pipelines and **all** CodeQL warnings. - [ ] I have addressed **all** PR feedback received. --------- Co-authored-by: Marc Schier <marcschier@users.noreply.github.com> |
||
|
Klaus Landsdorf
|
dadd609ec0 |
Scales: the OPC 40200 companion SDK with the OPC 30050 PackML model (#4580)
> Tracking issue #4576. #4577, #4578 and #4579 are merged, so this branch is > rebased onto `master` and contains only the Scales and PackML commits. ## Summary Last of the four PRs of #4576. Adds OPC 40200 Weighing Technology 2.00 as a model package plus a server and a client SDK, and the OPC 30050 PackML model it composes. | Package | Content | |---|---| | `Opc.Ua.PackML` | OPC 30050 PackML 1.01, plus `PackMLStateMachineController`, which drives a base state machine together with its nested machine and execute state machines (activation and deactivation of the sub-state machines, the PackML methods with an `Executable` attribute that follows the state, acting states left automatically or by the equipment) | | `Opc.Ua.Scales` | OPC 40200 2.00 (`http://opcfoundation.org/UA/Scales/V2/`), generated from the unmodified UA-Nodeset publication, plus the contracts client and server share | | `Opc.Ua.Scales.Server` | `AddScales()` / `ConfigureScales(...)`; all fourteen scale kinds and scale systems below `DeviceSet` and `Machines`; a runtime that does the weighing arithmetic (ranges, rounding to d or e, zero band, overload/underload, zero, tare, preset tare, registration), production presets with DI locking, statistics, recipes and recipe files, Annex C events and alarms over a `HasNotifier` hierarchy, and the methods of every scale type | | `Opc.Ua.Scales.Client` | discovery, weight reads and streaming, zero/tare/register, products, PackML state and commands, type-specific methods, events and alarms, snapshots | `docs/Scales.md` includes a conformance matrix against the 21 OPC 40200 server facets with test evidence, the places where the specification and the NodeSet disagree, and known limitations. ## Review follow-ups Separate commits after the docs/samples commit, each with a test that fails without it where the defect can be observed. - Copilot review: `CurrentProductsChanged` fires only when the set of current products changes; the new public collection APIs (`ScalesServerOptions.AdditionalNamespaceUris`, `ScaleNamespaceIndices.SearchOrder`, `ScalesModel.AllKinds`) are `ArrayOf<T>`. - Own review with the rubric in `.github/copilot-instructions.md`: - PackML raises `StateChanged` after its lock is released (queued, in order), reads `StartParameters` under the lock, and reports the handler's status when an acting state cannot complete. - Scales: concurrent first creations share one runtime (the lock service refused a second attach); two creations of the same name cannot both publish; a removed product id stays reserved until its node is gone; the zone, target-count and vehicle handlers change products under the preset lock; the product factory and `configure` delegate run outside it; the recipe upload reads `ActiveRecipe` under the lock; resetting the statistics also resets the tolerance percentage. - The client lets a failed browse call propagate instead of reading it as "no children". ## Testing - `tests/Opc.Ua.Scales.Tests`: 115 tests on net8 and net10 and with the netstandard2.1 libraries, including the PackML runtime; the client/server tests connect a real session over `opc.tcp` to a hosted `ScalesNodeManager`. - `UA.slnx` builds for net472, net48, netstandard2.0/2.1 and net8/9/10 with SDK 10.0.401 and no new warnings. - Changed-line coverage of this layer (`check-coverage.ps1`): 94.59 % (4585 of 4847 changed lines, against `master`). - Fork CI, full PR matrix incl. macOS: in progress, [run 36676067489](https://github.com/biancode/UA-.NETStandard/actions/runs/36676067489); CodeQL: in progress, [run 36676070427](https://github.com/biancode/UA-.NETStandard/actions/runs/36676070427). - On the current `master` (with Pumps merged), `UA.slnx` builds for every target framework and the Scales and Pumps tests pass. - Beyond the in-repo tests the implementation has been validated end to end against a separate, non-public OPC UA client and server. ## Reviewing Commits: PackML → Scales model → server → client → tests → docs and samples → review follow-ups. |
||
|
Klaus Landsdorf
|
281596a24d |
Pumps: the OPC 40223 companion SDK (#4579)
> Tracking issue #4576. #4577 and #4578 are merged, so this branch is rebased > onto `master` and contains only the Pumps commits. ## Summary Third of four stacked PRs. Adds OPC 40223 Pumps and Vacuum Pumps as a model package plus a server and a client SDK, over the Machinery and DI packages. | Package | Content | |---|---| | `Opc.Ua.Pumps` | OPC 40223 1.0.0, generated from the unmodified UA-Nodeset publication, plus the snapshot contracts both sides share (`PumpNameplate`, `PumpConfigurationData`, `PumpOperationalData`, `PumpMaintenanceData`, `PumpSupervisionStatus`, `PumpPortDescriptor`, `MultiPumpConfiguration`, gathered into `PumpSnapshot`) | | `Opc.Ua.Pumps.Server` | `AddPumps()` / `ConfigurePumps(...)`; `PumpsNodeManager : DiNodeManager` places each pump below `DeviceSet` and organizes it into the Machinery `Machines` folder; browse-name-addressed builders reach all ~3000 optional children without a method per child and create them through the model's own `CreateChild` | | `Opc.Ua.Pumps.Client` | discovery in both places (de-duplicated, vendor subtypes included), a reader per `PumpType` group, whole-pump snapshots; the open groups come back as a `PumpValueSet` keyed by the generated `BrowseNames` | The model requires Machinery 1.0.0 and DI 1.02.2 and resolves against the newer Machinery 1.04.1 and DI packages in this repository, since a `RequiredModel` version is a lower bound. The OPC 40223 NodeSet is large, so the model commit is too; the hand-written code starts at the server commit. `samples/DI/PumpDeviceIntegrationServer` is left as it is: its local NodeSet copies are also fixtures of `Opc.Ua.Types.Tests` and `Opc.Ua.WotCon.Tests`. Moving it onto these packages would be a separate follow-up (see #4576). ## Review follow-ups Separate commits after the docs/samples commit, each with a test that fails without it. - Copilot review: `PumpValue.AsStringArray` and `PumpValueSet.Names` return `ArrayOf<string>` with its null sentinel instead of `Nullable<ArrayOf<string>>`; the `PumpBuilder` uses `Variant.Null`. - Own review with the rubric in `.github/copilot-instructions.md`: pump creation is serialized from the duplicate check to the registration, so two concurrent calls with the same name no longer both add a pump; the client lets a failed browse call propagate instead of reading it as "no children"; the `ReadSupervisionAsync` docs say which read options apply. ## Testing - `tests/Opc.Ua.Pumps.Tests`: 73 tests on net8 and net10 and with the netstandard2.1 libraries; the client/server tests connect a real session over `opc.tcp` to a hosted `PumpsNodeManager`. - `UA.slnx` builds for net472, net48, netstandard2.0/2.1 and net8/9/10 with SDK 10.0.401 and no warnings. - Changed-line coverage of this layer (`check-coverage.ps1`): 97.30 % (1550 of 1593 changed lines, against `master`). - Fork CI, full PR matrix incl. macOS: green, all 184 jobs ([run 36622243774](https://github.com/biancode/UA-.NETStandard/actions/runs/36622243774)); CodeQL: green ([run 36622248255](https://github.com/biancode/UA-.NETStandard/actions/runs/36622248255)). - Together with the other layer (Pumps and Scales merged on top of Machinery), built for every target framework and tested on net8, net10 and with the netstandard2.1 libraries, with the samples published. - Beyond the in-repo tests the implementation has been validated end to end against a separate, non-public OPC UA client and server. ## Reviewing Commits: model package → server → client → tests → docs and samples → review follow-ups. |
||
|
Klaus Landsdorf
|
01d6b5d26c |
Machinery: the OPC 40001 companion SDK with Jobs, Result Transfer, Process Values and Energy (#4578)
> Tracking issue #4576. #4577 is merged, so this branch is rebased onto > `master` and contains only the Machinery commits. ## Summary Second of four stacked PRs. Adds the OPC UA for Machinery series as model packages plus a server and a client SDK, following the companion pattern of DI and Robotics, and the two models it depends on that the repository does not carry yet. | Package | Content | |---|---| | `Opc.Ua.IA` | OPC 10000-200 IA 1.01.4, **moved out of `Opc.Ua.Robotics`** (see below) | | `Opc.Ua.ECM` | OPC 34100 Energy Consumption Management 1.0.1 | | `Opc.Ua.PADIM` | OPC 30081 PA-DIM 1.02.0 with the IRDI dictionary | | `Opc.Ua.Machinery` | OPC 40001-1 Basic Building Blocks 1.04.1 | | `Opc.Ua.Machinery.ProcessValues` | OPC 40001-2 Process Values 1.00.0 | | `Opc.Ua.Machinery.Jobs` | OPC 40001-3 Job Management 1.0.1 | | `Opc.Ua.Machinery.Energy` | OPC 40001-4 Energy 1.00 | | `Opc.Ua.Machinery.Result` | OPC 40001-101 Result Transfer 1.01.0 | | `Opc.Ua.Machinery.Server` | `AddMachinery()` / `ConfigureMachinery(...)`, fluent machine builder, server-driven state machines, process values, job management over the shared ISA-95 V2 binder, energy, result management incl. `GenerateFileForRead` | | `Opc.Ua.Machinery.Client` | machine discovery, identification, state observation, process values, job and result access | OPC 40001-101 `ResultTransferType` redeclares `GenerateFileForRead` with its own arguments; the generator fix for such overrides, merged with #4577, is what makes it appear on the `ResultTransfer` instances. All NodeSets are byte-identical to `UA-Nodeset/latest`. Each model carries a pinned `Model/*.NodeIds.csv` the generator validates, next to the unmodified upstream table; `tools/nodesets/derive-identifier-table.py` derives the former from the latter. ## Changes to existing code - **IA moves out of Robotics.** Machinery needs IA as well (OPC 40001-1 types `Stacklight` with `BasicStacklightType`), and two assemblies generating the same model under the same prefix collide at any consumer referencing both. The NodeSet moves verbatim, so no generated type changes; the prefix stays `Opc.Ua.IA`. Source-compatible, but IA types now live in `Opc.Ua.IA.dll` rather than `Opc.Ua.Robotics.dll` — binary-breaking for consumers of the Robotics package. - **`samples/OpenUsd/GeneratorServer`** drops its hand-reduced Machinery NodeSet copy and the script that produced it (a workaround for the generator defect fixed by #4577) and references `Opc.Ua.Machinery` instead. - `README.md` and `docs/README.md` list the new models; the README also corrects the Industrial Automation entry (Part 200, not OPC 40001-1). ## Review follow-ups Separate commits after the docs/samples commit, so the reviewed state stays comparable. Each fix comes with a test that fails without it. - Copilot review: a transition is committed only while the state machine is still in its source state; optional Jobs/Result namespaces the server does not load are reported as absent, as documented; resources of registered machines (result transfer, job-management change pumps) are released with the node manager (`DisposeMachineryResourcesAsync` for a custom DI manager); `NodeId`/`LocalizedText` use their null sentinels instead of `Nullable<T>`. - Own review with the rubric in `.github/copilot-instructions.md`: a failed browse call propagates from the client instead of reading as "no children"; the predefined result metadata compares `CreationTime` against the `DateTimeUtc` sentinels (the `DateTime` conversion shifted `DateTime.MaxValue` by the host's UTC offset); process values below `Monitoring` are found; a second metering point named `Main` is rejected; the zero-point event is reported when the handler throws; smaller state-sharing and documentation corrections. ## Testing - `tests/Opc.Ua.Machinery.Tests`: 162 tests on net8 and net10 and with the netstandard2.1 libraries; the integration tests connect a real client session over `opc.tcp` to a hosted server. - With IA extracted: Robotics 636, OpenUsd 921, DI 433 and SourceGeneration 263 tests pass. - `UA.slnx` builds for net472, net48, netstandard2.0/2.1 and net8/9/10 with SDK 10.0.401 and no warnings. - Changed-line coverage of this layer (`check-coverage.ps1`): 91.68 % (6059 of 6609 changed lines, against `master`). - Fork CI, full PR matrix incl. macOS, on the current master: green, all 184 jobs ([run 36582685653](https://github.com/biancode/UA-.NETStandard/actions/runs/36582685653)). CodeQL: green ([run 36582689589](https://github.com/biancode/UA-.NETStandard/actions/runs/36582689589)). - Beyond the in-repo tests the implementation has been validated end to end against a separate, non-public OPC UA client and server. ## Reviewing Commits are ordered so each builds: IA extraction → identifier-table tool → ECM/PA-DIM → Machinery models → server → client → tests → docs/samples → GeneratorServer sample → review follow-ups. The model commits are large only because of the NodeSets and identifier tables; the hand-written code starts at the server commit. --------- Co-authored-by: Marc Schier <marcschier@users.noreply.github.com> |
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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>
|
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|
Marc Schier
|
f9892020a3 |
Add configurable server resource isolation (#4541)
# Description Add configurable server resource isolation on top of the merged #4522 foundation. - Coordinate connection, handshake, retained-message, session-establishment, queue, execution, request-cost and parked-request limits through one server-scoped provider. - Keep configured startup, continuity/reconnect, control and trusted-owner reservations inside existing totals. Shared capacity remains usable up to explicit owner ceilings. - Use authoritative Session membership for reassembly continuity capacity without granting unrelated resource or rate privileges. Preserve explicit owner mappings and bounded tracking. - Cache immutable classification evidence while retaining current Session and classifier checks. - Support weighted request ordering or FIFO independently of resource accounting. Installed providers enforce decoded-request limits in both modes. - Preserve fail-fast reassembly, valid Abort handling, fixed deadlines, active-work protection, reverse-connect handoff and bounded OpenAPI processing. - Support custom-handler parking through `IRequestParkingPolicy`, `WithRequestParking(...)`, and `RequestLifetime.ParkSink`. Parking releases execution capacity only, keeping retained-data and parked charges until completion. Built-in Publish and the global opt-out remain unchanged. - Provide direct, fluent and DI configuration, public incoming-request parking support, effective startup limit logs and user-facing documentation. Balanced remains the default. SharedOnly without an explicit provider retains shared behavior for intentionally incompatible/unlimited configurations. Reservations are finite and are not one full-message allowance per Session. ## Related Issues Builds on merged #4522. Fixes #4554. ## Review and CI corrections All three previously missed findings in [review 5326734718](https://github.com/OPCFoundation/UA-.NETStandard/pull/4541#pullrequestreview-5326734718) are addressed in `9e25e4ecc`: 1. A custom FIFO provider receives RequestQueue, RequestQueueBytes, RequestExecution and ParkedRequest accounting. A blocked head cannot be overtaken. 2. `IResourceIsolationReassemblyProvider` replaces the sessionless threshold independently of `UseFairScheduling`. The aggregate byte ceiling remains enforced. 3. Runtime `ReservedReassemblyBytes` includes all configured protected stage floors, including ControlReserved. The review's two already-resolved changes remain intact. The CI collection race was fixed at its source in `e1a994a4b`: `ArrayOf.ToArrayOf` treats a separately read collection count as an initial capacity hint and grows/trims for the actual enumeration. Deterministic tests cover growth, shrinkage and stale-zero counts. The subsequent recovery-test race was fixed in `05753ce77`: fake time advances only after a gated keepalive response has been processed and reset its timer, not merely after request arrival. Recovery-order and timeout assertions remain intact, with additional response-state assertions. Instrumentation reproduced the original failure twice; both fixed variants passed 400 executions per framework. CodeQL alert 388 was verified and dismissed as a false positive. Startup logs contain aggregate numeric capacities, not credentials or caller identities. ## Validation | Scope | Result | | --- | --- | | Latest automated checks at `05753ce7775a58801b4ba9d8f6d7781b709d0b89` | 167 successful, one package-publication check skipped, no failures | | Remaining external prerequisite | `license/cla` pending: Contributor License Agreement is not signed yet | | FIFO/weighted queues, custom parking and server-channel selection | 175 passed on each net10.0/net48 | | Isolation, configuration and parking-hosting selection | 259 passed net10.0; 257 passed net48 | | ArrayOf conversion tests | 73 passed on each net10.0/net48 | | Recovery-audit and keepalive fixtures | 40 passed on each net10.0/net48 | | NativeAOT smoke from preceding updates | Published and executed successfully | No tests, assertions, coverage thresholds, or required checks were weakened. The remaining CLA prerequisite must be completed through [CLA Assistant](https://cla-assistant.io/OPCFoundation/UA-.NETStandard?pullRequest=4541). This is not CTT certification or an unconditional network-DDoS, whole-process-memory or fleet-wide guarantee. ## 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. - [ ] 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. - [x] I fixed **all** failing and flaky tests in the CI pipelines and **all** CodeQL warnings. - [x] I have addressed **all** PR feedback received. --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: marcschier <11168470+marcschier@users.noreply.github.com> |
||
|
Marc Schier
|
57c0a32ed4 |
Fix incomplete-message buffering and channel cleanup (#4522)
# Description Fix incomplete-message buffering, channel cleanup, session resource accounting, and enforcement of existing transport admission settings. - Share a targeted `ChunkReassemblyBudget` across server listeners. The reference default is 64 MiB, with a 32 MiB global occupancy threshold for sessionless intermediate chunks. This is priority headroom for activated sessions, not a guaranteed bootstrap partition. Single/final chunks and unrelated response/client buffers remain outside this budget. - Retain precise incoming/final payload quotas, valid Abort handling without channel teardown, terminal late-final rejection, and exactly-once buffer/reservation cleanup. - Use one assembly timer per quota/clock scope, asynchronous cleanup, a fixed deadline, a 30-second fallback for non-positive lifetimes, and best-effort ERR `BadTimeout` before closure. - Apply negotiated TCP/WebSocket/Pipe receive limits and size pipe rentals to actual chunks. - Add the optional `ISessionBindingProvider` and immutable `SessionBindingContext` seam. Managed membership counts distinct committed sessions, not responses, and handles reactivation, transfer, closure, expiry, restoration and shutdown. Read-only snapshots require token/channel/security validation and never replace service authorization. - Wire default and explicitly injected binding providers through raw TCP, Kestrel and UACP WebSockets; preserve existing callback/manager interfaces and direct construction. - Enforce existing `ConnectionRateLimiter` and channel capacity settings on Kestrel TCP and UACP WebSocket admission, with physical-transport leases surviving reverse handoff and releasing on cancellation, close, failed attachment and stop. HTTP/JSON requests are not treated as UASC channels. - Add regression coverage and documentation. Stabilize the CI cancellation test by waiting for the resolver to enter before canceling. This is the foundation only. New Balanced/FairShare/TrustedReservations policies, tenant isolation and guaranteed bootstrap reserves belong in the separate stacked follow-up, not this PR. ## Related Issues Fixes #4521. ## Validation | Scope | Result | | --- | --- | | Core transport, budget, binding-context and DI tests, net10.0 | 717 passed | | Core transport, budget, binding-context and DI tests, net48 | 664 passed, 6 platform-specific skips | | Session bindings, transfer/security/expiry/restore and hosted DI, net10.0 | 69 passed | | Same focused Server suite, net48 | 69 passed | | ServerRedundancyHandlerTests, Release/net48 | 39 passed | | ConsoleReferenceServer net10.0 | Build succeeded, zero warnings/errors | | Server and HTTPS binding netstandard2.1 | Both builds succeeded, zero warnings/errors | The new admission fixtures also passed five repeated runs after correcting asynchronous connection-context disposal. Full-solution validation, coverage comparison and CI for this update remain pending. ## 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. - [ ] 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. - [ ] I have addressed **all** PR feedback received. |
||
|
Marc Schier
|
e9313ef957 |
Only use GitHub action for CI and nightly, establish release-branch-only package publication (#4513)
## Description Two related changes to how the 2.0 line is built and shipped. ### 1. Release-branch-only package publication - `master` produces development previews only. - Stable packages can only be built from a canonical `release/<major>.<minor>` branch and are promoted manually from the exact signed candidate artifact. - Core packages use explicit `major.minor.patch` versions (`2.0.0`, `2.0.1`, then `2.1.0`); git height never changes a stable package patch. - XRegistry, WoT Connectivity, Vision, Robotics, Redundancy, Positioning, OpenUSD, ISA95, AI, DI, the relevant MCP extensions, and OpenUSD connector tools remain `-preview.N` while following the core numeric version. - nuget.org receives only non-`.Debug` package IDs; GitHub Packages retains the complete signed Release/Debug candidate. - `docs/ReleaseProcess.md` is a reproducible runbook for developers and agents, with each step stating its completion evidence. Promotion is source-bound and byte-checked: `release.yml` checks out nothing until the candidate SHA is known, and `assert-published-packages-match.ps1` proves that any version already on a feed holds *this* candidate's content before `--skip-duplicate` is allowed to skip it. Canonical release-branch naming is matched case-sensitively with no leading zeroes, and `version.json`'s `publicReleaseRefSpec`, both policy helpers and the copy `release.yml` inlines are pinned to one expression by tests. ### 2. PR CI moved to GitHub-hosted runners - `.github/workflows/buildandtest.yml` (**CI**) now owns pull-request validation outright, covering the Windows Debug/Release net48 + net10.0 solution builds and fast tests that only Azure Pipelines ran, alongside the existing Linux/macOS, all-target and NativeAOT legs. `build-and-test summary` remains the stable required check name. - `.github/workflows/nightly.yml` is a new **manual-only** (`workflow_dispatch`) full-scope workflow covering the Azure nightly workload: all solutions x seven target profiles x Debug/Release, the net472/netstandard profiles, Windows + Linux NativeAOT, and the long-running and durable tiers. - Shared deterministic discovery/batching lives in `.github/scripts/get-ci-matrix.ps1` with a local composite action, so both entry points expand the same workload manifest instead of duplicating a large embedded script. - `azure-pipelines.yml` is set to `pr: none`. - The standalone pump sample image workflow is folded into the consolidated **Images CI** workflow, which now builds all ten images and publishes an `images summary` rollup suitable as a required check. ## Related Issues No related issue provided. ## 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. ## Validation - `Opc.Ua.Tools.Tests` full `net10.0` suite: **959 passed, 1 skipped, 0 failed**. - Version/package-policy regression subset (`PackageVersionPolicyTests`): **60 passed, 0 failed**. - GitHub Actions **CI** run 35719807620: **149/149 jobs green** on GitHub-hosted runners. - Canonical release-branch rule verified against the pinned nbgv 3.7.115 by building throwaway branches: `release/2.0`, `release/0.9`, `release/10.42` -> `PublicRelease=True`; `release/02.0`, `release/2.00`, `Release/2.0` -> `False`. - Package identity gate verified against a live nuget.org package: served packages carry a repository `.signature.p7s`, so equality is decided on content excluding that part. Re-signing and zip reordering produce an identical digest; a one-byte content change does not. - Synthetic Release-only, Debug-only, combined, preview, duplicate, orphaned-symbol, mismatched-root and accidental-stable-family package sets exercise the shared validator. - Stable-release rehearsal in an isolated `release/2.0` clone: `Opc.Ua.Di` packed as `2.0.0-preview.6` depending on stable Core `2.0.0`; `Opc.Ua.Di.Client` likewise against stable Client `2.0.0`. - All workflow YAML, `version.json`, the package-policy PowerShell scripts and the internal release-runbook anchors parse. ## Known validation limits - Full `UA.slnx` `net48` and `net10.0` local validation remains blocked by pre-existing `NETSDK1005` and dependency-version failures in unmodified fuzz/sample projects; the corresponding checklist items intentionally stay open. - The TRX-driven test verdict added for the intermittent at-exit host stall is proven by `CiTestVerdictTests`; the stall itself has not recurred since. - `nightly.yml` has not yet been run against a full-scope Azure run for tuple-level parity — see below. ## Operational follow-up This remains a preparation PR targeting `master`. It does **not** authorize a release. Release sequence: 1. Merge this PR. 2. Create canonical `release/2.0`, advance `master` to `2.1.0-preview.{height}`, and open a separate `2.0.0` version PR against `release/2.0`. 3. Follow [`docs/ReleaseProcess.md`](https://github.com/OPCFoundation/UA-.NETStandard/blob/master/docs/ReleaseProcess.md) for candidate dry-run, environment approval, promotion, tag/release finalization, and next-patch preview setup. CI migration steps still needing administrator access are tracked in [`docs/DeveloperGuide.md#migration-status`](https://github.com/OPCFoundation/UA-.NETStandard/blob/master/docs/DeveloperGuide.md#migration-status): proving `nightly.yml` parity on a trusted SHA with the private fuzz corpus provisioned, turning off definition 14's service-side PR override, retiring the Azure full-scope schedules and push trigger, and retiring the duplicate `azure-pipelines-preview.yml` publisher. > **Before cutting `release/2.0`:** the `Release` ruleset requires the Azure context for *every* `refs/heads/release/*`, but a new 2.x branch inherits `pr: none`, so that context would never report and would block every PR into the new line. Exclude the new ref from that ruleset, or add a 2.x ruleset requiring `build-and-test summary`, as part of creating the branch. --------- Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com> |
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|
Marc Schier
|
4633aa7a34 |
Harden HA address-space hydration and replica-consistent NodeIds (#4445)
# Description Follow-up to #4390 for distributed address-space ownership, authoritative hydration, and replica-consistent wire NodeIds. Tracks #4444. Identity implementation: `a78d59067` (Server policy/lifecycle/adapter seam) and `07faf5cfd` (replica identity module, runtime wiring, examples and proofs). ## Replica identity - `UseReplicaNodeIdentity` / `ReplicaNodeIdFactory` reserve fixed shared namespace indexes before node-manager construction and reuse `DefaultNodeIdFactory`. ApplicationUri and built-in diagnostics/configuration remain local. - Replicated startup requires an explicit identity contract. Namespace layout, deterministic mode, replica-set identity and writer policy must agree. Standard factory views, replacement and registration preserve the policy. - Active/passive writer-assigned identities are replicated unchanged. Independent creation requires stable keys or explicit IDs. Live IDs and retained tombstones are reserved before writer allocation; no network/storage call runs in `New`. - Protected store descriptors use strong routing, including customized hybrid prefixes. Unknown legacy state and empty eventual scans cannot authorize automatic adoption. Verified-new hybrid provisioning is explicit. - Active/active frames compare the descriptor before CRDT merge. Rejected frames are not reported as applied; incompatible admission remains at ServiceLevel 0 through the standard service-level wiring. - Shared metadata validation covers type definitions, data types, references, permissions, NodeId/ExpandedNodeId/QualifiedName values, arrays/matrices, DataValues and encodeable structures/arguments, without reflection. - Runtime preparation hydrates retained IDs before replacement routes publish. Rebinding keeps the existing store/election or gossip transport/map and attaches to the new node-manager sources. Normal node-manager mutations, including AddNodes, reach the cached local-address-space adapter. - WoT materialization retains the stable configured factory. Samples expose genuinely factory-created nodes and a client `--identity` failover workflow. ## Preserved HA repairs The published `d99995003` and `79da74f14` fixes remain in place: - Shared linearizable sequence/lease coordination; no pretend CAS on CRDT and no private counter substituted for shared coordination. - Strict authoritative record decoding, protected pending reservations, safe snapshot publication and required delta retention. - Accepted topology state controls authoritative membership; stale deletion cannot remove a newer incarnation. - Independent subtree attachment tracking and correct disposal of the final snapshot task. - Values wait for their topology, and parent tombstone horizons prevent older descendant values crossing incarnations. A new deterministic regression also covers writer hydration preparation: temporary reconciliation removals must remain inbound application, not be recaptured as new shared deletion records. ## Validation ### Review feedback fixes `3a682155b` addresses the active-node notification, WoT namespace-index bounds, and retired-manager XML documentation feedback. The address-space adapter now notifies listeners with the registered active node, and both WoT managers reject missing/out-of-range namespace indexes before ownership is established. Targeted feedback validation passes on net10.0 and net48: 8 address-space adapter cases and 74 WoT cases per framework, plus 17 hydration/gossip/live-client integration cases on net10.0. The wrong-instance notification and missing namespace regressions were reproduced before the fixes. ### Identity implementation evidence | Selected scope | net10.0 | net48 | | --- | --- | --- | | HA repair, identity, metadata, peer admission and real-client identity/reload fixtures | 215 passed | 215 passed | | Factory, fluent authoring/import, NodeManagement and address-space adapter fixtures | 213 passed | 213 passed | | WoT node-manager fixtures | 68 passed | 68 passed | - Real UA-TCP clients compare full NodeIds/reference targets across independent servers in all four deterministic modes, with different manager/creation order and local allocations. Saved IDs work after endpoint failover and restart. - Real AddNodes-created IDs remain readable through successive live manager replacements in both replication modes, including nodes created after a reload. - Two process-level cases start three sample replicas, kill the serving process, verify a different serving ServerArray URI, and reuse cached factory-generated IDs for Read and CreateMonitoredItems without remapping or rebrowsing. - The identity/hydration scenario runs from the actual published win-x64 NativeAOT executable in the existing historian companion host. - The focused writer-recapture regression was observed failing without its fix, then passing. The real reload scenario was additionally repeated while diagnosing that race. - Changed-file formatting/style/analyzers were applied. Existing CA1508, CA1823, CA1861 and CA1850 warnings in untouched upstream files were not suppressed. The selected checks above do not replace full-solution CI, coverage gates or maintainer review, and do not claim that the entire solution or every native platform was run. #4444 remains the tracking issue. ## Contract and consistency limits Fixed identity does not make eventual payload reads linearizable. Hybrid views remain non-destructive, use explicit tombstones, and do not infer empty-store bootstrap or partition completion from absence. Compacted snapshots require authoritative storage. Failed/uncertain reservations require reconciliation. There is no automatic namespace-slot allocation, persistent logical-key mapping database, live renumbering, legacy-store wipe/adoption, or new hash algorithm. Opaque shared structures require a registered codec so their namespace-bearing fields can be validated. Application callbacks are still application-owned. ## Related issues - Tracks #4444. - Follow-up to #4390. - Builds on the merged NodeId factory (#4433), configure/seal (#4442) and lifecycle/import (#4427) integration at `aedd3f738`. ## Checklist - [ ] I have signed the CLA and read CONTRIBUTING. - [x] Added targeted regression and integration tests. - [x] Updated directly related API, HA, migration and sample documentation. - [x] Ran scoped formatting and the targeted framework checks listed above. - [ ] Full UA.slnx matrix and coverage gates completed. - [ ] All CI and maintainer review completed. --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Copilot-Session: 9dbd9527-d818-47a0-984c-fbb1472d3d6b |
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Marc Schier
|
7411654c8d |
Complete OPC UA Part 11 Historical Access (#4390)
# Description Completes the OPC UA Part 11 Historical Access work requested by #4387 and the historian framework integration requested by #4400. The conformance/evidence catalog covers all 37 released UACore 1.05 Historical Access profiles: 15 Server facets and 22 Client facets, together with the standard aggregate functions and their conformance units. Server facets are advertised only when the resolved providers expose their required interfaces and capabilities. ## Server and provider support - Completes raw, modified, at-time, processed, annotation, structured, and event history. - Dispatches best-effort, bulk, and transactional updates with aligned statuses, old values, diagnostics, and rollback state. - Supports mixed history-update detail types and batched structured/annotation operations. - Uses composite identities and exclusive cursors for same-timestamp structured, modified, and event values. - Captures live data and events, installs historical configuration objects, and emits typed audit payloads. - Derives aggregate monitoring filters from per-node historian capabilities and rejects unsupported processed aggregates before provider dispatch. - Supports tri-state `Historizing`: set, clear, or preserve provider-owned state. ## Client support - Exposes modified values together with `ModificationInfo`. - Adds event-history reads and event insert/replace/update/delete operations. - Adds structured and annotation batching with strict response validation. - Shares continuation handling and release-on-abandon across read families. - Accepts inherited standard event fields rooted at event subtypes. ## Review hardening - Registers DI-selected historians before node-manager reconciliation and capability publication, while preserving provider ownership. - Uses committed Raft read barriers for linearizable `TryGetAsync` and `ScanAsync`. - Keeps claimed continuation state immutable until a fresh successor is saved, restoring the original after transient failures. - Uses exact-incarnation compare-and-delete so delayed cleanup cannot remove a restored same-ID continuation. - Cleans up indeterminate initial and replacement saves, and propagates shutdown cancellation through cleanup resolution. - Preserves legacy continuation envelopes/cursors and distinct annotation parent/property identities. - Deletes every structured entry at a requested timestamp and uses the complete modified-history ordering tuple. - Shares native/fallback at-time and AnnotationCount calculations, including reverse endpoints and cross-framework fractional intervals. - Primes modified aggregate items before buffered live delivery and deduplicates history/live overlap using provider-specific identities. - Keeps committed Modify results successful while reporting priming failures through the monitored item's notification queue. - Keeps protected-notification state live-only for queues larger than one. Queue size one retains the newest notification without pinning errors or transferring priority during resizing. Durable restore retains ordinary definitions, last values/errors, and raw queues without recreating priority. - Isolates aggregate calculation, modification preparation, and historical/live handoff in `AggregationFilterHandler`, retaining existing provider/factory wiring and supported past-start behavior. The larger-queue protection policy is unchanged pending the open review discussion. - Uses one `IMonitoringFilter` owner for protocol filters or the aggregation handler, eliminating parallel effective-filter storage and retaining the current definition during preparation. The original client filter stays distinct. - Integrates current master, retaining custom monitored-item creation decisions and per-node history callbacks. ## Redundant-server alignment and samples - Adds a protected shared historian with immutable segments, manifest CAS publication, writer fencing, and restart recovery. - Persists portable continuation state before exposing it to clients and transfers ownership during mirrored-session takeover. - Rejects eventual-consistency and active/active multi-writer historian configurations rather than silently degrading. - ReferenceServer and ConsoleReferenceClient demonstrate discovery, paging, raw/modified/at-time/processed reads, annotation/structured CRUD, event capture, and event CRUD. - RedundantServer and RedundantClient demonstrate active/passive history, continuation recovery after replica termination, and post-promotion writes. - Updates Historical Access, High Availability, profile, migration, and sample documentation. ## Compatibility - New 2.0 collection boundaries use `ArrayOf<T>` and public byte payloads use `ByteString`. - Removes the legacy public virtual `SamplingGroupManager.CreateMonitoredItem` / `ModifyMonitoredItem` entry points and protected creation factory, as agreed in review. Migration guidance points to the monitored-item manager and construction-decision APIs. - Retains established persisted formats and current write layouts. Retired interim notification-state formats (sample v2 / shared v4) are rejected, as agreed in review. - Keeps the historian integration compatible with .NET Framework and NativeAOT. ## Validation ### Latest CI source repair `73c619435` forwards the existing cancellation token at both predefined-node creation calls in the PR-added History event fixture. The merged lifecycle overload exposed these two CA2016 errors, which blocked History jobs, the solution build matrix, and CodeQL on GitHub and Azure. The exact compiler failure was reproduced locally; the repaired fixture passes 4/4 integration cases on net10.0 and 4/4 on net48 with clean scoped diagnostics. No assertions, tests, coverage thresholds, or CI configuration were weakened. The repaired History jobs on Linux/macOS and all four Azure solution builds now pass. The Windows all-TFM GitHub job instead lost its hosted runner's connection; no build log was recoverable, and GitHub recorded a runner-loss annotation rather than a compiler/test diagnostic. One unchanged retry was requested. Remaining checks are monitored with `gh pr checks --watch --fail-fast --interval 30`; CI is not yet reported as green. ### Latest base integration `bd52e5fea` merges upstream `master` at `da7412c42`. The lifecycle conflict retains upstream's shared cancellation-aware registration helper and the historian behavior. The hosted-historian fixture forwards its existing token to the new lifecycle overload. GDS project renames and all three AOT test hosts are retained, with their project references resolving after the merge. | Integrated scope | net10.0 | net48 | | --- | --- | --- | | Server lifecycle, fluent authoring/import, historian, monitored-item and hosting regressions | 732 passed | 732 passed | | NodeState lifecycle regressions | 216 passed | 216 passed | | Automatically merged Raft client fixtures | 28 passed | 28 passed | No selected tests failed or were skipped. The manually resolved files pass scoped formatting/analyzer checks. One CA1861 warning remains in the incoming `NodeSetImportIntegrationTests.cs`; that file is byte-identical to upstream master and was not rewritten or suppressed during integration. ### Latest feedback follow-up `102954eaa` replaces split filter references with the shared `IMonitoringFilter` contract implemented by protocol filters and `AggregationFilterHandler`. Targeted server regressions pass **103/103 on net10.0 and 103/103 on net48**; scoped formatting/analyzers are clean, and the updated XML-documentation inventory has zero gaps across 188 non-generated PR C# files. `93c5b5db8` renames `AggregationFilterHandler`, makes it the owner of the server-revised aggregate filter while preserving the original client filter, and removes the retired interim notification-state readers. Server regressions pass **101/101** and shared-store regressions **64/64**, on both net10.0 and net48, with no failures or skips. Runtime-file formatting/analyzers are clean. `5ccf45630` completes the public/internal XML-documentation sweep. The Roslyn inventory finds zero undocumented eligible declarations across all 186 non-generated PR C# files; the 110-file documentation slice changes only XML comments and spacing. `f17765475` applies the three requested Markdown edits. ### Earlier feedback follow-ups `a53950737` removes single-slot notification pinning and extracts aggregate implementation from MonitoredItem. Targeted sampling, aggregate modification, history/live handoff, queue/lifecycle, restore, and serialization cases pass **101/101 on net10.0 and 101/101 on net48**, without failures or skips. Scoped formatting/analyzers are clean; the focused review found no significant issues. The final formatted monitored-item fixtures also pass 45/45 on net48. The preceding `b21555568` removes the legacy sampling API bridge and durable notification-priority state. Its targeted Server cases passed 97/97 and shared subscription-store cases passed 64/64 on each framework. The broader evidence below remains pinned to its original tested commit, not attributed to these follow-ups. ### Earlier integrated-implementation validation Validated implementation commit: **`3efae597f`**. The following commit, `f6dbefb1c`, only adds two explanatory comment lines for the final standards review; it changes no executable code. | Scope | net10.0 | net48 | | --- | --- | --- | | Server | 5,187 passed; 56 skipped | Affected surface: 2,160 passed; 1 reproduced baseline failure; 56 skipped | | Client | 2,202 passed; 2 skipped | 2,204 passed; 5 skipped | | History integration | 519 passed; 21 skipped | 519 passed; 21 skipped | | Redundancy server | 641 passed | 641 passed | | Redundancy client | 124 passed | 124 passed | | Core shared-store regression suite | 23 passed | 23 passed | All six affected samples passed non-incremental Release/net10.0 builds with zero warnings and errors: ConsoleReferenceClient, ConsoleReferenceServer, RedundantServer, RedundantClient, MinimalBoilerServer, and PumpDeviceIntegrationServer. The published self-contained win-x64 NativeAOT executable is 116,924,928 bytes and has no CLR header or managed runtime dependency. Direct execution passed **HistoryAotTests 3/3** and **RaftAotTests 2/2**. Final standards and specification reviews found no confirmed outstanding high/medium functional gaps or hard standards violations. The remaining constructor-purpose clarification is addressed in `f6dbefb1c`. ### Reproduced baseline exceptions The net48 hosted-startup timeout also reproduces in a pristine worktree at the previous PR head, `24cf1416d`, in `RegisterPostStartRegistriesWiresHistorianAndAliasStoresOnPlainServerAsync`, with the same subsequent certificate-leak assertion. The corresponding renamed case fails before startup in the reviewed branch as well. This is reported separately from the net48 affected-surface results, not counted as a passing full Server suite. The net48 matrix selected the historian, aggregate, monitored-item, fluent, and continuation surfaces and excluded the Hosting namespace. `DurableDataValueQueueVerifyReferenceBatchingAsync` failed at item 1000 in the net48 affected-surface run and passed its single isolated rerun. The same failure at the same assertion reproduces on pristine `849e16acc`; the test, sample queue, queue factory, and batch persistor are unchanged. The original failure remains in the table rather than being erased by the rerun. ### CI source repairs - `4be7eb8f7` keeps diagnostics/configuration managers out of distributed address-space replication. Those managers inherit the source interface, but their live server state and redundancy metadata must remain replica-local. The ownership regression passes on net10.0 and net48, and all nine redundancy sample CI tests pass locally. - `d17f467b3` completes the sample startup repair: core managers are also replica-local; the startup banner no longer advertises readiness before initialization; the producer starts after distributed services; and native Raft startup no longer forces disruptive extra elections. The full sample suite passed 9/9, with initialized `RedundancySupport=Hot`, and focused Raft/address-space regressions passed 8/8 and 3/3. - `81b0b72be` moves the unchanged distributed-historian NativeAOT scenario into a smaller, always-run companion executable to bound Apple's linker input. All 137 AOT tests remain present; the moved test and helpers are unchanged. GitHub and Azure publish/run both native executables, with separate result directories where they share a job. The companion passed actual Windows NativeAOT execution. Linux and Intel macOS CI passed both executables, but this split alone did not fix ARM64 macOS linking. The remaining historian graph is rooted by ReferenceServer startup, not just the relocated test. No test exclusion or speculative linker setting was added to conceal it. - `8a5842913` isolates the independent MCP test graph into an always-run native host. The existing MCP source and assembly leak hooks are linked unchanged, and evaluated compiler inputs prove exactly one owner for every test source: 133 main + 3 MCP + 1 historian = 137 declarations. All three hosts run on every AOT platform. The main Windows native object is 9.35% smaller; both changed publishes had zero diagnostics. MCP passed 3/3; the identical main executable passed 133/133 on one unfiltered followup after two initial endpoint-discovery connection failures, which remain recorded in the local evidence. - The previous Intel macOS job successfully published and executed its native tests, then failed on artifact-upload DNS (`ENOTFOUND`). No upload gate, shared environment setting, or cache configuration was disabled. The first repair round also encountered the unrelated `MetricsAreEmittedForChannelLifetimeAsync` timing failure on macOS Core. Neither that test nor channel-manager code is changed by this PR, and its assertions remain intact. It passed unchanged on the final repair head. On `d17f467b3`, the Linux and macOS redundancy sample jobs pass; the remaining failure was ARM64 Apple's `too many large addends` assertion. The verified upstream relocation-anchor fix (dotnet/runtime#124721, backport dotnet/runtime#132171) is not present in the shipping ILCompiler 10.0.11. An experimental multi-module probe failed and was rejected, not added to CI. On `8a5842913`, [`aot-macos-latest`](https://github.com/OPCFoundation/UA-.NETStandard/actions/runs/34102158680/job/101678934057) successfully publishes and executes all three native hosts on ARM64: 136 main runtime cases, 1 historian case, and 3 MCP cases, with no skips. The previous Apple linker blocker is resolved. Linux NativeAOT also passes. No assertion, test, shared environment setting, cache, or required gate was weakened. The same CI run reports a separate macOS Sessions teardown failure: all 662 executed tests pass, but the global leak assertion detects one undisposed certificate. The MCP partition changes no runtime, Sessions, or test-fixture code. A single unchanged diagnostic rerun is queued once GitHub permits rerunning that job; the failure is not suppressed or counted as green. Other CI checks are still pending. ## Related issues - Fixes #4387 - Fixes #4400 ## Checklist - [ ] I have signed the CLA and read the contributing guide. - [x] I have added regression tests and directly related documentation. - [x] I have retained working reference and redundant-server sample wiring. - [x] Final validation and review evidence is complete, including the baseline exceptions above. - [ ] All required CI checks pass; the fail-fast rerun for `73c619435` is pending. --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Copilot-Session: 9dbd9527-d818-47a0-984c-fbb1472d3d6b |
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Marc Schier
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da7412c429 |
Add native xRegistry events and distinct Resource versions (#4396)
## Summary - support the xRegistry 0.6.0 distinct Resource/Version hierarchy: `Registry -> Group -> Resource -> Versions -> Version` - instantiate stable logical Resource nodes separately from exact Version nodes while preserving existing Version NodeIds - delegate logical Resource FileType operations and Version-view metadata to the selected default Version with handle pinning and shared writer reservations - make Resource and Version delete behavior role-stable and use `MetaEpoch` / `Epoch` respectively - use stable Resource SourceNodes, exact Version SourceNodes and the `Server -> Registry -> Group -> Resource -> Version` notifier chain - keep a model-metadata-gated client fallback for 0.5 flat Servers; 0.6 Servers expose no legacy aliases - target `HasWoTProjection` at the real stable logical Resource node - use `AsyncCustomNodeManager` for the registration, fast-path, and federation managers, with awaited lifecycle, node mutations, event delivery, and cleanup - handle startup rollback, reentrant deletion callbacks, undisclosed file handles, and retryable cleanup without blocking unrelated file operations ## Authoritative dependencies - companion specification: OPCF-Members/spec-drafts#32 at `d3399fca025025a73e5a6b599f850a81d985c060` - OPC UA binding: xregistry/spec#568 - xRegistry event semantics: xregistry/spec#563, merged as `66ee31e47fbadff6ab982ae1516f7d9065e46b64` - companion NodeSet SHA-256: `369f5f3f1814b333e4eeb52bfb4b6a730cdff372505a5f91a54c94f0016ac4cf` ## Review feedback - keep the WoT Connectivity information-model designation at `1.1`; draft revisions update the publication date without changing the model version - eliminate all 198 unique CA1861 diagnostics across 54 files and remove seven obsolete project suppressions - fix the analyzer-clean touched-path CA1307 and the hierarchy follow-up CA1846/CA1851 diagnostics without dropping legacy-TFM compatibility - recover the reconcile queue after callback faults/cancellation and continue accepted pending changes - remove migration guidance for the xRegistry managers, which are new in 2.0 ## Compatibility - public WoT Connectivity model designation remains `1.1` - generated event-record ABI, constructors, options, NodeIds, and stored documents remain compatible - the generic xRegistry managers are new in 2.0 and implement `IAsyncNodeManager`; use `IAsyncNodeManagerFactory` and the async lifecycle hooks (see `docs\XRegistry.md`) - persistence schema and document blobs remain compatible unless noted below ## Validation - merge validation at `980422f76` with upstream `e8bec27d5`: 454 targeted WoT/materialization/model/registry cases and all 327 XRegistry cases passed on both net10.0 and net48; all 29 net10 aggregation sample cases passed - feedback regressions at `308e8ba74`: 55 targeted queue and live registry event/projection/lifecycle cases passed on each of net10.0 and net48 - prior CI: all 266 checks passed at `6489a0908`; the unchanged Ubuntu Core certificate-counter test and dependent jobs passed on the one-time retry ([run 34117304035, attempt 2](https://github.com/OPCFoundation/UA-.NETStandard/actions/runs/34117304035/attempts/2)) - `Opc.Ua.XRegistry.Tests` — 327 passed on net10.0 and net48 for migration commit `32c914aaf` - `Opc.Ua.WotCon.Tests` net10.0 — 1348 passed - `Opc.Ua.WotCon.Bindings.Tests` net10.0 — 683 passed - `Opc.Ua.SourceGeneration.Core.Tests` net10.0 — 3807 passed, 8 skipped - `Opc.Ua.SourceGeneration.Tests` net10.0 — 145 passed - `Opc.Ua.SourceGeneration.Stack.Tests` net10.0 — 94 passed - affected XRegistry and WoT client/server projects build successfully - xRegistry NodeSet is byte-identical to the companion artifact - repository-wide CA1861 inventory — 198 unique diagnostics across 54 files reduced to zero - targeted changed-fixture validation — 1,098 passed, 3 skipped, 0 failed - constrained full `UA.slnx` net10.0 Release build — CA1861 = 0 - `Opc.Ua.XRegistry.Client` net472 and netstandard2.1 builds — 0 warnings, 0 errors - independent shared-array safety review — no significant issues - `git diff --check` The final review regressions cover concurrent reconcile/open, synthetic logical handle collisions across default switches, cross-session Close isolation, shared writer reservations, logical FileType property/change propagation, logical Labels delegation, role-fixed deletion, event sources, model-version gating, and stable `HasWoTProjection` targets. The companion specification and protocol binding are reviewed in the linked PRs above. --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Copilot-Session: 5c79a1ed-6dab-4522-a9fc-6548caa78ad5 Copilot-Session: b605797f-a97a-4cd0-8f12-016d33c2fd88 Copilot-Session: 7ef369a5-2307-4f71-8a11-15af0e72f240 Copilot-Session: e716d455-8397-4d22-9c5a-398847ab7317 |
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Marc Schier
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fd7c88c136 |
Add federated OpenUSD site demo (#4393)
# Description Adds a one-command federated OpenUSD site demo and fixes the composition path that previously produced an empty, overlapping, or poorly framed viewport. - Add `samples/OpenUsd/SiteCompositionServer/run-site-composition-demo.ps1` to build and start the pump, generator, and site servers, wait for every endpoint, publish the connector and viewer side by side, launch the federated viewport, and clean up child processes and artifacts. - Include every fetched root layer in the generated stage and prepare structural component composition before the retained renderer starts. - Continue persisting structural changes while forwarding value-only updates into the live viewport, avoiding renderer topology invalidation. - Fold structured translation, rotation, and scale values into `xformOp:transform` matrices in `UsdFileSink`, including time samples, so multiple pump and generator instances remain distinct when the stage is reopened. - Preserve the latest prior transform components when independently sampled translation, rotation, or scale history adds a new matrix sample. - Reframe the site camera to show all three default pumps and both generator sets. - Move the detailed root sample catalog to `docs/samples.md` and replace it with a concise link to the platform-independent samples and companion sample repository. Validation performed: - Ran the demo script through both its existing-viewer-bundle path and its default side-by-side publish path on isolated ports. - Ran the focused OpenUSD connector and file-sink tests: 30 passed. - Ran the full `Opc.Ua.OpenUsd.Tests` project: 919 passed; the remaining local failure is the existing culture-sensitive decimal formatting assertion on this host's `en-DE` culture. - Ran the focused review-feedback file-sink tests: 19 passed. ## Related Issues - Fixes #4392 ## 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. --------- Copilot-Session: 797ea461-49e2-4844-b6a4-54565a9469bd |
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Marc Schier
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c84c168585 |
Merge OpenUSD scene packages (#4384)
# Description Merge the draft OpenUSD Scene Materialization projects into the existing OpenUSD core and server packages: - move the scene companion model, document/value model, and `.usda` conversion APIs into `Opc.Ua.OpenUsd`; - move discovery, materialization, export, and Part 1 interop into `Opc.Ua.OpenUsd.Server`; - rename the CLR APIs to `Opc.Ua.OpenUsd.Scene`, `Opc.Ua.OpenUsd.Scene.Conversion`, and `Opc.Ua.OpenUsd.Server.Scene`; - remove the `Opc.Ua.OpenUsdScene` and `Opc.Ua.OpenUsdScene.Server` projects and NuGet package IDs; - update the connector, the consolidated OpenUSD test project, package READMEs, and developer docs. This is an intentional source- and binary-breaking cleanup for the draft Scene packages. The OPC UA Scene model URI, version, NodeIds, and wire behavior remain unchanged. ## Related Issues - Fixes #4383 ## Validation - `UA.slnx` Release builds completed for `CustomTestTarget=net10.0` and `CustomTestTarget=net48`. - OpenUSD tests passed on net10.0 (915) and net48 (879), excluding the existing host-culture assertion; the isolated assertion passed under invariant globalization. - The generated Release pack contains the expected 75 packages, emits neither retired Scene package, and passes `.azurepipelines\validate-source-generator-packages.ps1`. - The two surviving packages expose the new nested namespaces and contain no retired package dependencies. ## 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. - [ ] 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. - [ ] I have addressed **all** PR feedback received. --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> |
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Marc Schier
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b97fd8d4b5 |
Fix OPC 10000-21 onboarding interoperability (#4385)
# Description Fix the four blockers that prevented the OPC 10000-21 onboarding registrar and client from working end to end: - generate every `ModelDesign` target independently, including multiple models in one directory, while preserving stable identifier CSV matching and cross-model dependencies; - ship the generated `Opc.Ua.Onboarding` constants, node states, encodeables, and typed clients from `Opc.Ua.Gds.Common`; - correct the standard `EncodedTicket` datatype to derive from `ByteString`; - align the new 2.0 `OnboardingClient` API with the generated `ArrayOf<ByteString>` / `ArrayOf<StatusCode>` contract; - make `BindToTicketStore` fully asynchronous, cancellation-aware, and assign the declared output slot instead of appending a second output; - add generated-model, client fallback, server binding, and in-process end-to-end regressions. The change also adds `samples/Gds/OnboardingRegistrar`, `samples/Gds/OnboardingClient`, and `run-onboarding-demo.ps1`. The demo loads the generated GDS and Onboarding models, restricts ticket administration to an ephemeral `RegistrarAdmin` user, proves anonymous access is denied, and completes a secure register/unregister round trip. The History CI follow-up rejects negative and non-finite processed-history intervals before provider dispatch and enforces the buffered aggregate output cap while calculator results are flushed. This prevents malformed requests from running until the client timeout, exhausting memory, delaying server teardown, and causing later alarm-event tests to fail. ## Related Issues - Fixes #4378 - Unblocks OPCFoundation/UA-.NETStandard-Samples#819 - Tracks the canonical model correction in OPCFoundation/UA-Nodeset#122 ## Validation - Full `net10.0` test projects: - `Opc.Ua.SourceGeneration.Core.Tests`: 3803 passed, 8 skipped - `Opc.Ua.SourceGeneration.Tests`: 143 passed - `Opc.Ua.Gds.Tests`: 1114 passed, 42 skipped - `Opc.Ua.History.Tests` with the CI coverage settings: 506 passed, 27 skipped - `HistorianDispatcher` tests: 88 passed on `net10.0`. - Invalid processed-history interval regressions passed on `net10.0` and `net48`. - Focused onboarding/source-generation regressions passed on `net48`. - `dotnet build UA.slnx -p:CustomTestTarget=net10.0 --no-restore` succeeded; the reported analyzer warnings are pre-existing in unchanged XRegistry/WoT files. - Packed all three GDS packages and verified the packaged `Opc.Ua.Gds.Common` assembly contains the generated Onboarding model surface. - `pwsh samples/Gds/run-onboarding-demo.ps1` verified anonymous denial and the authenticated secure ticket lifecycle. ## 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. --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Copilot-Session: 2d2c52c7-7040-4bd6-98de-aaf82ba7846b |
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Marc Schier
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4eccafbe2f |
Remove AAS projects and samples (#4359)
# Description Remove the Asset Administration Shell projects and samples from the mainline repository while preserving the complete implementation and history on the `aas` branch. This change: - removes the `Opc.Ua.Aas`, `Opc.Ua.Aas.Client`, `Opc.Ua.Aas.Server`, and `Opc.Ua.Aas.WoT` projects; - removes the AAS test project, AOT coverage, sample, and documentation; - removes AAS entries from `UA.slnx`, the expected package list, and related build configuration; - removes the now-unused `System.IO.Packaging` package version; and - updates remaining documentation and comments so they no longer advertise removed AAS functionality. The preservation branch `aas` points to the original `master` commit before this removal. ## Related Issues - None. ## Validation - `dotnet restore UA.slnx` - `dotnet build UA.slnx -c Release --no-restore` - Repository-wide sweep for dangling AAS project, package, file, and documentation references The full Release build completed with zero errors. It reported 31 existing analyzer warnings in files unrelated to this change. ## 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. - [ ] I have added tests that prove my fix is effective or that my feature works and increased code coverage. (Not applicable: this removes a feature and its tests.) - [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. - [ ] I have addressed **all** PR feedback received. Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> |
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Marc Schier
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cef83550cb |
OPC UA Vision: a vision-guided bin-picking demo an LLM agent can see and drive (#4235)
# Description Implements **OPC UA — Vision** and uses it to build the demo the companion specifications were drafted for: an eye-in-hand camera watches a bin of parts, a language model *looks at the frame*, decides which part matches the instruction, and commands the robot through Robot Intent — with the OpenUSD viewer showing the arm move and the bin empty out. > **Draft, and stacked.** [#4195](https://github.com/OPCFoundation/UA-.NETStandard/pull/4195) has merged and master is merged in, so what is left on top of `master` is the Vision work plus the unmerged `marcschier/ai-model-management` branch, which the demo needs for the model/dataset/deployment provenance. Review the Vision commits; the AI Model Management work lands with its own PR. ## What is here **The specification, implemented.** `Opc.Ua.Vision` is generated from the spec's own `Opc.Ua.Vision.NodeSet2.xml`, vendored byte-identically (SHA-256 `79C592C6…`, verified against a fresh download and stored LF-preserved like the Robot Intent NodeSet). `Opc.Ua.Vision.Server` builds the §4.2 discovery object, sensors, the coordinate-frame tree, calibrations, media endpoints, inference pipelines and the §9 feedback methods, with rendering and inference behind injectable providers. `Opc.Ua.Vision.Client` is built on the generated ObjectType proxies and composes transforms across the frame tree, which is what turns a detection in camera coordinates into a pose a robot can act on. **Two perception paths behind one contract**, which is exactly what `InferenceLocationEnum` is for. `OnServer` is a deterministic detector derived from the stage's ground truth — no model, no network, no GPU, so CI can exercise the whole loop. `EdgeOffServer` is the agent: it sees the frame over MCP and calls `SubmitDetections`, and the Server publishes results it did not compute. A client reads `DetectionResultType` identically either way. **The agent's eyes.** `tools/Opc.Ua.Mcp.Vision` adds 22 `vision_*` tools, which with the four shared connection tools makes the `vision` profile 26; `vision_get_frame` returns the camera image as an MCP `ImageContentBlock`, so the model looks at pixels rather than reading a description of them. Tool profiles now compose — `--profile vision,robotics` yields 62 tools — so one agent can both see and act without dragging in the full 136-tool catalogue. **The cell.** `samples/Robotics/BinPickingCell` follows the spec's own Robotics-Vision Addendum: the `world → robot_base → flange → gripper_tcp` frame tree with `camera_eih` on the flange, the `HandEye` extrinsics and the `Intrinsics612x512` intrinsics — the addendum's 2448×2048 calibration scaled to the 4×4-binned grid the camera actually delivers. `samples/Robotics/BinPickingClient` hosts the composed MCP catalogue and optionally the viewer. **Documentation.** `docs/Vision.md` (~800 lines) covers the model, hosting, the build context, every topology builder, both perception paths, feedback, the MCP profile and the limitations; linked from `docs/README.md`, with the profile table in `docs/McpServer.md` and READMEs for both samples. ## Evidence, not assertions Each of these was measured on a running system rather than assumed: | Claim | Evidence | |---|---| | The camera sees the bin | 612×512 frame with the bin and all five parts in view — red `(212,47,47)`, green `(61,193,71)`, blue `(54,85,218)`, yellow `(215,196,58)`, orange `(209,119,55)` | | An agent can act on what it sees | Over MCP, `vision_get_frame` returns a 612×512 PNG that decodes from base64 to 1,254,051 bytes, the descriptor beside the detections says 612×512, and all five `BoundingBox2D` centres land **inside** the frame on the pixel colour their own detection claims | | The geometry is right | A detection composed `camera_eih → world` lands on the authored position, residual **0.0000 m** — on both the on-server and off-server paths | | The detector tracks the world | Placing a part drops the next scan from 5 detections to 4, with that part absent | | The robot obeys the agent | Scripted run took command authority and completed a pick and a place, both `Succeeded` | | Tool catalogues are honest | Counted from a running server: vision 26, robotics 40, `vision,robotics` 62, full 136, **zero duplicates** | | Every node is browsable by NodeId | Eight representative NodeIds — both folders, a pipeline, a frame, the sensor, its Calibrations folder, the HandEye calibration, the Media folder — all `Good` | That tool-count check matters because the profile tests collapse names into a `HashSet` and *cannot see* a duplicate registration — so the new tests count registrations, not names. ## Things that were wrong, and are not now Writing the tests found three defects of one kind — code that answered instead of refusing. A zero-norm quaternion was silently rewritten to identity, so a caller with an all-zero orientation got a confident wrong grasp pose. `SubmitCorrection` rewrote a null `ResultId` to empty and called the sink anyway. A bad `StageIdentifier` **killed the host process** inside native `UsdStage.Open`, via an exception .NET cannot catch. All three now refuse loudly and are pinned by tests. **Nodes that existed but could not be reached.** The node manager indexes the Vision root before configurators run, so everything the fluent builder grafted on afterwards — both folders, the pipelines with their Results and Feedback, the frames, the sensors with their optics, calibrations and media endpoints — was never added to the index. Browsing *forward from a parent* worked, because that walks `NodeState.Children` in memory; browsing any of those nodes *by its own NodeId* returned `BadNodeIdUnknown`, which is how an ordinary client and the MCP discovery tools navigate. Registration is now deferred and flushed after each configurator. The first fix covered only the DI path and left the documented non-DI fallback broken in exactly the same way, so `ConfigureVisionAsync` now exists and registers what it builds. That defect survived a green suite because every test browsed children. The new tests assert by NodeId, and were checked against the broken code — with the flush removed, they fail. **Every Method was uncallable.** The Server passed 426 unit tests while not one of its Methods could be invoked over a real session — `RunInference` returned `Bad_TooManyArguments`, and so did every other Method that takes arguments, which is all of them but `StartContinuous` and `Stop`. Three independent faults, each sufficient on its own: the Method nodes were never created (they are Optional children, and the dispatcher guards every attachment with a null check, so it silently attached nothing); nothing declared the arguments, so the stack concluded none were expected; and `MethodDeclarationId` pointed at a synthesised NodeId rather than the NodeSet declaration a client calls with, so the lookup missed the instance Method entirely. The builder now creates the Methods, the `Results` folder and the `Feedback` object when a provider or sink is configured, declares every signature, and names the right declaration. Unit tests could not have caught this: they invoke the handler delegates directly and never go through `MethodState.Call`. It took an end-to-end test over a real session. Relatedly, children created by the generated `CreateOrReplace` helpers carry no `ReferenceTypeId`, so nothing could reach them — fixed once in the build context rather than at the several dozen call sites. **And one where I was wrong.** Earlier in this branch I reversed my own agents' decision and made `SubmitDetections` accept an empty detection set, reasoning that "I looked and the bin is empty" is a correct observation and refusing it forces a correct agent to invent a detection. The reasoning is sound; it is also an argument *against* the specification rather than an implementation of it. §9.5 is normative and explicit — its StatusCode table lists `Bad_InvalidArgument` for "`Detections` empty; or `SubmitCorrection` supplies both or neither corrected array". Worse, **none of §9.5's argument rules were enforced anywhere** — the dispatcher forwarded every submission straight to the feedback sink, so conformance depended on whichever sink a host installed. They are Server obligations, so they now live in the dispatcher, ahead of the sink, proven by strict mocks that would throw if the sink were consulted. The usability problem is real and does not go away by conforming, so it is raised where it can be fixed: [opcua-drafts#70](https://github.com/marcschier/opcua-drafts/issues/70). ## Tracking the updated drafts The Vision, Robot Intent and AI Model Management NodeSets on `opcua-drafts` `main` have moved, partly because of feedback this branch raised. All three are re-vendored byte-identically — verified by comparing git blob hashes against the upstream files rather than by eye — and the implementations follow. **Two statements that were previously inexpressible now have a wire representation.** `SubmitDetections` takes `SceneIsEmpty` and `SubmitCorrection` takes `RetractAll`, so an agent can report "I examined this frame and there is nothing in it" — the terminating condition of the bin-picking task — and can retract a false positive by correcting a result down to nothing. Both are checked in both directions, because the flag is exactly what separates a deliberate empty observation from a lost payload: an empty array without the flag is refused, and the flag with an array attached is refused as two contradictory claims about one frame. Implemented in the dispatcher, the client, the MCP tools the agent drives, and the sample cell. Also absorbed: `LampType` and `LightingMode` became enums (§66), `ProfileName` became `DefaultProfileName` on the endpoint (distinct from the `ProfileName` a caller passes to `GetStreamEndpoint`, which keeps its name), AI `Invoke`/`InvokeAsync` gained `PayloadUri` under the same exactly-one rule, and AI `ListModels` gained a `ContinuationPoint` — because `MaxResults` alone puts everything past the bound permanently out of reach. **OpenUSD is on `0.9.0-alpha`**, verified on the running cell rather than by restore alone: D3D12 backend, 612×512 frame, the bin and all five parts in view and detected — the same result `0.8.0-alpha` produced. The one local workaround that survives is `VisionMethodArguments`, and its reason has changed rather than gone away: the builder materialises these Methods as Optional children through `CreateOrReplace`, which constructs the state object directly and never runs the generated factory that now carries the signatures. Checked rather than assumed — removing the declarations fails five of the eight `VisionMethodSurfaceTests`. ## Review feedback Three threads, all addressed in `0fe2803a3`: - **The AI Model Management work is now a library family, not a sample.** `src/Opc.Ua.AI` (model), `.Inference` (`IInferenceBackend` and backends), `.Server` (node manager) and `.Client` (discovery, reads, calls, artefact transfer), in the same shape as the Robotics and Vision families; the samples become `samples/AI/ModelManagementServer` and `ModelManagementClient`. The client library needed real work rather than relocation: its browsing surface was `private` inside the sample's scenario runner, so moving the file alone would have produced a library nobody could call. - **No cloud-vendor SDK is referenced anywhere.** Inference goes through `Microsoft.Extensions.AI` — an `IChatClient` is implemented by hosted services and on-device runtimes alike, which is exactly the property clause 8.1 asserts. `Azure.Identity` is gone: workload identity is not an Azure feature, every platform projects a token into a file and each SDK reads that file behind its own API, so the resolver reads it directly. The comment claiming `Microsoft.Extensions.AI` would force a `System.Text.Json` bump was stale — it pins 10.0.10, which this repository already centralises on. - **`BinPickingCell` and `BinPickingClient` moved into `samples/Robotics/`**, which is where they belonged: the cell was already linking the arm, its kinematics and both USD assets out of `IntentEnabledRobot`. ## Upstream Work that belonged elsewhere went elsewhere rather than being worked around locally: - **`openusd-dotnet` [#13](https://github.com/marcschier/openusd-dotnet/pull/13)** — merged and shipped in `0.8.0-alpha`. `SilkFrameCapture.Capture` rendered only the first capture of a session and silently returned a blank frame for every one after it. Also filed [#14](https://github.com/marcschier/openusd-dotnet/issues/14) (no camera-by-prim API) and [#15](https://github.com/marcschier/openusd-dotnet/issues/15) (skipped tests reported as passed — which fooled me for several runs). Both are fixed; this branch takes `0.8.0-alpha` and deletes two workarounds, including 143 lines of hand-rolled projection maths. - **`opcua-drafts` [#66](https://github.com/marcschier/opcua-drafts/issues/66)–[#69](https://github.com/marcschier/opcua-drafts/issues/69)** — a close read of the spec produced 22 candidate ambiguities; 12 were discarded as misreadings with clause citations and the remaining 10 filed. One is concrete: five members exist in the NodeId CSV that no clause documents. - **`opcua-drafts` [#70](https://github.com/marcschier/opcua-drafts/issues/70)** — §9.5 could not express an empty observation or a false-positive retraction. **Adopted**, with the explicit-flag resolution argued for: `SubmitDetections` gained `SceneIsEmpty`, `SubmitCorrection` gained `RetractAll`, and the corrected-array rule relaxed from *exactly one* to *at most one*. - **`opcua-drafts` [#71](https://github.com/marcschier/opcua-drafts/issues/71)** — the Vision NodeSet browse-named all 13 `InputArguments` / `OutputArguments` Properties in the Vision namespace rather than the base namespace, so a stack could not find them and every Method in the specification was uncallable. **Fixed**; this branch now tracks the corrected artefact. ## The defect underneath it all The end-to-end suite was removed earlier in this branch because nine of its fourteen tests failed on one symptom: a client could not open a pipeline's `Feedback` object or enumerate its `Results`, even though browsing the same parent listed both. Restoring it meant explaining that, and the explanation was not in Vision. `RelativePathElement` initialised **`IsInverse` to `true`**. A caller that sets a `ReferenceTypeId` and a `TargetName` — which reads as *"the child reached by this Reference"* — was therefore asking the Server for the **inverse** Reference, and got `Bad_NoMatch` with nothing in the request to suggest why. `ObjectTypeClient.ResolveChildNodeIdAsync` is such a caller, and it is what **every source-generated Optional-child accessor in the stack** is built on — the accessor whose own documentation cites `AlarmConditionTypeClient.GetShelvingStateAsync` as an example. Vision is merely where it surfaced, because Vision puts two Optional children on the path an off-Server agent must take. The sibling helper in `StateMachineTypeClientExtensions` already set `IsInverse = false` by hand, which is the shape of a trap rather than a default. The default is now forward, `ResolveChildNodeIdAsync` says so explicitly, and the existing test that had recorded `true` as *expected* now pins `false` with the reasoning. Of the forty `RelativePathElement` construction sites in the tree, that accessor was **the only one relying on the default at all** — every deliberate caller already set it. Two further defects were found underneath it, both real and both fixed: - The generated `CreateOrReplace` helpers construct a child state object directly and leave **`TypeDefinitionId`** unset as well as `ReferenceTypeId`. A child referenced by nothing cannot be browsed; one with no type definition is a malformed Object that a client filtering by type silently skips — which is exactly what `EnumerateResultsAsync` does. Normalisation moved to `VisionNodeManager`, so it also covers the case the builder cannot see: a result published **at runtime** by an inference provider, long after the address space was built. That path produced results a client could list but not read. - `Opc.Ua.AI` shipped without an `AssemblyInfo`, so the solution built with six `CA1014` warnings. I had initially "fixed" this in the Vision client with Browse-based fallbacks, on the strength of a probe that appeared to show `TranslateBrowsePathsToNodeIds` failing even for `Server → ServerStatus`. That probe was wrong: it used an unqualified `ReferenceTypeIds`, which inside a `Opc.Ua.Vision.*` namespace binds to *Vision's* `ReferenceTypeIds` and yields a nonsense NodeId. Chasing that to the end is what turned up the real cause. **The fallbacks are gone** — they would have hidden a stack-wide bug behind a Vision-shaped workaround, and one of them matched on browse name while ignoring the namespace index. `tests/Opc.Ua.Vision.Intent.Tests` is restored and back in `UA.slnx`, passing **14/14** on its own merit rather than through a client-side workaround. A registration test now pins the pipeline's `Feedback` and `Results` children, which nothing covered before. ## Running it, and what that found The demo's premise is that a language model **looks at the bin and reasons about what it sees**. Running it end to end showed it could not, for reasons no test covered, because every one of them lived between components. **The sample did not compile.** Two `CS8604` nullable errors with `TreatWarningsAsErrors`, so neither the cell server nor the demo could be started at all. Worth recording that my first explanation was wrong: CI *does* build this project - the Linux leg's `net10.0` pass compiles it, log-confirmed - so this is not a coverage gap in the workflow, and no workflow change was made. **`Pick` and `Place` never moved the arm.** They were a delay plus a gripper action, so the operations reported `Succeeded` while nothing travelled. They now solve IK once and interpolate in joint space. **And the parts never moved**: the arm swung but the bin stayed full, because nothing tied the held object to the world state. The connector now creates 11 monitored items where it created 6, and a scripted run delivers `SeqNo=151` across 10 messages where it delivered `SeqNo=3` across 1. **The frame was smuggled through a string field.** The media provider put a base64 *data URI* of the PNG into `VisionImageReferenceDataType.Uri` - a field meant to be a *reference*, while the bytes were already returned in the inline `ByteString`. Every response therefore shipped the image twice, and a 1,311,400-byte PNG became a 1,748,536-character string against a `MaxStringLength` of 65,535: **26.7x over**. That is why raising `MaxByteStringLength`, `MaxArrayLength` and `MaxMessageSize` never helped - none of them govern a `String`. Separately the MCP tool assigned raw bytes where `ImageContentBlock` requires base64, so the wire carried `"data":"�PNG..."` - every non-UTF-8 byte replaced by U+FFFD, destroying the image and inflating the response to 6.8 MB. **The camera was aimed at nothing.** The arm's home pose, the flange scan pose the Vision model declared and the joint angles in the USD stage were three independent claims about where the camera was, and they disagreed - the declared flange orientation pointed the view 86 degrees away from the projection camera. Solving them as one thing exposed two further constraints that are easy to miss: the camera has to sit off the tool axis or it photographs its own gripper, and the IK branch has to be elbow-back or a link parks under the camera and fills the frame with the arm's own upper arm. A third was a regression this branch introduced and `Opc.Ua.Robotics.Tests` caught - aiming a straight-down camera from a point on the base's own X-Z plane puts the wrist on the J4/J6 singularity, so every motion away from home fails to solve. A 15-degree camera roll, free because the camera still looks straight down, gets 25 degrees clear, which is the margin the poses before this branch had. **The frame and the detections were different images.** The sensor declared 2448x2048, the clip endpoint 1280x1024, and the renderer produced 640x512 - not even the same aspect ratio. The ground-truth detector projects through the declared intrinsics, so its boxes lived in 2448x2048 space while an agent was handed a 640x512 picture: *"pick the red cube you can see"* arrived with coordinates that pointed off the image. Everything now agrees at 612x512, an exact 4x4 bin of the native sensor with the intrinsics scaled to match; the native size stays in the model and serial number, where it describes the hardware rather than the image. **`LatestClip` was created and never written**, so it reported `Bad_NoDataAvailable` for the life of the Server and a consumer following the model - read the published frame, call the method only if there is none - never got a frame. The dispatcher now publishes a clip it has just encoded, for every Vision server rather than this sample alone. One genuine API gap turned up on the way: `OpcUaServerOptions` exposes `MaxByteStringLength`, `MaxArrayLength` and `MaxMessageSize` and **no `MaxStringLength`**, so a Server that legitimately needs a long string could not raise the limit through the hosting API at all. Added, with tests. It is not the fix for anything above - that was a design bug - but the missing knob was real. ## Not finished - **Two projects sit below the repository's 80% line coverage.** `Opc.Ua.Vision.OpenUsd` is at 71.1% — what is left only executes with a real OpenUSD stage and plugin tree, which is not on every build agent. `Opc.Ua.AI.Inference` is now at **86.7%**, up from 12.9%: the code this branch *wrote* is covered by 25 tests, and `RestChatCompletionsBackend` — previously the whole of the shortfall — is covered by 18 more against a stubbed `HttpMessageHandler`, exercising success, refusal, throttling, retry-after, timeout and cancellation without a network. Everything else clears the bar — `Opc.Ua.Vision.Server` 92.1%, `Opc.Ua.AI` 91.4%, `.Vision.Client` 88.1%, `Opc.Ua.Vision` 85.7%, `Opc.Ua.AI.Server` 80.1%, all measured with coverlet. The CI coverage gate reports itself as advisory and non-blocking. - **`SamplesCollected` is not counted here, and `docs/Vision.md` now says so.** Section 9.4 requires a Server to count a negative example (`SceneIsEmpty` / `RetractAll` carrying a `GroundTruthLabel`) exactly as it counts one carrying geometry. `VisionNodeManager` does not, and structurally cannot: `SamplesCollected` is a property of `LearningJobType`, which the *AI Model Management* companion defines, and Vision reaches the job through a `NodeId` value rather than a Reference **precisely so this model takes no dependency on the model that defines it**. What the Server does guarantee is that the negative example survives the hop intact — both flags are carried verbatim to `IVisionFeedbackSink` — so a host that binds a learning job has everything it needs to satisfy the clause on the counter it owns. Stated in the limitations rather than left implied. ## Related Issues Was stacked on #4195, now merged. No tracking issue yet for the Vision implementation itself — happy to open one if you would like the design recorded as an ADR before this goes further. ## 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. — *Types 8562, Server 4072, Client 2123, InformationModel 1063, Robotics 540, Tools 466, Vision 442, AI 74 and the restored Vision+Intent end-to-end suite 14/14, all green on net10.0. Only `.OpenUsd` (71.1%) is below the 80% bar — see Not finished.* - [x] I have added all necessary documentation. - [x] I have verified that my changes do not introduce (new) build or analyzer warnings. — *`dotnet build UA.slnx -c Release`: 0 errors, 0 warnings.* - [x] I ran **all** tests locally using the **UA.slnx** solution against at least .net **framework** and .net **10**, and all passed. — *net48: Types 8555, Client 2126, Vision 385 green. Two net48 Server tests fail (`CreateUserManagementSeamBindsTheModelToTheServerAsync`, and `DurableDataValueQueueVerifyReferenceBatchingAsync` only under parallel load); both were confirmed **pre-existing** by re-running them with the `IsInverse` change reverted, which fails identically.* - [ ] I fixed **all** failing and flaky tests in the CI pipelines and **all** CodeQL warnings. — *The net48 build legs failed because the restored end-to-end project used `ValueTask.FromResult` / `string.Create`, which do not exist on .NET Framework; fixed in `fb57522da` and verified building on every TFM. `DisposeDrainsHeldConnectionCallbackBeforeListenerDisposal` failed once on the Ubuntu Client leg — a 13 ms timing-sensitive reverse-connect disposal test that passes locally 2123/2123 and touches no browse paths.* - [ ] I have addressed **all** PR feedback received. ## Typed Vision-guided Robotics MCP workflows The branch now also makes the demo workflow first-class in the Full MCP profile: - replaces stringified Robotics intent and mission inputs with typed request schemas and exact name-or-NodeId selectors; - adds bounded operation/mission paging, stable step-to-operation identity, retained mission discovery, and `robotics_wait_mission`; - makes `vision_run_inference` return bounded typed detection, inspection, or segmentation summaries in one call; - adds same-session `robotics_vision_pick` to select a detection and submit Pick or Pick/Place work without implicitly taking authority, retrying, cancelling, or waiting; and - starts Publish workers for classic subscriptions so an independently launched OpenUSD viewer receives live robot and part updates. The migration guide documents the intentionally breaking MCP request-schema changes. --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Copilot-Session: 1dab1302-19c5-4a9b-a50c-d97d389713aa Copilot-Session: a248a589-9a20-4372-868e-5d347e57001b Copilot-Session: 99d1ab42-f83a-41ab-bf3e-85bf81fadace Copilot-Session: bcbc8ac9-5abd-42a8-8bac-e10533790e2e |
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Copilot
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d525bc3f28 |
Bound reconnect cleanup and organize samples by domain (#4276)
# Description This PR fixes bounded ManagedSession reconnect cleanup and reorganizes the sample applications into domain-focused folders. ## Reconnect cleanup - Bounds reconnect integration cleanup with independent 30-second close and dispose limits. - Sends `CloseSession` through the awaited transport request path during `Session.DisposeAsync`. - Preserves explicit `Session.CloseAsync` behavior that waits for or cancels outstanding publish requests. - Covers the disposal request path with a regression test. ## Sample organization - `samples/OpenUsd`: `GeneratorServer`, `SiteCompositionServer` - `samples/Redundancy`: `RedundantClient`, `RedundantServer`, `RedundantPubSub` - `samples/Isa95`: `MinimalIsa95Server` - `samples/MinimalApi`: `MinimalBoilerServer`, `MinimalCalcServer`, `MinimalClient` - `samples/DI`: `PumpDeviceIntegrationServer` - `samples/Lds`: `ConsoleLdsServer` - `samples/Reference`: `ConsoleReferenceClient`, `ConsoleReferenceServer` - `samples/PubSub`: `ConsoleReferencePubSubClient` `UA.slnx` now exposes the same requested domain groups. Project references, tests, runtime sample probes, CI workflows, Dockerfiles, Compose files, helper scripts, and documentation were updated to the new paths. `samples/Robotics/MinimalRobotServer` remains under `Robotics`. ## Validation - `dotnet build UA.slnx` - 3 Redundancy short-haul sample tests - 70 DI sample tests - 914 OpenUSD tests - 1 WotCon model-materialization test - 137 AOT tests - `docker compose config` for all 6 moved Redundancy Compose files ## Related Issues - Fixes #4273 ## 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. - [x] I built the complete `UA.slnx` solution locally. - [ ] I ran all tests locally against at least .NET Framework and .NET 10. - [ ] I fixed all failing and flaky tests in the CI pipelines and all CodeQL warnings. - [x] I have addressed all PR feedback received. --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: marcschier <11168470+marcschier@users.noreply.github.com> Co-authored-by: Marc Schier <mschier@microsoft.com> Co-authored-by: Marc Schier <marcschier@users.noreply.github.com> Copilot-Session: a2c2838f-74ae-4997-a1d4-50574d9e0636 |
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Marc Schier
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397db603db |
Add OPC UA for Asset Administration Shell: the published OPC 30270 and v3 draft (#4244)
# Description Implements the **Asset Administration Shell** companion specifications on top of `marcschier/wot-type-binding`, in two halves that a Server chooses between: * **AAS V3** — the [draft](https://github.com/marcschier/opcua-drafts/tree/main/companion-specs/AAS) (`http://opcfoundation.org/UA/I4AAS/v3/`), all sixteen conformance units: the metamodel, the registry built on the abstract xRegistry base, generational materialization, federation, packages with digest-bound integrity, the Digital Product Passport vocabulary, and the Annex F bridge to WoT Thing Descriptions. * **AAS V2** — the published [OPC 30270](https://reference.opcfoundation.org/specs/OPC-30270/full) (`http://opcfoundation.org/UA/I4AAS/`), which maps the AAS V2.0.1 metamodel: object model, ingestion of XML, JSON and AASX, materialization, server and client. The two are different metamodel generations rather than two revisions of one model — V2 keeps `Asset` as a first-class Identifiable, `identification.idType`, Views and ordered collections, none of which survive into V3 — so they are **alternatives**. A Server hosts one or the other; this is documented rather than enforced at startup. Each is named for the generation it maps (`Opc.Ua.Aas.V2`, `Opc.Ua.Aas.V3`, `AddAasV2Server`, `AddAasV3Server`), and what genuinely serves both carries no marker and sits at the root of `Opc.Ua.Aas`: the deterministic NodeId encoding and idShortPath conventions, `AasOptional<T>`, the digest rule, the materialization diagnostics, the AASX container walk, and the value and operation providers, which are keyed on `NodeId` and `Variant` and so carry no version at all. ## What is in here **New libraries**: `Opc.Ua.Aas`, `Opc.Ua.Aas.Server`, `Opc.Ua.Aas.Client`, `Opc.Ua.Aas.WoT`, plus `samples/Aas` and `docs/Aas.md`. **Enabling changes to existing code**, each needed by the above: * The OPC UA `Decimal` DataType added to `Opc.Ua.Types`, with its Part 6 §5.1.10 wire encoding. `BinaryDecoder` gained one internal member, `TryReadRemainingBodyBytes`, because a trailing field with no self-describing length cannot otherwise be read; `Decimal.Decode` is its only caller. Part 6 Table 3 types the unscaled `Value` as an **OctetString whose byte count is `Length` − 2**, not a length-prefixed `ByteString`, so it carries no length of its own — `DecimalEncodingTests` pins the body byte-for-byte against that mistake, and against the `Length ≤ 2` values the same table calls invalid. * The xRegistry projection engine extracted into `Opc.Ua.XRegistry.Server` and `Opc.Ua.WotCon.Server` migrated onto it (−848/+387 lines), with the WoT Connectivity tests passing **unedited**. * Two source-generator fixes, both of which made a model impossible to build (see below). ## Defects found and fixed along the way Running the stack end to end, rather than trusting per-area test suites, surfaced defects that no unit test caught. The ones worth a maintainer's attention: * **The generator emitted non-terminating constructors.** A structure field with no declared default was initialized with `new T()`, so a self-referential DataType (`AASReferenceDataType.referredSemanticId`) recursed until the stack overflowed and `AddOpcUaAas` could not load the model at all. The test host *died* rather than failing. Only the field that closes a cycle is now left null. * **The generator omitted `new` on a redeclared placeholder.** `AASOrderedSubmodelElementCollectionType` redeclares the `SubmodelElement` slot of its base type, and the generated `Add` method hid the base one without saying so, so the V2 model would not compile. No existing model could have hit either defect — both are build failures, so anything that builds today is unaffected. * **The metamodel half had never worked outside its unit tests**: the emitted NodeSet declared no reference-type aliases and was rejected by the loader; the Mandatory `Invoke` Method was never emitted, because a NodeSet is imported as written rather than instantiated from its type; the runtime bound at the authored namespace index instead of the one the Server assigns; and `MethodDeclarationId` was addressed in the wrong namespace. Every materializer test inspected the in-memory object graph, which cannot see whether the graph is loadable — two tests now import it exactly as `RuntimeNodeSetNodeManager` does. * **The client could not see any Property member.** It browsed `HasComponent` with subtypes, but `HasProperty` is a sibling under `Aggregates`, so reading a value failed and invoking failed argument validation. * **Every repeated registry write forked a duplicate group and resource** instead of adding a version, because the identifier was re-derived against a sibling set that already contained the entity itself. This also made the persistence bounds unreachable. * `.gitignore`'s `**/packages/*` silently swallowed the whole package-integrity implementation and its tests, which would have vanished on a fresh clone. ## Specification findings Nine findings against the V3 draft are fixed in [marcschier/opcua-drafts#75](https://github.com/marcschier/opcua-drafts/pull/75). The substantive one: clause 6.1.5's absent-versus-empty rule was **unsatisfiable** for five container fields that materialize as parent components with no node of their own, which made `AAS-LosslessRoundTrip` unachievable. OPC 30270 contradicts itself twice. Both are recorded in `AasV2ConformanceUnits.cs` and the documentation rather than smoothed over: Table 83 spells the unit `I4AAS MultiLangaugeProperty` where Table 85 spells it correctly, and Table 85 lists an `I4AAS Security` unit that Table 83 never defines. Table 84, which would assign profile URIs, is empty, so `ServerProfileArray` gains no I4AAS entry. ## Known limitation Calling an `Operation` **with arguments** answers `BadTooManyArguments`. Method resolution works from both the instance NodeId and the `MethodDeclarationId`, and the argument definitions are published, but `NodeState.AddChild` does not route through `MethodState.FindChild`, so a Method imported from a NodeSet leaves its typed `InputArguments` null. Closing this means changing how the shared NodeSet import claims typed children, which affects every consumer of runtime NodeSets and is out of scope here. It is documented in `docs/Aas.md` §11, the conformance matrix marks `AAS-OperationInvoke` partial rather than claiming it, and `samples/Aas` exercises the path and reports the status rather than working around it. V2 is unaffected — its `Operation` is an OptionalPlaceholder with no declared arguments. ## Related Issues - No tracking issue yet. Opening as a **draft** for design discussion first, per the ADR guidance below; happy to open one and link it once the shape is agreed. ## 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. ### Verification | Check | Result | |---|---| | AAS tests | **670 passed, 0 failed** on net472, net48, net8.0, net9.0, net10.0 | | Coverage | Client 80.8 %, Server 81.2 %, `Opc.Ua.Aas` 82.0 %, WoT 82.4 % — all above the 80 % gate | | Libraries | `Opc.Ua.Aas`, `.Server`, `.Client`, `.WoT` build clean on every target framework, zero warnings | | Regression | `Opc.Ua.Types` 8677, `Opc.Ua.WotCon` 1094, `Opc.Ua.XRegistry` 198, `Opc.Ua.Server` 4050 — all green | | Sample | `samples/Aas` builds warning-free and runs end to end | | Merge validation | Solution builds clean on net10.0 and net48; WoT Types 504, WotCon 1111, AAS 670, XRegistry 198 tests passed | | CI | All 99 checks green on `ff9298e44`; only the CLA signature status is outstanding | ### Review pass A full review against both specifications, and for API consistency and correctness, produced twelve fixes. Each one has a test that fails without it. | Defect | Where | Why it mattered | |---|---|---| | V2 projection aborted on **every** `File` read from a document | `AasV2EnvironmentRuntime` | The runtime bound `File/Value` unconditionally, the materializer emitted it only with content, and the builder throws `BadNotFound` for an unknown NodeId — aborting the whole registration. No reader ever populates `AasFile.File`, so no AAS V2 document could be hosted at all. | | `aas-suppl` anchored on the wrong part | `AasxPackageReaderCore`, `AasxPackageWriter` | IDTA and the Package Explorer anchor it on the environment part; we used the origin part. Every real `.aasx` returned zero supplementary files, silently. Affects both halves. | | Federation failed closed on pooled connections | `AasFederation` | `ConnectCallback` fires only for new connections, so the second fetch to an origin — and all of net472/net48/netstandard2.1 — failed with a security-flavoured error. The peer is now validated *inside* the callback, which makes reuse safe by construction. | | Malformed `Decimal` escaped as `ArgumentOutOfRangeException` | `BinaryDecoder` | A declared body shorter than `Scale` produced a negative read length. Two of the three test cases had been passing for the wrong reason. | | V2 and V3 cross-wired their value providers | `OpcUaAasServerBuilderExtensions` | Both registered `IAasValueProvider`; whichever was added first served both AddressSpaces. V2 now has its own contract, so co-hosting is harmless rather than silently wrong. `EnvironmentFolder` was also bound and ignored on the V2 path. | | Export filter skipped three nesting kinds | `AasEnvironmentExporter` | Content under `Entity`, `AnnotatedRelationshipElement` and `Operation` was exported unevaluated *and* stamped with a Digest presenting it as complete (clause 6.5.10). List authorization paths also shifted after a denial. | | Concealment held at the Method but not in the projection | `AasRegistryModel` | `GetSubmodel` answered `BadNotFound` while an anonymous Browse revealed the node, its identifier, semanticId and digest (clause 6.5.7). | | File handles were unsynchronized and unowned | `AasElementFileManager` | The async node manager holds no lock, so concurrent Calls raced a bare `Dictionary`; sequential handles let any Session read, seek or commit another's. Writes were also unbounded. | | Projection host was unimplementable outside the stack | `AasEnvironmentProjection` | The handle demanded a type with an internal constructor — our own tests used `FormatterServices.GetUninitializedObject` to get round it. Now mirrors WotCon's interface-typed registration. | | Embedded `FileType` omitted 7 of 10 Mandatory members | `AasEnvironmentMaterializer` (V2) | OPC 10000-3 6.4.4 requires them all; without `Size` and `OpenCount` a Client cannot size a read or detect an abandoned handle. | | Round-trip oracle ignored most of the model | `AasRoundTripComparer` | `Blob`, `File`, `ReferenceElement` and `BasicEventElement` had no case arm, so their fields compared equal by falling off the switch; `valueType`, `semanticId`, `entityType` and `Key.type` were never read. The clause 6.4 losslessness claim rested on it. | Known, unchanged: calling an `Operation` with arguments answers `BadTooManyArguments`, because `NodeState.AddChild` does not route through `MethodState.FindChild`. Documented in `docs/Aas.md` §11. Not addressed in this pass, and worth a maintainer decision: OPC 30270 §9.2 says all NodeIds of Nodes not defined in the companion specification **shall not** use the standard namespaces, and Table 87 marks a vendor-specific instance namespace Mandatory. Both halves currently mint instances in the companion namespace. Separating them touches NodeId minting, the runtime and the client together, so it is better done deliberately than folded into a review pass. This is a large change and touches shared code (`Opc.Ua.Types`, the source generator, the xRegistry projection). It is deliberately a draft: the enabling changes are separable if maintainers would prefer them split into their own PRs. The latest `master` is merged into this branch in `0dd0ff0e1`. --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Copilot-Session: 9e6a5abf-3299-4cd1-9855-010fedbf0ad8 Copilot-Session: c3d88950-4a65-4ff6-87d2-1f545a875c9b Copilot-Session: b8ab3763-b9bd-46ae-b0ef-045db26e5782 |
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Marc Schier
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466c5cb982 |
Robot intent follow-ups: multi-controller executors, spec fixes, and an MCP tool library (#4195)
Follow-ups to #4165, plus the work that followed from re-checking this branch against the specification. Everything started as a defect found by review or by probing the running code; the specification is unchanged except where noted. The TLS certificate lifetime fix (#4196) and the OpenUSD work (#4198) were both merged into this branch. #4196 has since landed on master, so it no longer appears in this diff. #4198 was closed in favour of this PR and its content is here. The MCP trim/AOT work (#4228), the `DataGenerator` null `NodeId` fix (#4227) and the NodeSet external-parent import fix (#4229) have since been merged in as well. All three are closed in favour of this PR and their content is here, described under *Making the MCP libraries trim and AOT clean*, *A generator that returned the value you opted out of* and *A NodeSet parent that lived outside the import batch* below. ## A two-arm cell could not be built `IntentExecution` carried no controller identity, and there was effectively one `IIntentExecutor` per server. An executor handed an execution therefore could not tell **which arm** it was for, so a cell with two `IntentControllerType` instances — an ordinary configuration — was not expressible through the builder or DI. Both halves are addressed: - `IntentExecution` now carries `ControllerId` (`NodeId`, the OPC UA identity) and `ControllerName`, so one shared executor can discriminate; - DI gained per-controller registration — `AddRobotIntentExecutor<TExecutor>(controllerBrowseName)` and an instance overload — so two genuinely different executors can coexist. Resolution order is `WithExecutor` → per-controller DI registration → the single DI executor → a build-time throw. There is still **no silent fallback** to a rejecting executor; that was a Critical defect fixed in #4165 and it stays fixed. `IIntentExecutor` is unchanged, so this is purely additive. ## Declarations that were quietly untrue - **`Accepts<T>` silently discarded a redeclaration.** Declaring an intent type twice — say to narrow `cancelSupported` on the second call — kept the first, wider declaration and said nothing. That is the same class of defect as the capability-honesty problems #4165 fixed (`PauseSupported` declaring a pause the host could not perform; `Aborting` degrading silently to `Buffered`). Identical redeclarations remain idempotent; conflicting ones now throw `BadInvalidArgument`. - **`RI-Interop-40010` assumed Annex B item 3 rather than checking it.** It now requires exact set equality between the OPC 40010 `TaskProgramName` values and the Robot Intent `ProgramType.ProgramId` values. Both sides are readable from the address space without commanding the robot, which is what makes the requirement structural under §12.1. ## Two things the specification requires that this did not do Re-checking the implementation against the merged draft revision turned up two genuine violations. Both are fixed, and the NodeSet is untouched by either. - **Every graphed mission reported `Failed` on success.** `MissionRules.SelectTransition` returned `null` for two different situations — a graph *terminus*, which is the normal success path, and a branch point whose conditions all evaluated false — and the caller collapsed both into `Failed`/`NoTransition`. A three-way result (`Terminus` / `Selected` / `NoConditionMatched`) separates them, so a mission that runs to its end now completes. The failure reason surfaces through the inherited Part 10 result container rather than a new member. - **Facet URIs were never published.** An upstream `may` became a `shall` in the revision this branch adopts. `RobotIntentConformanceUris.Facets` held 31 URIs with **zero** production references — the set existed but nothing emitted it. The published set is now derived from `RobotIntentFacetCalculator`, the same authority that already computed `SupportedFacets`, rather than from a second hand-maintained list that could drift; a reflection test pins the two together. ## An easy client mistake `RequestAuthorityAsync` returns a lease the caller must remember to inspect. Forgetting makes every later submission fail with `ControlNotOwned` for reasons that are invisible at the call site. `RequireAuthorityAsync` throws instead, and names the current owner. `RequestAuthorityAsync` is untouched — inspecting and branching is legitimate. ## Letting an agent drive the robot New `tools/Opc.Ua.Mcp.Robotics` gives a language model the intent API as MCP tools: 36 across discovery, monitoring, direct control and missions, behind a `Robotics` tool profile, composable into any MCP host exactly as the existing OPC UA tool packages are. The `IntentViewerClient` sample hosts them behind `--mcp` (stdio by default, HTTP when `--view`, since MCP stdio and the in-process viewer would otherwise share stdout), and the sample gained a pallet scene so an agent can pick and stack parts and watch the result in the OpenUSD viewer. All the scene logic is server-side — no viewer or connector changes. Four gaps in the client API had to be filled first, since the tools are a thin layer over it and could not have been written honestly without them: `ReadStateAsync`, `ListOperationsAsync`/`ListMissionsAsync`, controller-level `CancelIntent`/`CancelAll`/`Pause`/`Resume`/`Retry`/`ReleaseControl`, and `WaitForCompletionAsync`. The tools refuse rather than paper over: a refusal from the server is returned with its `IntentFailureEnum` and never retried, and command authority is never acquired as a side effect of a tool call. **One defect this surfaced:** `--profile robotics` shipped 36 tools that could not do anything. Every robotics tool resolves a named OPC UA session and only the connection tools can open one, so with no `Connect` in the catalogue the whole profile failed. A test had pinned the defect in place, asserting the profile did *not* contain `Connect` on the line below the `diagnostics` assertion requiring it. Each package now declares its own requirement in its registration extension rather than the host special-casing it, so an application embedding `Opc.Ua.Mcp.Robotics` directly gets a usable catalogue without reproducing the host's pairing. `Full` still takes the connection tools from the core package, so they are never registered twice. The replacement test states the invariant — a profile exposing session-scoped tools must expose the tools that open a session — rather than the instance. ## Making the MCP libraries trim and AOT clean *Merged from #4228.* `Opc.Ua.Mcp.Core` is now `IsAotCompatible` on `net10.0`, and the reflection the analysers then reported is gone. Turning the analysers on is the point: until now they were not running on these libraries at all — including on the tool library this branch adds. - **`OpcUaJsonHelper.Serialize`** went through `JsonSerializer` (IL2026 / IL3050). The conversion helpers in that class already reduce every OPC UA value to a closed set — `null`, the primitive scalars, `string`, `Dictionary<string, object?>` and lists thereof — so the JSON is now written directly with a `Utf8JsonWriter`. Output is unchanged, and that is asserted rather than assumed: `OpcUaJsonHelperTests.SerializeMatchesTheReflectionBasedSerializer` compares the new writer byte for byte against `JsonSerializer` for every shape the helpers emit, including all numeric widths, the custom-formatted scalars, nested sequences and strings that force the encoder to escape. One deliberate contract change: arbitrary object graphs are no longer accepted. Serializing them needs reflection, so `Serialize` now throws `NotSupportedException` naming the type instead of silently stringifying it. No call site in the repository passes anything outside the closed set. - **`McpSchemaFilters`** used `JsonSerializer.SerializeToElement` on a `JsonObject`; it now parses the node's own text, which needs no reflection. `Opc.Ua.Mcp.Diagnostics` is deliberately **not** marked. It depends on SharpPcap and on the reflective service-call dissection in `Opc.Ua.Core.Diagnostics`, neither of which is trim safe — which is why that package does not opt in either. Two improvements are kept regardless: `PacketDecodeTools` serializes `DecodedServiceCall` through a source-generated `JsonSerializerContext`, and `PacketCaptureTools.ListInterfaces` now carries the `RequiresUnreferencedCode` / `RequiresDynamicCode` annotations that `NetworkInterfaceEnumerator.ListLocalInterfaces` already declares, so the constraint is visible to callers instead of implicit. Nothing is suppressed. Marking an assembly `IsAotCompatible` only proves its own IL is clean; it says nothing about whether the library still functions once reflection is gone. So `Opc.Ua.Aot.Tests` references `Opc.Ua.Mcp.Core` and exercises it with JSON reflection disabled, stating what is and is not true today: - tool **results** serialize without reflection — this would fail outright if the `Utf8JsonWriter` change regressed; - tool **registration** still requires reflection, because the MCP SDK builds each tool's input schema by asking `JsonSchemaExporter` for a `JsonTypeInfo` of every parameter type. Without a source-generated context covering the tool signatures — and with the injected `OpcUaSessionManager` being described rather than treated as a service — that throws `NotSupportedException`. The second test asserts the throw. It documents the remaining gap and turns red the moment someone closes it, rather than leaving it to be found in a published binary. The package README says the same thing in prose. **Two pre-existing issues this surfaced, both outside this PR:** pulling `Opc.Ua.Mcp.Diagnostics` into an AOT publish reports `IL2046` / `IL3051` on `NicCaptureSource.StartAsync`, which is annotated `RequiresUnreferencedCode` / `RequiresDynamicCode` while the `ICaptureSource.StartAsync` it implements is not, and `IL2075` on `ServiceCallReassembler.GetCollectionCount` / `GetPropertyString`, which call `Type.GetProperty` on the result of `GetType()`. Happy to file these separately if useful. ## A generator that returned the value you opted out of *Merged from #4227. Fixes #4226.* `GetRandomNodeId(useBoundaryValues: false)` could still return `NodeId.Null` — one of the boundary values the same method offers when boundary values *are* requested. A caller that opted out should not receive one, and `GetRandomExpandedNodeId` builds on it and inherited the same behaviour. The `IdType.Opaque` branch is the practical path: `GetRandomByteString()` draws its length with `NextInt32(MaxStringLength)`, which is inclusive of zero, and a zero-length opaque identifier in namespace 0 satisfies `NodeId.IsNull`. With three namespaces and `MaxStringLength` at 10 that is roughly **one call in 130**. A numeric identifier of `0` in namespace 0 is null too, at around one in four billion. The draw is now repeated while the result is null and boundary values were not requested. Guarding the result rather than the individual branches covers every identifier type, including the numeric case, rather than only the one that happens to be reachable today. The `useBoundaryValues: true` path is untouched, so boundary values remain available when they are asked for. Four tests in `tests/Opc.Ua.Core.Tests/Types/DataGeneratorTests.cs` loop 20,000 draws, because at one call in 130 a single draw proves nothing. Against the **unmodified** generator they fail on draw 93 and draw 1346. Two of the four exist to keep the fix honest rather than to test the bug: `GetRandomNodeIdStillProducesEveryIdentifierType` catches a "fix" that simply stopped emitting opaque identifiers, which would satisfy the null assertions while silently narrowing the generator, and `GetRandomNodeIdWithBoundaryValuesStillYieldsThem` confirms the leak was closed rather than the feature removed. **How it was found:** an intermittent downstream test failure. A test server initialising a static `NodeId`-valued variable via `TestDataSystem.ReadValue` occasionally stored `NodeId.Null`; the encoder correctly writes that as JSON `null`, and a consumer asserting a value was present failed about one run in five — never reproducibly in isolation. It only surfaced under load because `UnsecureRandom.Shared` is a fixed-seed, process-global generator shared between `DataGenerator` and OPC UA transport jitter, so the number of draws preceding address-space initialisation depends on what else is running in the process. ## A NodeSet parent that lived outside the import batch *Merged from #4229.* `UANodeSetHelpers.LinkParentChildRelationships` builds its lookup table from **only the nodes in the current import batch**, links a child when the parent is found — and then cleared `instance.Handle` **unconditionally**, which is exactly where `Import` had stashed the authored `ParentNodeId`. A node whose parent lives in another NodeSet, or is owned by another NodeManager, therefore lost that parent **silently** at import, and nothing downstream could recover it. `RuntimeNodeSetNodeManager.CreateAddressSpaceAsync` already has a step that wires references to external node managers; the parent link never reached it. Such a parent is now recorded rather than discarded, and exposed through `UANodeSet.TryGetUnresolvedParentNodeId`. A parent that resolved normally inside the batch is **not** recorded, so a caller does not re-wire references that already exist. The record lives in a `ConditionalWeakTable`, so it does not keep an imported node alive and does not widen `NodeState` — whose `Handle` is a general-purpose slot a caller may legitimately use for its own purposes, and so is not a safe place to leave the value. `RuntimeNodeSetNodeManager` consumes it to report the one case that cannot be repaired automatically. In NodeSet2 the `ParentNodeId` attribute is a *hint*; the authoritative edge is the entry under `<References>`, which the reverse-reference pass already turns into an external reference. A node that names an out-of-manager parent but carries **no such Reference** materializes with no path from that parent, and no ReferenceType can be inferred to synthesise one — so it is reported as an authoring defect rather than guessed at or silently accepted. This is deliberately **not** a fix for a specific address-space symptom. It removes a silent loss of authored information and gives callers the means to act on it. Whether any particular orphaned-node report is caused by this path, or by namespace-index translation elsewhere, still needs separate diagnosis. **Changed while merging.** As authored in #4229 the accessor was `GetUnresolvedParentNodeId`, returning `NodeId?`. `NodeId` is a readonly struct implementing `INullable`, so that was a `System.Nullable<NodeId>` wrapped around a type that already carries its own null representation — which this repository excludes in favour of an `IsNull` check, and it asks for `TryGet` over casting on struct types. The tests correspondingly asserted `Is.Null` against a struct, which the testing rules also exclude. It is now `bool TryGetUnresolvedParentNodeId(NodeState, out NodeId)`, yielding `NodeId.Null` when there is no unresolved parent. The API is unshipped — it arrives with this branch — so nothing depended on the previous shape. Both tests were re-verified by mutation after the rewrite: disabling the record in `LinkParentChildRelationships` still fails `ImportKeepsAParentThatIsNotInTheSameBatch`. ## Dependencies - **OpenUSD to `0.7.0-alpha`.** All 11 issues we filed upstream are fixed, so the workarounds they justified are gone and the parts of the pump and generator samples that were blocked on them are implemented. - **ModelContextProtocol to `2.1.0`** across all five MCP tool libraries and the executable. No code changes were needed — the surface we use is unchanged in 2.x — but central package management required a cascade of pins, each commented where it sits. Both transports were verified against a running server rather than assumed. MCP 2.x is stateless (no `initialize`, no `Mcp-Session-Id`); an OPC UA session is application state addressed by a caller-supplied name, which fits that model but does assume process affinity, and that assumption is now written down rather than implied. ## Infrastructure The `code coverage` gate was measuring nothing on this branch and reporting success. It is fixed and now enforced, which immediately exposed real gaps — most usefully `RoboticsIntentJson`, which parses agent-supplied JSON (untrusted input from a language model) and had no tests at all. It is now at full line coverage in CI. Patch coverage is **90.20%** against a 75% floor. The `netstandard2.1` build leg was also failing. The MCP projects build as empty shells under a legacy `CustomTestTarget`, and the viewer sample referenced them on the target framework alone, so it tried to resolve a net10.0 shell from net8.0. The sample now derives MCP support from whether those projects are actually being built. ## From review A review pass over the branch found two real defects, both fixed. `RoboticsIntentJson` parses JSON written by a language model, so every malformed shape it can be handed is reachable input; it indexed pose arrays without checking their length and enumerated properties without checking their kind, so a short or wrongly-typed array escaped as `IndexOutOfRangeException` or `InvalidOperationException` rather than the argument error the tool descriptions promise the agent. Separately, `IntentOperationHandle` treated a zero `QueuePosition` as "not observed" and discarded it, so a handle kept reporting the last queued position after the server had said the operation left the queue. The pose validation immediately caught a latent test defect: the pallet scenario interpolated doubles into JSON with the current culture, so under a comma-decimal culture `[0.12, 0.16, 0.28]` became a six-element array. It passed only because that submission is expected to be refused for want of authority, so the wrong coordinates were never used. A third review finding — that a default-constructed `RobotIntentControllerState` hands out a null `NodeId` — was checked and rejected: `NodeId`, `QualifiedName` and `LocalizedText` are readonly structs here, so `default` is the null value and `IsNull` is `true`. The tests asserting that invariant are kept. A second review pass over the merged branch found two more, both fixed and both about an error surfacing as the wrong kind of failure rather than about a wrong result: - **Malformed agent JSON did not arrive as an argument error.** `RoboticsIntentJson` turns every *validation* failure into an `ArgumentException` — a wrong root kind, a missing property, a short pose array — but three `JsonDocument.Parse` calls and the NodeId parse were unguarded. A syntax error escaped as `JsonException` and an unparseable NodeId as `ServiceResultException`, which are the two shapes a language model is most likely to produce. That is the same defect class as the pose/kind checking above: a caller separating bad input from a genuine fault had to know to catch three unrelated exception types. Parsing now goes through one helper that reports a syntax error as an `ArgumentException` naming the argument, keeping the `JsonException` as the inner exception so the position is not lost, and the NodeId goes through `NodeId.TryParse` rather than `Parse`, collapsing its two failure modes into one. `MalformedIntentJsonIsRejected` had asserted `InstanceOf<JsonException>`, pinning the behaviour rather than the intended contract; it now asserts `ArgumentException` like every neighbouring test, and three tests cover the newly guarded paths. - **`ConditionalWeakTable.Add` throws on a duplicate key.** Not reachable today, but `TryGetUnresolvedParentNodeId` documents `Handle` as a general-purpose slot a caller may use for its own purposes — and a caller doing exactly that before re-importing into the same collection would take a hard throw from inside the import pipeline. Removing first makes the most recent import win. `AddOrUpdate` would say this more directly but does not exist on `netstandard2.0`. ## Deliberately not fixed here `FastenIntentDataType.Joint` is refused when the Server exposes no OPC 40450/40451 model, and a client cannot discover that before calling. That is **not fixable in this repository**: §5.4.2 makes `Joint` the defining mechanism while §11.3 says the parameters otherwise stand alone, and `IntentCapabilityDataType` declares capabilities at intent-type granularity with no member-level mechanism anywhere in the model. It is a specification gap, raised as S4 on [marcschier/opcua-drafts#60](https://github.com/marcschier/opcua-drafts/pull/60) rather than worked around with a bespoke mechanism the spec does not define. ## Validation `dotnet build UA.slnx -c Release` on the merged branch — **0 errors, 0 warnings**, with the AOT analysers now running over `Opc.Ua.Mcp.Core`. | Suite (net10.0) | Tests | |---|---| | `Opc.Ua.Core.Tests` | 4247 (86 skipped) | | `Opc.Ua.Robotics.Tests` | 540 | | `Opc.Ua.OpenUsd.Tests` | 909 | | `Opc.Ua.Tools.Tests` | 419 | | `Opc.Ua.Server.Tests` — `RuntimeNodeSet` | 94 | | `Opc.Ua.Robotics.Intent.Tests` | 22 | | `Opc.Ua.Aot.Tests` — `McpAotTests` | 3 | 0 failures. `Opc.Ua.Tools.Tests` rose from 409 to 419 with the serializer-equivalence tests from #4228 and the malformed-JSON tests from the second review pass, and `Opc.Ua.Core.Tests` covers the `DataGenerator` tests from #4227 and the import tests from #4229. `UANodeSetHelpers` also passes on **net48** (5/5). The MCP agent-usability grader scores Core 100 / Full 100. --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com> Copilot-Session: a248a589-9a20-4372-868e-5d347e57001b Copilot-Session: 9e6a5abf-3299-4cd1-9855-010fedbf0ad8 Copilot-Session: a0718e8a-a158-45c5-929d-e1d6c0982431 |
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Marc Schier
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0612a43fe4 |
Pluggable cryptography and hardware-held private keys (#4192)
Makes the stack's cryptographic operations replaceable - by another library, an offboard service, or hardware (TPM 2.0 / HSM / PKCS#11 token / cloud KMS) - with no performance cost in the default configuration, and extends this to certificates so a private key need never exist in process memory. Also fixes three pre-existing defects found while validating: STACKGEN001 erroring for every compilation the stack generator was merely loaded into, certificates failing to load from paths past MAX_PATH on Windows, and the MonitoredNode2 tests starving the thread pool. Fixes #4190 |
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Marc Schier
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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 |
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Marc Schier
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Add a Generators companion-spec sample and compose servers at a site level (#4180)
# Description Adds a **Generators companion-specification sample** alongside the existing pump sample, and a **`SiteCompositionServer`** that composes several device servers into one OpenUSD scene at a supervisory level — demonstrating that servers can be aggregated without mirroring their address spaces. Three things, in dependency order: ### 1. `GeneratorServer` A self-contained server realising the draft Generators spec (`http://opcfoundation.org/UA/Generators/`) end to end: N simulated generating sets, DI + Machinery integration, a twelve-state operating state machine, four protection alarms per set, six control methods, and a per-set OpenUSD twin. The organising idea is that **load fraction is the only independent variable**. Everything else is a function of it: ``` V̇_f(x) = 3.67 + 100·x fuel rate [L/h] η(x) = P(x) / (V̇_f(x) · ρ · LHV) efficiency S = P / PF I = S / (√3·V_LL) f = N·p / 120 ``` This is not stylistic. When each measurement is an independent oscillator — as the pump sample's simulation once was — a server happily publishes a duty point no real machine could occupy, and no test can catch it because there is nothing for the values to be inconsistent *with*. Deriving them from one variable means `P = √3·V·I·PF` and `η = P/(V̇·ρ·LHV)` hold at every tick by construction. The published `DATASHEET.md`, the engineering ranges, the trip points and the simulation all read the same constants in `GeneratorDatasheet.cs`, so the document and the server cannot describe different machines. The machine is a fictitious **SimGen Systems GenX-500** (400 kW prime / 440 kW standby, 400/230 V, 50 Hz, four-pole). Figures are representative of a real industrial genset class; no vendor is named anywhere in the code or docs. ### 2. Cross-server composition in the connector `RemoteSessionFactory` already existed in the client library but the connector CLI never set it, so cross-server composition was unreachable. `--federate` wires it up: the connector opens a session to each server named by a component binding, discovers its representations and drives its bindings into the same stage. It is **opt-in** because the endpoint the connector dials comes from the server being rendered rather than from the operator, which makes honouring it a trust decision. Federation is best-effort per component — a subordinate that is down is logged and skipped, and the rest of the scene still renders — which is the only `src/` change in this PR. ### 3. `SiteCompositionServer` Owns no devices. It publishes a site stage plus one cross-server component binding per subordinate, carrying that server's `ComponentServerUri` and `ComponentEndpointUrl`. Nothing is mirrored, so there is no cache to invalidate and no second copy of the truth. ## Notes for reviewers **Everything interesting in this PR was found by running the servers, not by reading the code.** Six defects, none of which looked wrong in review: - `IsShutdown` and `SubsystemName` are *optional* on `GeneratorProtectionAlarmType`, so the generated factory does not materialise them. `CreateOrReplace` alone produces a child that exists, appears in `GetChildren` and holds the right value — but carries **no `ReferenceTypeId`**, so no browse can reach it. Every alarm was publishing its trip without saying whether the trip stops the machine or which subsystem to go to. `AddXxx(context)` first is what gives the child its `HasProperty` reference. - **The protections could never fire.** Every trip point sits outside the band the datasheet curves produce — that is what a datasheet *means* — so all four alarms, the shutdown class, `ResetFaults` and the whole `Fault` branch of the state machine were unreachable while the README documented them as observable. Overload was worse: the load clamp ceiling was set to exactly the trip point, making a strictly-greater-than comparison unsatisfiable. Faults are now injectable, and the first set — the one the hero camera frames — develops one on a slow rotation. - **A shutdown trip removes the condition that caused it**, because oil pressure and coolant temperature are only supervised while the engine turns. Each alarm went active for one tick and cleared, leaving an operator with a stopped machine and no indication of why. Shutdown-class alarms now latch until the set leaves the shutdown state. Every unit test that checked the *condition* passed throughout — the defect only appears when the trip and the supervision interact over time. - **`Synchronizing` and `Paralleled` were declared, drawn in the README and never entered.** The first set now energises a dead bus and closes onto it while every other set synchronises to a live one — both how a real plant parallels, and what makes the two states observable. - **The tick raced client method calls.** The simulation tick runs on a thread-pool thread while method calls arrive on request threads, and both transition sets and write the same nodes. A tick moving a set to `Cooldown` and a concurrent `EmergencyStop` could interleave the paired `CurrentState` / `CurrentState.Id` writes and leave a client with a state *name* from one transition and a state *node* from the other — the exact failure the paired write exists to prevent, reintroduced by the threading model. Both paths now take one gate. - Low oil pressure supervised from raw speed **tripped every set during cranking**, because pressure has not built yet. Now gated on `IsSpinning`, which is what a real start-up bypass does. Smaller fixes: shutdown trips are applied after the whole evaluation pass (stopping mid-loop made the remaining conditions read healthy, collapsing simultaneous trips to whichever came first in the table); `ResetFaults` reports its clears as events (a client learns of condition state changes only through events, so a silent clear leaves an alarm-list client showing it forever); the start counter moved into the transition so commanded starts are counted; the federated connector closes the remote session if the connector constructor throws between taking ownership and registering it; and `prepare_machinery_nodeset.py` now *asserts* the IA namespace is last before removing it rather than only claiming so in its docstring — removing any earlier entry would silently renumber every namespace after it and rebind their NodeIds. **A model limitation is left visible rather than papered over.** `GeneratorStateMachineType` declares an emergency stop only out of `Running`, `Loaded` and `Paralleled`, so the sample refuses `EmergencyStop` from `Starting` and `Warmup`. A real panel stops from anywhere. That is the specification's shape, not this sample's choice, so it is pinned by a test and named in the docs. **`Model/` vendors a reduced Machinery nodeset**, derived mechanically by whitelist. The full official nodeset does not survive the model source generator (`MODELGEN003`) and drags in IA through a single optional `Stacklight` member a generating set does not have. Deriving it by script keeps the provenance checkable; the whitelist is the only thing to edit when more types are needed. **Never hand-edit the generated output.** **The federated scene renders end to end.** Getting there surfaced three more defects, all of which produced a plausible-looking scene with nothing in it: the generator sample's plant aggregation was created under an already-registered `DeviceSet` and so was invisible to every client (it had *never* rendered geometry, standalone or federated); the connector's asset fetch ran on the primary session only, so composition referenced layers that were never downloaded; and both generator colour bindings wrote `primvars:displayColor` to prims that did not declare it, so the renderer rejected every update while the file still looked correct. Cross-server components compose under the subordinate's own root, so the site layer now *places* `/Plant` and `/Powerhouse` rather than leaving them stacked on the origin. **`OpenUsdRepresentation` is now mounted with `HasAddIn`, not `HasComponent`** (review feedback). The nodeset says so explicitly — *"Mounted with HasAddIn"* — but every server in the tree used plain `HasComponent`. It survived because `HasAddIn` is a *subtype* of `HasComponent`: the representation still browses, still aggregates and still drives a twin, so every functional test passed before the fix and after it, and only a conformance checker could tell. Seven mount sites corrected. `PumpDeviceIntegrationServer` and `MinimalRobotServer` had hand-rolled the mount instead of calling the shared `CreateRepresentation` helper, which is exactly how they drifted from it. Both sample E2E suites now assert the reference type across **every** discovered representation — a narrower check would have missed the plant-level representation that arrived later from master still carrying `HasComponent`. **Live colour is not achievable in the current OpenUSD viewer, and that is now documented rather than worked around.** Proven with a standalone probe: `primvars:displayColor` resolves as `color3f[]` from the `UsdGeomGprim` schema whatever the layer declares, and the `OpenUsd 0.4.0-alpha` managed API has no writer for that type. Bound `UsdPreviewSurface` materials are not shaded either, so geometry renders grey unless it also carries an explicit `displayColor` primvar. The **visibility** bindings carry no such caveat and are what the samples rely on to show state. Filed upstream as [openusd-dotnet#2](https://github.com/marcschier/openusd-dotnet/issues/2), [#3](https://github.com/marcschier/openusd-dotnet/issues/3) and [#4](https://github.com/marcschier/openusd-dotnet/issues/4), and linked from `docs/OpenUsd.md` so a reader can check whether they have since been fixed. ## Related Issues No tracking issue — this is additive sample and documentation work with a single small, self-contained change to `src/` (per-component error isolation and session-ownership hardening in `OpenUsdConnector.Composition.cs`). Happy to open one if maintainers would prefer it tracked. ## 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. ### Testing The generator fixtures live in `tests/Opc.Ua.OpenUsd.Tests/Generator` — **82 tests**, no new project. `Opc.Ua.Di.Tests` would have been the natural home next to the pump fixtures, but both device samples source-generate their own reduced `Opc.Ua.Machinery` model and expose it via `InternalsVisibleTo`, so referencing both from one assembly makes every Machinery type ambiguous (CS0433); `Opc.Ua.OpenUsd.Tests` references no other sample and already hosts `RobotAssetContractTests`. The suite runs **870** on net10.0 and net48 (784 existing + 86) and **788** on net472, where the sample does not exist and only the framework-independent asset-contract tests run — forgetting exactly that exclusion broke CI on the sibling pump PR. The tests target the things in this sample that fail *quietly*: - **Datasheet conformance** holds the model to its own claim — rated speed is `120·f/p`, rated current follows from the rating, the fuel curve reproduces the published table, and `η = P/(V̇·ρ·LHV)` reconciles at every load. Efficiency is swept across the whole simulated range to show it stays inside (0,100) and rises monotonically; a fit that goes negative somewhere in its range is a coincidence that happens to look right at the duty point, not a model. A further test reads `DATASHEET.md` and checks the document quotes the figures the server actually serves. - **Drift between the two descriptions of the state machine** — the physics' `IsLegalTransition` and the model's `GeneratorStateMap` — is checked in *both* directions. A transition the physics permits but the map lacks moves a machine without telling a client; one the map holds but the physics refuses is dead weight that looks supported. - **Reachability at run time**, not just in the declared table — the test that catches states the model declares and nothing ever enters. - **That every protection can actually fire**, which is the half of the alarm contract that "a healthy set annunciates nothing" does not cover. A **hosted end-to-end fixture** connects a real client and asserts what the address space actually exposes — the aggregation at `/Powerhouse/Generators`, its component binding, and every per-set twin. That is the only kind of test that catches the registration defect above: the node object had the right browse name, binding and asset reference, so every test that inspected objects passed while no client could see it. **Every state-machine and protection fix was checked by mutation.** Restoring the clamp ceiling, the direct `Running → Loaded` path, the old start-counter placement, or removing the alarm opt-in each makes the corresponding test fail, naming the specific defect. A test that has never been seen to fail has not been shown to work. Verified against a running plant: `Synchronizing`, `Paralleled` and `Fault` all observed on a two-set server, with `HighCoolantTemperatureAlarm` seen active on the fault subject. Method behaviour verified separately — per-set distinct `CurrentState` nodes, `EmergencyStop` → `EmergencyStopped` with `Start` then refused as `BadInvalidState`, `ResetFaults` → `Off`, `SetOperatingMode(9999)` refused with the mode unchanged, and the other sets untouched throughout. Also verified as a three-server federated stage. 0 warnings on a clean Release rebuild of both samples, the client library, the connector and the tests, across every TFM. --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Copilot-Session: fe608993-f3c9-4779-a6b9-9a9eabfc24ba |
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Marc Schier
|
e73e71184d |
[WotCon] Add OPC UA WoT Connectivity 1.1 with the Types, source generation, Server and xRegistry work it builds on (#4128)
## Summary Adds OPC UA WoT Connectivity 1.1 to the stack, together with the Types, source generation, Server and xRegistry work it is built on. This branch is the merge point for the fourteen-PR stack that replaced integration PR #4093; every constituent PR was reviewed and approved separately and is listed below. 414 files changed, +108,936 / -3,199. Roughly 46k added lines of product code, 57k of tests, plus samples, tools and documentation. ## Types - Complete `ExtensionObject` raw-body decoding for binary, XML and JSON bodies by resolving the concrete type through the message context's encodeable factory, and simplify the `Variant` structure helpers by delegating to it (#4128). - Add `IAtomicFileReplace` as an optional `IFileSystem` capability so existing external implementations keep working, with atomic publish for `LocalFileSystem` via `File.Replace`/`File.Move` and for `VirtualFileSystem` by re-keying the in-memory entry (#4128). - Add lossless conversion between WoT documents and NodeSet2 (`Opc.Ua.Wot.WotNodeSetConverter`). A byte-exact `uav:nodeSet` envelope is preserved when requested, the structured `uav:nodes` projection is used when the readable vocabulary is incomplete, and NodeSet2 is otherwise synthesized from readable WoT terms. Unmapped JSON members survive a round trip as pointer-addressed residue (#4131). ## Source generation - Improve the NodeSet to ModelDesign conversion and the generated node state (#4132). - Generate OPC UA models directly from WoT Thing Description files (#4134). ## Server - Add live NodeManager shadow and immediate reload. A reload materializes a new generation beside the active one and switches atomically; the superseded generation is retired gracefully so existing MonitoredItems keep being served until they drain, or immediately when the caller asks for it. Includes the request admission and drain machinery that lets an orderly shutdown wait for admitted requests instead of tearing down underneath them (#4147). - Make subscription transfer between sessions transactional, so a failed transfer leaves neither session holding a partially moved subscription (#4150). ## xRegistry - Allow clients to use explicit registry roots rather than assuming a well-known location (#4130). ## WoT Connectivity - Add the WoT Connectivity 1.1 information model: a registry-first revision layered on the abstract xRegistry base model, incorporating the complete published OPC 10100-1 v1.02 surface as deprecated nodes in the same namespace so existing 1.02 clients keep working (#4139). - Add the protocol binding abstractions and planners that compile WoT forms into executable plans (#4140). - Add the HTTP, Modbus, OPC UA and MQTT binding executors (#4144). - Add the registry and its stores, including document versioning, validation, dependency resolution and refresh (#4146). - Add the registry client (#4142). - Materialize WoT Thing Descriptions into the server address space, deriving types from Thing Models and instances from Thing Descriptions (#4154). - Restore the WoT asset registry bridge so the deprecated 1.02 asset surface is backed by the registry (#4171). - Add the WoT Connectivity samples and complete the documentation (#4156), and restore the remaining coverage and docs (#4172). ## New projects `src/Opc.Ua.WotCon.Bindings`, `src/Opc.Ua.WotCon.Bindings.Mqtt`, `tests/Opc.Ua.WotCon.Bindings.Tests`, `tests/Opc.Ua.WotCon.Samples.Tests`, and the `samples/WotCon` AggregationServer, AggregationClient and FlatTagServer samples. ## Constituent pull requests Merged into this branch top-down, each independently approved: | PR | Title | | --- | --- | | #4128 | [Types] Complete ExtensionObject decoding and add an atomic file replace capability | | #4131 | [Types] Add lossless conversion between WoT documents and NodeSet2 | | #4132 | [SourceGeneration] Improve NodeSet to ModelDesign conversion and generated node state | | #4134 | [SourceGeneration] Generate OPC UA models from WoT Thing Description files | | #4147 | [Server] Add live NodeManager shadow and immediate reload | | #4150 | [Server] Make subscription transfer between sessions transactional | | #4130 | [XRegistry] Allow clients to use explicit registry roots | | #4139 | [WotCon] Add the WoT Connectivity 1.1 information model | | #4140 | [WotCon] Add the WoT protocol binding abstractions and planners | | #4144 | [WotCon] Add the HTTP, Modbus, OPC UA and MQTT binding executors | | #4146 | [WotCon] Add the WoT Connectivity registry and its stores | | #4142 | [WotCon] Add the WoT Connectivity registry client | | #4154 | [WotCon] Materialize WoT Thing Descriptions into the server address space | | #4156 | [WotCon] Add the WoT Connectivity samples and complete the documentation | | #4171 | Restore WoT asset registry bridge | | #4172 | Restore WoT coverage and docs | Supersedes #4093. ## Follow-up The WoT Connectivity and WoT Binding drafts have moved to 1.1-draft2 since this work was authored. Aligning with that revision - the removed group vocabulary, the new projection/View construct, the remaining model vocabulary terms and the two new portable-identity validation rules - is tracked separately and will follow in its own pull request. ## Validation Built for every target framework with zero warnings and zero errors, and validated at the tip of the stack with `Opc.Ua.WotCon.Tests` at 999 passed / 0 failed and `Opc.Ua.Server.Tests` at 4024 passed / 0 failed. --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Copilot-Session: 9e6a5abf-3299-4cd1-9855-010fedbf0ad8 |
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Marc Schier
|
ae241b6625 |
Robotics: the OPC 40010 companion SDK, its client and the robot sample (#4127)
**Stack 5/5** — base #4126. Part of the #4096 split; see #4096 for the overall picture. Closes the API work for #3827. > Review after #4123, #4124, #4125 and #4126. This branch is content-identical to the original #4096 branch, so merging the stack lands exactly what #4096 contained. ## The problem this solves OPC 40010 1.02 defines a rich robot **topology** but **no motion verbs at all** — its actuation surface is the SystemOperation and TaskControl state machines plus a Controller `Programs` directory. Meanwhile [URML](https://github.com/URML-MARS/URML) names OPC UA Robotics as its canonical non-ROS substrate and asks for `MoveTo` / `Grasp` / `Release` methods the companion spec does not define, so today it needs a hand-maintained per-deployment NodeId mapping file. This closes that gap in two clearly separated tiers, and never presents the second as standard. ## Contents **Server** — stock `RoboticsNodeManager`, ordered `IRoboticsModelProvider` composition, `IRoboticsConfigurator` code-behind, and validated fluent topology builders for systems, controllers, motion devices, axes, power trains, motors, gears, drives, safety states, software, task controls and task modules, with the correct OPC 40010 semantic references. **Standard operations** — `AddSystemOperation` and `AddTaskControlOperation` drive the Part 16 state machines. An illegal cause is rejected with `BadInvalidState` before the handler runs; a handler returning a bad `ServiceResult` does not move the machine; and a transition already in flight rejects a concurrent one rather than letting both commit. **Programs** — binds the optional `FileDirectoryType` through the reusable `IFileDirectoryBinder` added in 1/5. **Operation conventions** — opt-in and explicitly non-normative `MoveTo` / `MoveJ` / `MoveL` / `Grasp` / `Release` / `PickFrom` / `PlaceAt` / `SwapTool` / `SetOutput` / `CallProgram`, created **only** in an application-owned namespace — the OPC UA, DI, IA and Robotics namespaces are rejected — plus a generic `AddOperation<TRequest, TResponse>` extension point. **Client** — `RoboticsClient` extends the DI client, is subtype aware throughout, and provides typed topology snapshots, the standard operation and task-control clients, `ProgramsAsync`, streaming observation and a DI factory. Verbs resolve by BrowseName, so no NodeId mapping file is needed. **Sample** — `MinimalRobotServer` composes five models (Robotics, IA, DI, OpenUSD, RSL/GPOS) purely through `IRoboticsModelProvider` contributions, which is the real proof that the stock hosting is sufficient. It follows the published KUKA KR 16-2 kinematics and axis limits with an eased pick-and-place cycle. Also restores the vendor-subtype scanner test held back from 2/5, which uses the Robotics NodeSet as its fixture. ## Defects found and fixed along the way - **`ControllerType.CurrentUser`** is Mandatory in OPC 40010 but was neither built nor validated. Now has a builder and a validation error. - **`MotionDeviceType.TaskControlReference`** was absent because it must target a `TaskControlOperationType` instance that did not exist. Now wired. ## Validation `dotnet build UA.slnx` — 0 errors, 0 warnings. | Suite | Result | | --- | --- | | Opc.Ua.Robotics.Tests | 103 / 0 | | Opc.Ua.OpenUsd.Tests | 635 / 0 | | Opc.Ua.Di.Tests | 342 / 0 | | Opc.Ua.SourceGeneration.Tests | 94 / 0 | | Opc.Ua.Aot.Tests (NativeAOT) | 120 / 0 | --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Copilot-Session: 8cbb8cd0-f0cb-4ab0-bea2-6202fbf69485 |
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Marc Schier
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ea0f266b66 |
Move build and test to the Azure DevOps managed pool and replace Codecov with an in-pipeline coverage gate (#4122)
# Description Moves the all-target-framework build, the cross-platform test matrix and the Native AoT run from GitHub Actions onto the Azure DevOps `netstandard` Managed DevOps Pool, and replaces Codecov with a coverage gate that runs inside the pipeline. ## 1. CI backend switch One conceptual switch decides who owns that work. It is checked into source in **two places that must be flipped together**: | File | Setting | Default | | --- | --- | --- | | `azure-pipelines.yml` | `parameters.ciBuildBackend` | `ado` | | `.github/workflows/buildandtest.yml` | `env.CI_BUILD_BACKEND` | `ado` | Setting both to `actions` restores the previous behaviour exactly. Azure Pipelines gains what it was missing to take the work over: - A **Linux all-TFM `sln.yml` leg**, replacing `build-all-tfm-linux`. `sln.yml` gets a `configurations` parameter so this leg builds `Release` only instead of doubling the managed-pool job count. - A **Linux agent in the `net10.0` `testfastpr` matrix**, replacing the ubuntu `build-and-test` job. - **Native AoT and Code Coverage now gate pull requests** instead of running only on Schedule/Manual. The coverage stage drops its `testdebug` dependency, which is Schedule/Manual-only and would otherwise have skipped coverage on every PR. - On a PR, Windows builds the .NET Framework TFMs and Linux the modern ones — mirroring the split the GitHub Actions jobs used — so all seven TFMs stay covered without fanning every TFM across both pools. Two things are deliberately **not** covered by the switch: - **macOS** stays on GitHub-hosted runners, because Managed DevOps Pools provide no macOS image. - **`master378` and `develop/*`** keep running the GitHub Actions jobs, since Azure Pipelines only builds `master`/`main` from this file. GitHub Actions does not expose the `env` context to job-level `if:` conditions, so the switch is resolved once in the existing `discover` job and re-exported as job outputs. A new **`build-and-test summary`** job gives branch protection one stable check to require, instead of the generated matrix job names. It treats an intentionally skipped job as success but still fails on a real failure or cancellation. The `paths:` allow-list was moved off the `pull_request` trigger and into `discover`. A workflow filtered out by `paths` never reports its checks, and a required check that never reports leaves a PR permanently *"Expected — waiting for status to be reported"*. That would have made the routine "ratchet the coverage floor" PR (which touches only `coverage-thresholds.json` and docs) unmergeable. ## 2. Coverage gate replacing Codecov Codecov is removed entirely — `codecov.yml`, both uploads, the badge, and the token usage. `.azurepipelines/check-coverage.ps1` runs at the end of the `Code Coverage` stage against the Cobertura report ReportGenerator already merges, driven by `coverage-thresholds.json`: | Check | Behaviour | | --- | --- | | Project floor | **Blocking** — total line and branch rates against an absolute floor. | | Patch coverage | **Blocking on PRs** — changed lines must reach `patch.target`, tolerating `patch.threshold` percentage points (the same semantics `codecov/patch` had). | | Baseline delta | **Advisory** — reports the change against the recorded baseline, never fails. | The project rate is recomputed from the per-line data rather than read off the Cobertura root element, so the `ignore` globs carried over from `codecov.yml` apply to the project floor as well as to the changed-lines gate — otherwise samples and generated code would count towards one gate but not the other. `testcc.yml` gains an explicit `checkout: self` with `fetchDepth: 0`, because the default shallow clone cannot diff against the base branch. ## Follow-up actions for maintainers Two items cannot be automated from source: 1. **Enable the `/azp run` gate.** In the Azure DevOps portal: pipeline → **More actions** → **Triggers** → **Pull request validation** → **Require a team member's comment before building a pull request**, scoped to *Only on pull requests from non-team members*. This makes Copilot-authored and outside-contributor PRs wait for a maintainer's `/azp run`, mirroring the approval GitHub Actions already requires. The documentation added here describes the workflow and the private-org-membership gotcha; **the setting itself still has to be switched on.** 2. **Update branch protection and secrets.** Drop the `codecov/project` and `codecov/patch` required checks, require `build-and-test summary` and the ADO coverage check instead, and remove `CODECOV_TOKEN` from the GitHub repository secrets and the ADO variable group. Also note the thresholds in `coverage-thresholds.json` are seeded from the last Codecov reading (73.61 %) with headroom, because the in-pipeline number had not been observed yet. The first full `Code Coverage` run on master should confirm it and the floors should be tightened then — the gate prints the exact figure it computes. ## Related Issues _No tracking issue; this is CI infrastructure work requested directly._ ## 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. - No product code changed, so there are no unit tests to add. The new logic was verified with purpose-built harnesses instead: - All 8 branch/event/backend combinations of the `discover` switch, confirming `master378` and `develop/*` are untouched and that `actions` restores the old behaviour. - 12 scenarios for `check-coverage.ps1`: the project floor, the patch gate, ignore globs applying to *both* gates, three path-normalization shapes, and the advisory delta. - 14 path-relevance cases confirming the in-job filter matches the retired `paths:` allow-list exactly. - End-to-end against a **real** ReportGenerator report: correctly resolved `src/Opc.Ua.PubSub/DependencyInjection/PubSubBuilder.cs`, found exactly the four modified tracked lines and reported 50 % patch coverage (2 covered, 2 uncovered). - [x] I have added all necessary documentation. - New **Continuous integration** section in `docs/DeveloperGuide.md`, a CI note in `CONTRIBUTING.md`, and links from `docs/README.md`. Also corrected the CI matrix description, which claimed the PR gate ran net48 + **net8.0** — it runs net48 + **net10.0**. - [x] I have verified that my changes do not introduce (new) build or analyzer warnings. - `dotnet build src/Opc.Ua.Server` → 0 warnings, 0 errors. No product code changed. - [ ] I ran **all** tests locally using the **UA.slnx** solution against at least .net **framework** and .net **10**, and all passed. - Not applicable — no product code changed. `Opc.Ua.Server.Tests` was run on net10.0 during development (3480 passed; the single `ServerFluentApiHostingTests` failure is pre-existing and reproduces on master). - [ ] I fixed **all** failing and flaky tests in the CI pipelines and **all** CodeQL warnings. - [x] I have addressed **all** PR feedback received. - A review pass over this branch flagged the `paths:`-filter deadlock described above; it is fixed in `1926e240e`. --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Copilot-Session: 181ba7ea-c72f-42d7-a737-00a3faadaa17 Copilot-Session: 26aa55a2-5731-4a4c-b61c-df2f7a785eca |
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Marc Schier
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8a10139b8c |
Fix OPC UA address-space compliance in the device integration stack (#4117)
# Description
A live OPC UA compliance audit of `samples/PumpDeviceIntegrationServer`
against the **OPC 40223 Pumps** and **OPC 10000-100 (DI)** companion
specifications found **13 address-space violations** plus a
serialization bug in the MCP tool. Every fix lands at its **root cause
in the shared stack** rather than as a workaround in the sample, so all
servers benefit.
The sample now exposes **N fully simulated pumps** (`--pumps N`) and
advertises the DI conformance facets it actually satisfies.
> This branch has been merged with `master` including **#4116** ("Add
simulation to PumpDeviceIntegrationServer and Event modelling"), which
independently reworked the same pump simulation and the same fluent
alarm builders. See [Relationship to #4116](#relationship-to-4116) below
for how the two were reconciled.
## Findings and fixes
| # | Finding | Root cause | Fix |
|---|---------|-----------|-----|
| 1 | `OverTempAlarm` created by the fluent API did not exist in the
address space | `AttachAlarm` attached the alarm with `AddChild` but
never indexed it into the node manager | Register the node; the same gap
existed in `AddObject`, `CreateInstance` and the state-machine creators
|
| 2 | Alarms were unsubscribable — `EventNotifier = 0` everywhere, no
`HasNotifier` from `Server` | No event-source wiring at all | Set
`HasCondition`, initialise
`SourceNode`/`SourceName`/`ConditionName`/`InputNode`, promote
`EventNotifier` up the ancestor chain, publish `HasNotifier` from the
`Server` object |
| 3 | Every instance NodeId was minted in the **DI standard namespace**
(`ns=4;s=5001_Pump #1`) | `DiNodeManager.New` inherited the parent's
namespace index | New `DiNodeManager.InstanceNamespaceIndex`; instances
move to the server's application namespace |
| 4 | `Server/Namespaces` described only 2 of 6 namespaces | The
NodeSet2 importer drops nodes parented to namespace 0, so companion-spec
metadata objects never reached the address space — and no route covered
the server's own namespace | New `NamespaceMetadataPublisher` walks the
`NamespaceArray` and fills version/publication date from
`ModelDependencyAttribute` |
| 5 | Vendor BrowseNames (`Diagnostics`, `LastError`, …) sat in the DI
namespace | Builders defaulted to the parent's namespace | Default to
the server namespace; **spec-defined BrowseNames are unchanged** |
| 6 | `AccessLevel="5"` from the Pumps NodeSet was reported as `1` | The
ModelDesign `AccessLevel` enum is not `[Flags]` and cannot represent
`CurrentRead \| HistoryRead` | Carry the verbatim NodeSet2 bitmask and
emit named `AccessLevels` constants |
| 7 | `Historizing = true` while `HistoryRead` returned
`BadHistoryOperationUnsupported` | Nothing reconciled the declared
history surface with the wired historians | Startup clears the
advertisement (including masking the attribute read callbacks) when no
provider resolves; the sample wires a real historian |
| 8 | Mandatory `ProductInstanceUri` unset | Sample omission | Populated
on every pump |
| 9 | Mandatory `TrueState`/`FalseState` empty on every supervision
boolean | Absent in the official NodeSet; a server must still populate
them | Populated on every pump |
| 10 | Machinery `Machines` folder empty (OPC 40001-1 §9.2 says
**shall**) | `TryAddToMachinesFolder` used `AddChild`, which
*re-parents* the device away from `DeviceSet` | Add the `Organizes`
reference instead |
| 11 | BrowseName contained a space and `#` | Sample naming | `Pump_1`
with the readable label in `DisplayName` |
| 12 | `Maintenance` group materialised but empty | Sample omission |
Populated |
| 13 | Uninitialised values reported `Good` | No initial-value status |
`BadWaitingForInitialData` until the first simulation tick |
| — | `ServerProfileArray` advertised only `StandardUA2017` |
`DiNodeManager` did not implement the existing `IConformanceContributor`
| Contribute DI 1.05 server facets computed at runtime from what is
actually wired, merged with `StandardUA2017` |
| — | MCP tool serialised boolean `false` and numeric `0` as JSON `null`
| `Variant.Null` is `default`, so `Variant.Equals` adopts the non-null
type and compares against the default value | Dispatch on `BuiltInType`
and use typed `TryGetValue` accessors instead of the prohibited
`AsBoxedObject` |
## Relationship to #4116
#4116 landed on `master` while this branch was in flight and targeted
overlapping ground. The merge is a **union of both intents**, not a
fast-forward:
- **`AlarmBuilderExtensions`** — kept both sides. #4116 contributes the
parent-must-be-an-Object guard, `SetEnableState`, and the
`HasEventSource` references; this branch contributes the `HasCondition`
reference, condition source initialisation, **registration of the alarm
with the node manager so it is browsable**, notifier promotion up the
whole ancestor chain, and root-notifier registration.
- **`SupervisionBuilderExtensions`** — took #4116's `SetAlarmActive`. It
is more spec-correct than this branch's version: it honours
`EnabledState`, resets Acked/Confirmed on activation, and computes
`Retain` per OPC 10000-9 so an unacknowledged Condition stays retained
after going inactive. This branch's null guard was kept so a malformed
alarm cannot dereference a missing `EnabledState`.
- **`PumpNodeManager.Configure.cs`** — took #4116's **push-based**
simulation (`RegisterPumpSimulation`, `CreatePumpSimulation`,
`IValueUpdater<T>`, `Initialize`/`Advance`/`Publish`, deterministic
per-pump phase offsets) as the structure, then folded in this branch's
compliance work: configurable pump count, Maintenance group,
`TrueState`/`FalseState`, historian wiring, per-pump mandatory
Identification values, and `BadWaitingForInitialData` until the first
tick.
- **README** — union, keeping #4116's address-space validation workflow
section.
Two test adjustments were needed, both because the merge legitimately
changed behaviour the tests pinned:
- `PumpHostedReferenceTests` now resolves pump NodeIds from the browse
result instead of hard-coding the DI namespace, and waits for the first
published value. `PumpCreatedAfterStartupJoinsTheLiveSimulationAsync`
was **added** to restore #4116's coverage that a pump created after
startup through `ConfigureDevicesFor` joins the live simulation.
- `FluentAlarmRegistrationIntegrationTests` no longer asserts that
`Retain` clears when an alarm goes inactive — that pinned this branch's
weaker semantics, and #4116's Part 9 behaviour is correct.
## Breaking change
Runtime-created DI device instance NodeIds move from the companion-spec
namespace to the server's application namespace, e.g.
`ns=<DI>;s=5001_Pump #1` becomes `ns=<application>;s=5001_Pump #1`. This
invalidates NodeIds cached by clients from earlier 2.0 previews. It is
**not** a model change — standard DI/Machinery/Pumps type NodeIds and
spec-defined BrowseNames are untouched.
Device integration hosting is new in 2.0, so there is nothing to migrate
from 1.5.378 and this is deliberately *not* in `docs/MigrationGuide.md`.
Anyone tracking 2.0 previews should rediscover devices by browsing
`DeviceSet` rather than persisting NodeIds, and resolve namespace
indexes from `NamespaceArray` per connection.
## Verification
Compliance is pinned by regression tests that assert **through the
server's service surface** (`BrowseAsync` / `ReadAsync` /
`HistoryReadAsync`), not by inspecting `NodeState` objects in memory.
That distinction mattered: three defects survived in-memory assertions
and were only caught through the read path — most subtly, `Historizing`
was cleared while `AccessLevel` still advertised `HistoryRead`, because
attribute read callbacks re-applied the NodeSet bits.
Post-merge on net10.0:
| Suite | Result |
|---|---|
| `Opc.Ua.Di.Tests` | 326 passed |
| `Opc.Ua.Server.Tests` | 3846 passed, 5 skipped |
| `Opc.Ua.Tools.Tests` | 288 passed |
| `Opc.Ua.History.Tests` | 506 passed, 27 skipped |
| `Opc.Ua.SourceGeneration.Core.Tests` | 3722 passed, 8 skipped |
The full solution was also built and tested on **net48** before the
merge.
Review feedback from `copilot-pull-request-reviewer` has been addressed
in commit `badad31dc`: the shared `ServerObjectState` lock was removed
(the forward `HasNotifier` edge is published through the owning node
manager instead), MCP array serialization now preserves element types,
and the pump option guards report the specific rejected option. The only
failure is
`ConfigureApplicationBuildsSharedClientAndServerConfigurationAsync`, a
pre-existing certificate-store issue that **passes when run in
isolation** and is unrelated to this change.
## Documentation
Updated `docs/DeviceIntegration.md`, `docs/MigrationGuide.md`,
`docs/HistoricalAccess.md`, `docs/DeveloperGuide.md`,
`docs/McpServer.md`, `docs/README.md`,
`samples/PumpDeviceIntegrationServer/README.md` and
`tools/Opc.Ua.Mcp/README.md`, and consolidated the four node-manager
documents into a single [`docs/NodeManagers.md`](docs/NodeManagers.md) —
overview, built-in managers (including `MasterNodeManager`), core vs
custom, registration, server address-space metadata, and source
generation — with a TOC and all inbound links repointed.
## Related Issues
No tracking issue exists for this work yet — it originated from an
ad-hoc compliance audit of the pump sample. Given the size of the change
and the runtime-breaking NodeId move, please open (or link) a tracking
issue so the design is recorded as an ADR before merging.
- Fixes #
## Checklist
_Put an `x` in the boxes that apply. You can complete these step by step
after opening the PR._
- [ ] 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.
---------
Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Copilot-Session: 0d50c3fc-58b1-4c99-85a4-1e32c88666d9
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Marc Schier
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275c3800b5 |
[Server] Add live NodeManager lifecycle support (#4094)
# Description Adds supported live add, reload, and remove lifecycle operations for NodeManager instances on a running server. The change introduces a DI-backed `INodeManagerLifecycle` service with direct `StandardServer` access, generation-aware registration handles, copy-on-write routing, transactional prepare/commit/rollback, runtime NodeSet convenience APIs, append-only namespace updates, model and semantic change notifications, additive-compatible complex type priming, and complete teardown behavior. Lifecycle publication is coordinated with requests, sessions, subscriptions, monitored items, continuation points, and shutdown so retired managers cannot remain reachable or be disposed while still in use. Compatible monitored items transfer to replacement generations without a transient bad status. Removed or incompatible Nodes publish `BadNodeIdUnknown` as required by OPC UA Part 4 section 5.8.4.1, retain their MonitoredItem identity, and automatically recover when a compatible Node with the same NodeId returns. Registration is documented end to end in the new [docs/NodeManagerRegistration.md](docs/NodeManagerRegistration.md), which covers compile-time, startup, and runtime registration together with the guarantees for MonitoredItems, Browse continuation points, namespace indexes, DataTypes, and change notifications. ## Review feedback addressed Interface surface reduced, as requested: - `INodeManagerMonitoredItemTracker` folded into `ISubscriptionMonitoredItemLifecycle`. - `INodeManagerMutationCoordinator` and the asynchronous MonitoredItem recovery entry point folded into `IDynamicNodeManagerHost`. - `ISessionClosingRegistry` folded into `IServerInternal`, then replaced by `ISession.IsClosing`. - `ISubscriptionDeletionRegistry` folded into `ISubscriptionManager`, then removed entirely. - `INodeManagerContinuationPointTracker` folded into `ISession`. - The synchronous recovery entry point kept on its own `ISyncNodeManagerMonitoredItemRecovery`, because `AddPredefinedNode` cannot await; it still routes through the asynchronous `INodeManagerMonitoredItemLifecycle` that `AsyncNodeManagerAdapter` exposes. - `IMonitoredItemLifecycle` renamed to `IDetachableMonitoredItem`. Reach into the Subscription area reduced to the minimum the feature needs: - The lifecycle feature itself leaves `SubscriptionManager` almost untouched: two guards that reject a request from a Session that is closing, on `CreateSubscription` and on `TransferSubscriptions`, because it would create state that is about to be torn down. The deletion claim registry, the session closing gates, the closed-session bookkeeping and the deletion restore paths introduced by earlier revisions are gone. Transferring a subscription away from a session that is closing stays allowed, since that is the recovery path the service exists for; the race that exposed is fixed by serialising source-queue closure with the transfer rather than by rejecting it. - Queueing is disabled again for a MonitoredItem with `QueueSize <= 1`, as before this PR. Without a queue the Client is served the last sampled value, so the missing-Node notification simply becomes that value; losing values is expected for a MonitoredItem without queuing. - What remains of the notification is one `DataValue` plus one bool in `DataChangeQueueHandler`, mirroring the existing overflow pair, which stops it being the value discarded when a configured queue is full. - `MonitoredItem` keeps its original publish path, its original queue creation and restore paths, its original triggering behaviour, and no per-epoch bookkeeping. - `IStoredMonitoredItem` carries `IsDeleted` and `IsDetached`, so a restored item reports the state it was stored with rather than one inferred from the last value's StatusCode. Other feedback: - Documented `HostedNodeManagerLifecycle`, `IDynamicNodeManagerHost`, `NodeManagerRoutingTable`, and the `RequestManager` validation and request scopes. - Renamed `ValidateMonitoredItemAsync` to `CanAttachMonitoredItemAsync` and `RestoreMonitoredItemAsync` to `RecoverMonitoredItemAsync`, so the lifecycle API no longer collides with the durable Subscription `RestoreMonitoredItem` path used at server startup. - Removed the `CustomNodeManager2` dependency from the synchronous MonitoredItem recovery path. - `DataChangeQueueHandler` is back to the two constructors 1.5.378 shipped, each taking an optional `TimeProvider`. - Session closing is a one-way latch, and the Session is removed even when teardown throws. - Documented what a custom NodeManager has to implement to take part in live lifecycle operations, and which NodeManager implements `INodeManagerReloadParticipant` today. ## Fixes found during review - The guard that stops a NodeManager lifecycle operation being started from inside a service handler never fired. It was backed by an `AsyncLocal` written inside `async ValidateRequestAsync`, which is invisible to the caller that awaited it, so a lifecycle call from a NodeManager callback waited for its own request and held the lifecycle semaphore forever. The mark is now applied by the service dispatcher, and the drain is bounded so no path can wedge the lifecycle permanently. - `ValidateRequestAsync` is no longer virtual. An override that rejected a request after calling `base` left it registered forever; subclasses now use `OnRequestValidatedAsync`, whose failures complete the request. - A MonitoredItem deleted and disposed while a reload was handing it to the replacement NodeManager could be attached anyway. The item now reserves itself for the hand-over and the transition takes it back if it was disposed meanwhile. - The Overflow bit is recorded and applied when the value is published, as the surrounding design does, rather than written into the value at enqueue time. - MonitoredItem cleanup for a Subscription being deleted no longer passes null entries to `DeleteMonitoredItemsAsync`. - Browse continuation points of a retired NodeManager are persisted and disposed outside the Session lock. ## Open review discussions Three threads are open, replied to and awaiting reviewer decisions: separating service-call dispatch from NodeManager handling in `MasterNodeManager` (tracked as #4098), the request-scoping shape in `StandardServer`, and how much of the async MonitoredItem service implementation should stay in `Subscription`. Issue #4102 records a specification ambiguity found while implementing the missing-Node notification: Part 4 §5.8.4.1 makes it mandatory, but the protected over-capacity queue entry §5.13.1.5 defines applies to `EventQueueOverflowEventType` only, so the specification does not say how it survives a full queue. ## Validation - Full `Opc.Ua.Server.Tests` on net10.0: 3,768 passed, 5 skipped. - Lifecycle, MonitoredItem, Subscription and continuation point suites: 185 passed on net10.0 and 75 on net48. - Server builds complete with zero warnings or errors. - Two failures are pre-existing and unrelated: `DurableDataValueQueueVerifyReferenceBatchingAsync` (flaky `BatchPersistor` file contention, passes in isolation on net10.0 and net48) and `ConfigureApplicationBuildsSharedClientAndServerConfigurationAsync` (fails on a clean tree with these changes stashed). ## Related Issues - Fixes #3993 - Follow-up tracked in #4098 |
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Marc Schier
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5b9bcedc62 |
Add OPC UA ISA-95 Common Model and Job Control support (#4089)
# Description Adds first-class support for the OPC UA ISA-95 companion specifications: - OPC-10030 Common Model. - OPC-10031-4 Job Control V1. - OPC-10031-4 Job Control V2. The change introduces `Opc.Ua.ISA95`, `Opc.Ua.ISA95.Client`, and `Opc.Ua.ISA95.Server`, together with a NativeAOT-compatible minimal server sample and comprehensive tests. ## Highlights - Compiles the three canonical NodeSets and identifier mapping CSV files through the source generator. - Adds NodeSet identifier mapping validation, typed method arguments/results, companion event records, and generated method argument nodes. - Provides typed Common Model builders with normative relationships and an injectable `GeoSpatialLocationType` provider. - Implements lossless V1/V2 Job Control providers over a shared version-neutral store, including state paths, status events, comments, response queries, catalog changes, and cohesive DI registration. - Adds subtype-aware typed clients, standalone encodeable registration, `IIsa95ClientFactory`, and V2 status-event streaming. - Adds the `MinimalIsa95Server` sample, package documentation, and an ISA-95 guide with conformance and HA guidance. - Tracks typed RSL/GPOS integration as follow-up issue #4095. ## Validation - `Opc.Ua.ISA95.Tests`: 137/137 passed on `net10.0` and `net48`. - Source-generator suites: 81/81 model, 90/90 stack, 3718 passed / 8 skipped core. - `EventRecordFieldReaders` feedback tests: 6/6 on `net10.0` and `net48`. - `EventRecordFieldReaders` changed-method patch coverage: 100% line coverage (36/36) and 100% branch coverage (22/22). - `Opc.Ua.ISA95`, `.Client`, and `.Server` build across all configured target frameworks without new diagnostics. - Cobertura line coverage: 88.08% model, 90.04% client, 91.19% server. - NativeAOT sample publishes and passes a live typed V2 Store/status-event validation. - The ISA-95 NativeAOT smoke test passes in the source-generated native test executable. - OPC UA KB NodeSet validation reports zero errors for Common, V1, and V2. The broader NativeAOT executable still reports unrelated existing GDS and complex-type test failures; the ISA-95-specific native test passes. ## Node state generator fixes Generating method arguments inline for imported nodesets regressed every model that already emits `InputArguments` / `OutputArguments` child node factories: - The inline block ran before the child factories. `MethodState.CreateOrReplaceInputArguments` keeps the property that was assigned first, so the child carrying the well-known NodeId was dropped and a NodeId-less placeholder remained in the address space. This broke browsing (reference descriptions without a target) and made method arguments unreachable at their well-known NodeIds. - The `MethodDeclarationId` fallback keyed on an autogenerated display name redirected every declared method of the standard address space to its own NodeId, which made method calls fail. The inline block is now emitted after the child factories and reduced to a value assignment when a child factory exists. The value is only re-emitted when an argument references a namespace other than OPC UA, because the value of an imported property is the verbatim XML of the source nodeset whose namespace indices do not survive the import. The `MethodDeclarationId` fallback is restricted to declarations without a resolvable NodeId. The generated OPC UA address space is byte-identical to `master` again. ## Related Issues - Fixes #4088 - Follow-up: #4095 |
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Marc Schier
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38c7356bc7 |
Add generic xRegistry libraries (abstract registry base model) (#4097)
# Description xRegistry is the *abstract registry base model*: a registry-agnostic, content-addressed resource registry. It knows nothing about what a resource contains — a concrete registry supplies its own companion namespace and a fingerprinting strategy and reuses everything else. The PubSub Schema Registry in #4007 is the first specialization (its resources are schema documents), and #4093 (WoT Binding) carries a byte-identical copy of the same base NodeSet, so a shared canonical home is worth having. ## Packages | Package | Depends on | Contains | | --- | --- | --- | | `OPCFoundation.NetStandard.Opc.Ua.XRegistry` | `Opc.Ua.Core` | Abstract base companion model (compiled by the model source generator), `XRegistryWellKnown`, `IResourceContentIdProvider` | | `OPCFoundation.NetStandard.Opc.Ua.XRegistry.Client` | + `Opc.Ua.Client` | `XRegistryClient` (abstract) / `GenericXRegistryClient` (sealed), built on the generated ObjectType proxies | | `OPCFoundation.NetStandard.Opc.Ua.XRegistry.Server` | + `Opc.Ua.Server` | Fast-path / registration / federation node managers, `XRegistryServerOptions`, `IXRegistryResourceStore` | `Opc.Ua.XRegistry` deliberately depends on neither SDK, so a codec or a shared contracts assembly can reference the identity abstraction without pulling in the client or the server. ## The model is compiled, not loaded The companion model is compiled into the assemblies by the OPC UA model source generator. `Opc.Ua.XRegistry.NodeSet2.xml` is an `AdditionalFiles` generator input only — there is no `EmbeddedResource`, no runtime NodeSet parsing and no hand-written NodeId tables for anything the model declares. All three node managers load it the same way: ```csharp protected override NodeStateCollection LoadPredefinedNodes(ISystemContext context) { return new NodeStateCollection().AddOpcUaXRegistry(context); } ``` `XRegistryWellKnown` is reduced to the namespace URI plus the identifiers of the *instances* a registry materializes at runtime, which live above the model's own 63000-63999 range so they can never collide with it. ## What it does - **Content-derived identity** — `IResourceContentIdProvider` maps a document + format to a fingerprint and names the (canonicalization, hash) algorithm. Identity is derived from the bytes, not assigned by the server, so it is stable across registries — which is what makes de-duplication and federation work. - **Opaque-NodeId fast path** — a registered resource is reachable at an Opaque `NodeId` whose Identifier is the raw content-id bytes, so a consumer that received the id on the wire resolves the document in a single `Read`: no Browse, no fingerprint recomputation. The client reads it through the `ReadBytesAsync` session extension, so a document larger than `MaxByteStringLength` is fetched with range-based reads rather than failing. Optionally pre-publishes a seed resource so a fresh server can resolve one resource before any registration. - **The model's own lifecycle** — the registry root is a `RegistryType` instance serving `CreateGroup` / `GetOrCreateGroup`; each group serves `CreateResource` / `GetOrCreateResource`; and because `ResourceType : FileType`, the document *is* the file — content is streamed through the inherited `Open` / `Read` / `Write` / `Close`. `Close` fingerprints the accumulated bytes and publishes the Opaque fast-path node at runtime. Identical bytes reuse the existing node, whose lifetime is reference counted so it survives until the last resource resolving to those bytes is gone and is retired when a resource is re-written with different content. - **Optimistic concurrency** — `Delete(ExpectedEpoch)` on both resources and groups, and the same epoch check on label mutations, so a caller working from a stale read is rejected rather than clobbering a concurrent change. - **Labels** — `RegistryType`, `GroupType` and `ResourceType` each expose an `AttributesType` Object with `AddAttribute` / `RemoveAttribute`; labels are published as addressable `String` Properties. - **Federation** — a resource hosted by another registry is published as a real `ResourceType` instance whose `ExternalReference` (`ExpandedNodeId` + `ServerIndex` into the local `ServerArray`) and `ResourceUrl` carry the link and whose `Xid` carries the content-id. Because it is an ordinary `ResourceType`, a generic client drives a federated resource through exactly the same proxy as a local one. ## Extensibility A domain registry subtypes the base model — the PubSub Schema Registry declares `SchemaFileType : ResourceType` — and the generator mirrors that hierarchy across assemblies, so the proxy chain follows automatically (`SchemaFileTypeClient : ResourceTypeClient : FileTypeClient`). ```text abstract XRegistryClient ├── sealed GenericXRegistryClient // any registry namespace ├── SchemaRegistryClient (domain) └── WotRegistryClient (domain) ``` * A **domain client** derives from `XRegistryClient` and inherits the whole lifecycle. Helpers written as extension methods over a base proxy (such as `WriteDocumentAsync` on `ResourceTypeClient`) are callable on the domain proxy with no inheritance in the client layer. * A **generic client** still drives a domain registry, because a domain instance *is* an instance of the base type. This is covered by a test that defines a domain subclass over the base. ## State Document bytes live behind an injectable `IXRegistryResourceStore`. Because a resource is a `ResourceType`, which *is* a `FileType`, the store mirrors the file access model: reads and writes are **offset and length based**, so a document never has to be materialized as a whole and a ranged read touches only the bytes it needs. The document is transferred with the inherited `FileType` Methods, whose mode bits are honoured: a write that does not set `EraseExisting` starts from the stored bytes and replaces only the range it writes rather than truncating the rest. A handle is valid only on the resource and the session that opened it, and a session's handles are released when it closes. Two implementations ship: `InMemoryResourceStore` (the default, in-process) and `FileSystemResourceStore`, built on the `IFileSystem` abstraction so documents outlive the process and a shared volume can back a cluster. `XRegistryResourceStoreContractTests` is a reusable fixture that validates any implementation against the contract. ## Transport security Registry **writes always require a `SignAndEncrypt` secure channel** — a document and its content-derived identity are integrity-critical, so every mutation is rejected with `BadSecurityModeInsufficient` on a channel that is only signed or unprotected. This is not configurable. Reads are allowed on any secure channel by default; `RequireEncryptionForReads` extends the requirement to them when the documents themselves are confidential. An in-process call carries no channel and is always allowed. ## Hardening The lifecycle Methods are remotely callable, so every unbounded dimension is bounded via `XRegistryServerOptions`; exceeding a bound fails the call rather than the server: | Option | Default | Enforced on | Status code | | --- | --- | --- | --- | | `MaxConcurrentUploads` | 64 | `CreateResource`, `Open` | `BadTooManyOperations` | | `MaxResourceBytes` | 16 MiB | `Write` | `BadRequestTooLarge` | | `MaxRegisteredResources` | 4096 | `CreateResource` | `BadTooManyOperations` | ## A source generator bug fixed along the way Building on the compiled model surfaced a defect in shared generator infrastructure. `NodeSetToModelDesign.CreateDecoder` decoded values with an empty `EncodeableFactory`, so a NodeSet2's method `InputArguments` / `OutputArguments` — encoded as a list of `Argument` ExtensionObjects — never decoded, while `HasArguments` was still set. **Every** NodeSet2-sourced model in the stack was silently generating argument-less `MethodState`s and ObjectType proxies. ModelDesign-sourced models (the core stack) were unaffected, which is why this went unnoticed. Fixed in `b87726af` with a regression test that fails without it. Two defects in the xRegistry NodeSet itself were fixed at the same time: `BrowseName="1:InputArguments"` → ns-0 `InputArguments` (published NodeSets never namespace-qualify these), and the `CreateResource` / `GetOrCreateResource` **output** `VersionId` renamed to `AssignedVersionId`, which collided with the input of the same name and produced a duplicate C# parameter. ## Other fixes applied while extracting - `XRegistryRegistrationNodeManager` uses `System.Threading.Lock` instead of an `object`-typed sync root, per the repository locking rules. - Dropped the `InternalsVisibleTo` entries granting internals to `Opc.Ua.PubSub.Server.Tests`. That project only consumes public `XRegistryWellKnown` API. - The `UA.slnx` edit in #4007 accidentally **replaced** the `tests/Opc.Ua.Redundancy.Kubernetes.Tests` entry instead of adding a line, silently dropping that project from the solution. The entry is preserved here and the change is purely additive. ## Tests `tests/Opc.Ua.XRegistry.Tests` (168) covers the group and resource lifecycles, the `FileType` transfer, delete and epoch conflicts, labels, federation, both resource stores, the fast path, transport security and the extensibility contract — positive and negative paths. Passing on `net10.0` and `net48`. Patch line coverage is **98.5%**. Also adds `tests/Directory.Build.props` / `.targets`: the .NET 10 SDK prunes `Microsoft.Extensions.Logging.Abstractions` out of the test output, and coverlet's Mono.Cecil resolver only searches the output directory, so it silently fails to instrument every module that references `ILogger` and reports 0% coverage for them. These force the package back into the restore graph and copy its implementation next to the test binary. ## Documentation New [`docs/XRegistry.md`](docs/XRegistry.md), linked from the documentation index. |
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Marc Schier
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8538f531e7 | Update paths for the consolidated repository layout | ||
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Marc Schier
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7cec2d614d | Move repository files to the consolidated layout |