mirror of
https://github.com/OPCFoundation/UA-.NETStandard.git
synced 2026-10-29 15:11:53 +08:00
master
7
Commits
| Author | SHA1 | Message | Date | |
|---|---|---|---|---|
|
f6b27025a6 |
Classify sensitive log parameters with Microsoft.Extensions.Compliance data classification (#4864)
## Proposed changes Fixes #4857. The stack's log messages wrote network addresses (endpoint, discovery and reverse connect URLs, host names, IP addresses, ports), application and user identities, file paths and exception texts as plain parameters. Applications had no reliable way to keep them out of general-purpose logs. This PR replaces the stack's own redaction mechanism with the standard .NET [data classification and redaction](https://learn.microsoft.com/dotnet/core/extensions/data-redaction) packages. Each sensitive `[LoggerMessage]` parameter is classified. The application decides per classification what reaches its logs: erase it, replace it with an HMAC token so entries stay correlatable, or pass it through. ### Taxonomy `Opc.Ua.Redaction.OpcUaDataClassifications` defines the `OpcUa` taxonomy and one attribute per classification: | Classification | Used for | Parameters | |---|---|---| | `[NetworkAddress]` | URLs, host and domain names, IP/MAC addresses, end points, ports | 120 | | `[ApplicationIdentity]` | certificates, subject, issuer, thumbprint, ApplicationUri | 103 | | `[FilePath]` | file, directory and certificate store paths | 67 | | `[SensitiveText]` | exception or remote-supplied text passed as a parameter | 55 | | `[UserIdentity]` | user names, token subjects | 7 | Correlation ids (`ChannelId`, `SessionId`, ...), status codes and NodeIds stay unclassified. ### Pipeline and defaults - Opc.Ua.Core now references `Microsoft.Extensions.Telemetry(.Abstractions)` 10.11.0, so every project above Core uses the `Microsoft.Gen.Logging` generator. Opc.Ua.Client already did, through Http.Resilience. The packages ship net462 and netstandard2.0 builds, so net48 is supported. - **A plain `ILoggerFactory` logs `(null)` in place of classified values.** Classified values are only written by the redaction-aware logger. - The new `ILoggingBuilder.EnableOpcUaRedaction()` turns that logger on. It is `EnableRedaction()` with the discriminator off; otherwise every unredacted value gets `:ParamName` appended. `AddOpcUa().AddLogging(...)` and `DefaultTelemetry.Create(...)` call it, as do the samples, so they log the same information as before until redactors are registered. - `services.AddOpcUa()` alone does not change the host's logging. Generic-host apps call `builder.Logging.EnableOpcUaRedaction()`. This is documented as a behavior-breaking change in `docs/migrate/2.0.x/telemetry.md`. ### Obsolete API `Redact`, `RedactionWrapper<T>`, `IRedactionStrategy`, `RedactionStrategies` and `SimpleRedactionStrategy` are `[Obsolete]`. They still work, but the stack no longer uses them. ### Not classified - The `Exception` passed to a log call. Applications can drop exception messages with `LoggerEnrichmentOptions.IncludeExceptionMessage`. - Exception and `ServiceResult` message texts. - `ServiceResult`/`StatusCode` parameters and logged data values. - The few log calls whose level is decided at run time. - `Opc.Ua.Vision.OpenUsd`, which references only Opc.Ua.Types and cannot see the attributes. ### Generator behavior differences These are visible to log consumers and to tests: - `IFormattable` values such as `NodeId` are stored in the structured state as invariant strings, not as objects. - The generated log state is a thread-local object that is cleared after the call. - Classified values are pooled redactor objects, valid only during the `Log` call. Tests that inspected log state after the fact now capture it during the call. The shared `RecordingLoggerProvider` snapshots classified values. ## Related Issues - Fixes #4857 ## Types of changes - [ ] Bugfix (non-breaking change which fixes an issue) - [x] Enhancement (non-breaking change which adds functionality) - [ ] Test enhancement (non-breaking change to increase test coverage) - [x] Breaking change (fix or feature that would cause existing functionality to not work as expected; plain logger factories drop classified values) - [x] Documentation Update (if none of the other choices apply) ## Checklist - [x] I have read the CONTRIBUTING doc. - [x] I have signed the CLA. - [x] I ran tests locally with my changes, all passed. - [x] I fixed all failing tests in the CI pipelines. - [x] I fixed all introduced issues with CodeQL and LGTM. - [x] I have added tests that prove my fix is effective or that my feature works and increased code coverage. - [x] I have added necessary documentation (if appropriate). - [ ] Any dependent changes have been merged and published in downstream modules. ## Further comments New tests: - `LogClassificationCoverageTests` (Tools.Tests) scans all 104 stack assemblies and fails if an address, identity or path parameter of a `[LoggerMessage]` method is unclassified. - `DataClassificationLoggingTests` (Core.Tests) pins erasing and HMAC redaction, pass-through, the plain-factory drop, and both stack defaults. Local results on net10.0: | Suite | Passed | Failed | |---|---|---| | Core.Tests | 6,489 | 0 | | Client.Tests | 3,231 | 0 | | Tools.Tests | 7,210 | 0 | | PubSub.Tests | 1,536 | 0 | | Core.Diagnostics.Tests | 571 | 0 | | Configuration.Tests | 241 | 0 | - **Server.Tests:** the full run predates the final test fixes and had 12 failures. All 12 were in the fixtures fixed afterwards, which now pass: RoleStateBinding (45/45) and the FileDirectory and compatibility-logging fixtures (74/74 in total). The full Core.Tests and Server.Tests runs were not repeated after those fixes. - **Builds:** `UA.slnx` builds with 0 errors for net10.0 and net48, and the whitespace check passes. - **NativeAOT:** not confirmed locally, because the machine has no C++ linker. A trimmed publish of `Opc.Ua.Aot.Tests` reported no trim or AOT warnings from the stack, the new packages or the generated logging code; its only errors come from the TUnit test framework (`FSharp.Core` not found). The `aot-test` CI job has to confirm the native build. 🤖 Generated with [Claude Code](https://claude.com/claude-code) --------- Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com> Co-authored-by: Marc Schier <marcschier@users.noreply.github.com> |
||
|
|
5899354441 |
Clarify documentation, migration guidance, and SDK selection (#4823)
# Description Remove stock phrasing and correct misleading or inconsistent technical documentation. The initial two passes covered 367 Markdown files, followed by an interactive review of 169 editorial flags. The U5 interpretation originally deferred in that review has since received the upstream Mantis answer recorded by #4843; remaining server/spec follow-ups stay explicit in the CTT log. - Correct package responsibilities, migration steps, API names, ownership, protocol descriptions and links. Keep bundled migration guides synchronized. Preserve historical conclusions as historical records with separate re-check notes. - Provide at least two rendered TOC levels throughout `docs/`. Convert appropriate architecture figures to Mermaid without changing code examples, transcripts or historical quotations. - Address the October 19 feedback with concrete setup/migration instructions, corrected certificate paths and PubSub names, shorter repeated caveats, consistent XML comments, and a full review of the Concepts guide. Retain #4839's API corrections. - Integrate #4841's runtime/performance guidance and review incoming/recent prose. Preserve dated measurements rather than claiming new benchmark runs; clarify allocation ratios, startup-only processor settings, JIT warm-up and the benchmark commit's scope. Missing raw measurement artifacts and repeat ranges remain tracked by #4842. - Merge master through `e8c5d800a` in `32c6394b7`. Resolve the CTT log conflict using the updated Mantis states and OPC answers, retaining historical framing and re-checks for C28/C32/C43. - Address the latest naming/index feedback in `adb5bf693`: rename the guides to `docs/WotCon.md` and `docs/WotNodeSetConversion.md`; move the provider and DataType-declaration contracts into the conversion guide and remove `docs/WoT.md`. Rename `samples/DI` to `samples/Di` and `samples/Isa95` to `samples/ISA95`. Add content-index READMEs to Di, FluentApi, ISA95, Lds and PubSub; update solution entries, project references, Docker/CI paths, test fixture paths and documentation links with exact casing. **WoT guide scope.** This branch retains the detailed conversion guide that #4758 had replaced with an anchor stub. Conversion limits, verified document sets, preservation rules and provider ownership now live together in `WotNodeSetConversion.md`; binding/runtime guidance remains in `WotBindings.md` and `WotCon.md`. The design-rationale/test-ledger prose was shortened, the oversized argument-table cell moved into its section, and existing anchors preserved. **SDK policy is a separate, explicit user-directed change.** `global.json` sets a stable minimum of `10.0.400`, `rollForward: latestMajor`, and `allowPrerelease: false`. Newer major SDKs are permitted; CI's explicit SDK pins are unchanged. README, GettingStarted, DeveloperGuide and Recycling instructions reflect the possible analyzer differences. The image-contract regression fix accepts compatible stable SDK images instead of requiring exact equality with the floor. The latest four rename/index threads are resolved after publication. Three older threads remain open: universal obsolete-removal timing, unconditional nonce-strength wording, and a blanket Vision NativeAOT claim. Existing implementation/evidence constraints are explained in their inline replies. The two-level TOCs remain as requested. ## Validation - `git diff --check` and staged diff checks: passed. The untouched upstream AutoID NodeSet retains its provenance bytes, including two existing license-header trailing spaces. - `.\.azurepipelines\validate-migration-plugin.ps1`: passed; 15 bundled migration documents and manifests synchronized. - Documentation/path validation: **101** documents retain two rendered TOC levels (**2,228** entries), with idempotent formatting. **52** new relative links and their anchors passed exact-case checks. No tracked references to the old guide/sample paths remain. Both relocated provider-contract sections are preserved in the destination. - `dotnet sln UA.slnx list`: passed; shows the renamed Di/ISA95 projects and the existing FluentApi/Lds/PubSub projects. Updated solution and pump ProjectReference paths also passed exact-case existence checks. - Latest focused commands, run from the repository root: ```powershell # Passed: 61 channel send-order and reconnect tests. dotnet test tests\Opc.Ua.Core.Tests\Opc.Ua.Core.Tests.csproj -p:CustomTestTarget=net10.0 --filter 'FullyQualifiedName~UaSCBinaryChannelSendOrderTests|FullyQualifiedName~TcpReconnectKeyAgreementTests' --verbosity minimal # Passed: 5 pump datasheet tests; builds the renamed pump sample. dotnet test tests\Opc.Ua.Di.Tests\Opc.Ua.Di.Tests.csproj -p:CustomTestTarget=net10.0 --filter 'FullyQualifiedName~PumpDatasheetConformanceTests' --verbosity minimal # Passed: 4 repository NodeSet path/round-trip tests, including the moved pump models. dotnet test tests\Opc.Ua.Types.Tests\Opc.Ua.Types.Tests.csproj -p:CustomTestTarget=net10.0 --filter 'FullyQualifiedName~RepositorySourceSurvivesSerializedLinkedPartitionsAsync' --verbosity minimal # Passed: build, zero warnings/errors. dotnet build samples\ISA95\MinimalIsa95Server\MinimalIsa95Server.csproj -p:CustomTestTarget=net10.0 -f net10.0 --verbosity minimal # Passed: dependent sample-test project build, zero warnings/errors. dotnet build tests\Opc.Ua.WotCon.Samples.Tests\Opc.Ua.WotCon.Samples.Tests.csproj -p:CustomTestTarget=net10.0 -f net10.0 --verbosity minimal ``` Earlier focused integration checks passed 2,620 tests across AutoID, event queues/scheduling, source generation, MCP/package profiles and WoT. Both reviewed Mermaid diagrams rendered locally without network access. These checks are not a full solution run. The full solution has **not** been rerun for this review. Earlier `dotnet test UA.slnx -p:CustomTestTarget=net10.0 --verbosity quiet` did not pass: three AOT projects rejected VSTest and 20 Vision tests failed during graphics initialization with `OutOfMemoryException`. Remaining long-running tests were stopped at the user's request. A focused Vision rerun passed 558 tests and reproduced those 20 failures. The earlier `dotnet test UA.slnx -p:CustomTestTarget=net48 --verbosity quiet` was blocked by the former SDK pin and was not retried after the policy change. The user approved proceeding with those limitations documented; current remote CI is not claimed green. ## Related Issues - Follow-up #4842 tracks the requested 2.0.2+ benchmark/tuning and diagnostic-tool documentation refresh. #4841 supplies documentation and earlier results, not all newly requested measurements. - #4758 explains the conversion guide's earlier consolidation; the current provider contracts are now consolidated into `WotNodeSetConversion.md`. - #4839 supplies the reviewed API corrections; #4843 supplies the updated CTT issue record. - The original prose cleanup and SDK policy were user-requested without a source issue. No new runtime architecture is introduced by these documentation edits. ## 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. - [ ] 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: Roman Ettlinger <romanett98@gmail.com> Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com> |
||
|
Marc Schier
|
2836da7ec8 |
Fix sessionless ResultTransfer ownership bypass and other issues. (#4834)
# Description Correct ownership, endpoint validation, policy propagation, subscription delivery, file handling and generated-model behavior across the stack, tools and samples. Add focused regression tests and update the corresponding guides and sample documentation. ### Previously included corrections - Require an active, matching session to generate or access transient ResultTransfer file handles. Cover both sessionless generation and reads against a handle owned by an active session, using live session owners in the Machinery tests. - Keep physical filesystem operations within their configured mount and apply the same confinement checks throughout file operations. - Validate LDS semaphore paths consistently during server registration and registration-store maintenance. ### Individual issues addressed | # | Component | Issue and correction | |---|---|---| | 1 | AI jobs and transfers | Jobs and transfers did not consistently retain their creator's identity and session. Apply ownership checks to descendants, file handles, subscriptions and execution, and recheck deployment permissions before dispatch. | | 2 | Password-management client | Password-bearing calls could use signing-only channels or follow a replacement connection. Capture an encrypted transport generation and keep dispatch bound to it; preserve ordinary non-password edits. | | 3 | GDS and certificate-push clients | Connections omitted hostname verification. Validate the original configured DNS name or IP address before session activation. | | 4 | Certificate push | Private-key uploads could use signing-only calls. Require an encrypted, generation-bound dispatch while preserving certificate-only updates and restoring the caller's identity afterward. | | 5 | MQTT client | The .NET Framework custom-trust callback could discard TLS hostname, certificate-availability and usage errors. Retain those checks while supporting configured issuer trust. | | 6 | DTLS handshake | Certificate trust was not tied to the configured peer address. Match the certificate's DNS or IP identity to the intended endpoint. | | 7 | Replicated address spaces | Serialized nodes lost per-node and descendant permission metadata. Preserve role permissions, user-role permissions and access restrictions, including updates to existing replica nodes. | | 8 | MCP PubSub imports | Imports without groups skipped checks on the effective broker destination. Check the actual endpoint before resolving credentials or activating the connection. | | 9 | Reference-server accounts | A disabled username account could authenticate again with its previous roles. Reject disabled accounts during fresh authentication. | | 10 | Console reference client | The sample disabled hostname checks when connecting to an otherwise trusted peer. Retain the original requested host and validate it before activation. | | 11 | Capture replay and export | Replay and raw export could accept non-capture files or include key material. Require complete PCAP/PCAPNG containers and exclude key sidecars and decryption-secret blocks. | | 12 | PubSub adapter fallback | The fallback client configuration automatically accepted peer certificates. Apply normal trust and hostname validation before activation or reads. | | 13 | Kafka transport | Explicit TLS enablement was checked but did not reach both final Confluent configurations. Use the same effective protocol for validation, producers and consumers. | | 14 | PubSub actions | Configuration rebuilds could widen a connection-local action handler's scope. Preserve its original connection association and reject mismatched dispatch. | | 15 | PubSub readers | Reader-level message-protection settings were accepted but ignored. Apply the effective group and reader settings before accepting and publishing received values. | | 16 | PubSub key groups | Different `SecurityGroupId` values could share one connection-wide key context. Reject mixed groups on a connection and require separate connections for distinct groups. | | 17 | MCP session registrations | Session-name replacement or reuse could retain another registration's credential bindings. Bind access to the registration, caller and authenticated endpoint, and preserve that identity when borrowing sessions. | | 18 | Viewer HTTP host | Requests reached the viewer's OPC UA session without consistent Host, Origin and port checks. Validate the request destination and browser origin before using the session, while retaining supported local MCP clients. | | 19 | Vision file operations | File operations did not consistently apply protected-file checks, and remote handles lacked caller and connection context. Apply the shared checks and use host-side opaque handles bound to caller, target and generation. | | 20 | DTLS record integrity | The integrity-only MAC used a truncated sequence number. Authenticate the full reconstructed sequence number and epoch so records remain distinct across rollover. | | 21 | AMB client sample | Connection setup omitted hostname validation. Preserve the originally requested host and verify the peer identity before activation. | | 22 | Robot sample writes | The R2 `SpeedOverride` callback could target R1 state. Bind each callback to its own robot and apply that robot's write policy. | | 23 | AI result properties | Optional result children inherited remotely writable defaults. Preserve their declaration restrictions and keep server-produced results read-only. | | 24 | WSS peer-trust updates | Existing channels did not consistently respond to peer-trust changes. Revalidate complete chains for forward and reverse WSS channels and close only those that no longer validate. | | 25 | GDS revocation checks | Caller-provided certificates could cause issuer retrieval from embedded URLs. Resolve validation from configured local trust, issuers and CRLs without fetching caller-provided locations. | | 26 | GMS observations | Published correction observations retained writable model defaults. Reject remote writes while preserving publisher-side updates. | | 27 | Production-dataset monitoring | Subscription admission and delivery could use the reporter's context instead of each subscriber's permissions. Evaluate the subscriber at admission and on every delivery, including cancellation and disposal paths. | | 28 | WoT MQTT destinations | Hostless MQTT forms could imply a localhost destination before loopback checks. Reject them before credential lookup or connection attempts and validate the effective endpoint. | | 29 | XRegistry opaque reads | Content-ID reads and notifications did not consistently honor encrypted-read requirements or the currently accepted transport. Recheck the bound endpoint and reject transport downgrades before rebinding, including when protected values are already queued. | | 30 | PubSub capture dissection | Key loading did not consistently check the configured capture-root boundary. Check each actual key path immediately before opening it. | | 31 | PubSub publication queues | Imported WriterGroup queues were not fully checked against publish-topic grants. Check the destination actually used by each group. | | 32 | MCP PubSub mutations | A caller-supplied mode could select subscribe grants for an operation that publishes. Derive the required direction and parent context from the actual mutation. | | 33 | Generated write masks | Model import and generation could widen an explicit `UserWriteMask`. Preserve it through import, copy, merge, inheritance and dependency metadata. | | 34 | Generated method flags | An explicit `UserExecutable=false` could be lost. Preserve its specified state and resulting method behavior through the same model paths. | | 35 | Generated role identifiers | Unresolved role identifiers could cause permission entries to be omitted. Preserve namespace-qualified role IDs and report a diagnostic when a policy cannot be represented. | | 36 | Aggregation-server defaults | The `localhost` default did not reliably constrain listener binding. Use numeric loopback for the default endpoint and command-line fallback. | | 37 | Certificate-validation cache | Cached results could skip current leaf or issuer validity checks. Recheck validity windows on cache hits and keep hostname validation independent of cached chain trust. | | 38 | Software-update folders | Revision names and marker contents containing dot segments could select paths outside the software root. Normalize and check every derived path against that root. | | 39 | USDA arrays | Array elements were not encoded for their string or asset context. Escape them as data and preserve valid composition and round-trip behavior. | | 40 | Adapter hot reload | A changed dataset definition with the same name could keep old fields, subscriptions or cached values active. Compare complete immutable definitions and retire old state before replacement. | | 41 | Adapter index ranges | Subscription publication could ignore `IndexRange` and return the complete value. Preserve the requested projection and its status and timestamps; reject unsupported range providers. | | 42 | PubSub metadata and targets | Metadata from one connection could change another connection's target mapping. Scope metadata to its connection and provenance, and resolve targets using actual typed field IDs rather than field names or unintended positional fallback. | | 43 | Scales product locks | Product locks were not applied across every remote mutation path. Apply them consistently to value writes, filling calculations and related recipe/controller operations while retaining permitted updates. | | 44 | Event permission caching | Cached event decisions could outlive identity, role or node-policy changes. Revalidate the current subscriber, event type and source permissions instead of reusing a stale decision. | | 45 | WoT Modbus destinations | Hostless Modbus forms could imply localhost before loopback checks. Reject them before connecting and validate the effective endpoint. | | 46 | MCP local PKI tools | Peer-trust mutations did not consistently require the caller's `CertificateAdministration` grant. Check the capability before trust and untrust operations. | | 47 | Robot-control HTTP bridge | The bridge lacked consistent Host, Origin and port validation and caller-specific session grants. Apply those checks before borrowing the OPC UA session and retain supported local clients. | | 48 | Subscription transfers | Transferred subscriptions could retain cached notifications after the destination's permissions changed. Require authorization continuity between source and destination identities and roles, invalidate stale retransmission data when continuity fails, and preserve retransmission behavior for compatible transfers. | ### Compatibility notes - Replication uses the versioned NSRP v1 policy envelope. Upgrade peers together and re-encode or reseed legacy topology from the authoritative model; missing permission metadata is not inferred from old records. - Integrity-only DTLS peers must be upgraded together for the full sequence/epoch MAC. AEAD behavior is unchanged. - Distinct PubSub key groups require separate connections. - Custom sessions that cannot capture the actual encrypted transport, and subscription providers that cannot honor a requested range, are rejected rather than silently changing the requested behavior. - Subscription transfers retain retransmission data only when the destination authorization remains compatible with the source snapshot; otherwise the old sequence numbers and cached data are invalidated. ## Related Issues No separate tracking issue is linked. The individual corrections are listed above. ## 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. - [ ] 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
|
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 |
||
|
romanettandClaude Opus 5.5
|
9b034f8291 |
Enable nullable reference types centrally; migrate all unset and annotations-only projects (#4700)
# Description Nullable reference types are now enabled once, in `common.props`, and every project in the repository builds warning-clean with them. **Configuration** - `<Nullable>enable</Nullable>` lives in `common.props`. All per-project `<Nullable>` settings are removed: 178 project files (enable, annotations, and the `disable` in the three Aot test projects). - 419 per-file `#nullable enable`/`restore` directives and the 4 `#nullable disable` directives are removed. - Kept on purpose: - The 5 `<auto-generated>` schema files (`UANodeSet.cs`, `UA Type Dictionary.cs`, `OPCBinarySchema.cs`, `SecuredApplication.cs`, `PInvokeHelper.cs`) keep `#nullable enable`. The compiler ignores the project setting in generated code, so the directive is required there. - `tests/Opc.Ua.Interop.LegacyPeer` keeps `disable`. It builds against the 1.5.378 packages and does not import the repository props. - `docs/DeveloperGuide.md` and `.github/copilot-instructions.md` now describe the central setting. **Migration** (the 43 unset and 13 annotations-only projects, roughly 10k diagnostics) - **Production code: annotated at the declarations.** Covers `tools/Opc.Ua.SourceGeneration.Core`, `src/Opc.Ua.Lds.Server` and the LDS sample. - Members, parameters and returns are nullable where null actually flows. - Null-check helpers carry `[NotNullWhen]` (`IsNull`, `IsValidXmlName`, `IsMethodTypeDesign`). - `CoreUtils.Format`, `Utils.Format`, `ITemplateWriter.WriteLine` take `params object?[]`. `Template.AddReplacement` takes `string?` (rendering already skips null replacements). - `IRegisteredServerStore.RegisterAsync` returns `Task<RegistrationEntry?>`: it returns null when a registration is removed. - Dereferences backed by an invariant (for example, the validated model) use `!`, so runtime behaviour is unchanged. - **Behavioural changes in production code** (small, deliberate): - `NodeSetToModelDesign` throws `InvalidOperationException` when the file is not a NodeSet. Before, it threw a NullReferenceException on the next line. - `ModelDesignValidator` starts its lookup tables empty instead of null. A redundant `if (m_nodes == null) return;` guard is gone. - **Test code: minimal annotations.** - `?` on values that can be null, `!` where the test asserts non-null. - `= null!` for fixture members assigned in SetUp. - `TryGetStructure<T>(out T? x)` where the inferred `T?` broke the `IEncodeable` constraint. - A few redundant `== null` checks on structs (`NodeId`, `ArrayOf<T>`) folded into the adjacent `IsNull`/`Count` checks. **Notes for reviewers** - The diff is large (~1,500 files) but almost entirely mechanical: `?`, `!` and directive removal. The non-annotation changes are listed above. - Known follow-up, not done here: `IModelDesign.Namespaces/TargetNamespace/NamespaceUris` stay non-nullable even though the validator returns null before it loads a dictionary. Making them nullable would ripple through every generator call site. ## Related Issues - Fixes #4439 ## 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. The "no new warnings" box covers net10.0 and net48: full non-incremental builds of `UA.slnx`, `tools/SourceGeneration.slnx`, `tools/MigrationAnalyzer.slnx` and the Aot test projects finished with 0 warnings and 0 errors under the repository's warnings-as-errors settings. net9.0 and net8.0 also had no nullable diagnostics, but they were not rebuilt after the final fixes. Tests have not been run locally yet. 🤖 Generated with [Claude Code](https://claude.com/claude-code) --------- Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com> |
||
|
romanettandClaude Opus 5.5
|
61edaa1ed0 |
Remove netstandard2.1 and net472 target frameworks (#4624)
# Description Drops support for **netstandard2.1** and **.NET Framework 4.7.2**. Libraries now target `net48`, `net8.0`, `net9.0` and `net10.0`. `Opc.Ua.Types` and `Opc.Ua.SourceGeneration.Core` still also target `netstandard2.0`, but only because the Roslyn source generators load them. There is no general netstandard2.0 support. **Preprocessor directives** (112 files) - Every `#if`/`#elif` mentioning `NETSTANDARD2_1*`, `NET472*`, `NET_STANDARD_TESTS`, `SKIP_ECC_CERTIFICATE_REQUEST_SIGNING` or `NETSTANDARD*` was evaluated against the remaining TFM set (net48, net8/9/10, plus netstandard2.0 inside `Opc.Ua.Types`/`tools`) and simplified. Dead branches were removed. - Example: `NETSTANDARD2_1 || NET8_0_OR_GREATER` → `NET8_0_OR_GREATER`. - Example: `NET8_0_OR_GREATER || NET472_OR_GREATER` → removed (always true). - Netstandard-only code was removed: `UnixFileModeShim`, the CRDT reflection path in `ReplicatedGossipOptions.CreateReaderOptions`, and the netstandard2.1-only test variants. **Custom test logic** - `targets.props` drops the `net472`, `netstandard2.0` and `netstandard2.1` `CustomTestTarget` profiles, `NetStandardTests` and `SKIP_ECC_CERTIFICATE_REQUEST_SIGNING`. Supported values are now `net48`, `net8.0`, `net9.0`, `net10.0`. - The `NET_STANDARD_TESTS` define is removed from 29 test projects. - The "build netstandard shells as net10.0" overrides are removed from 18 projects. - `RestrictForLegacyTfm` now only applies to `net48`. - `tests/customtest.bat` is updated to the new values. **Build / packaging / CI** - MSBuild TFM conditions are simplified: Kestrel package choice, MQTTnet v4 (net48 only), BouncyCastle, Di/OpenUsd/Vision/Stress test excludes, and `System.IO.FileSystem.AccessControl` (dropped from Core). - The MigrationAnalyzer nuspec drops its net472/netstandard2.1 lib groups. The Azure signing lists are updated. - `get-ci-matrix.ps1` removes the net472/netstandard test profiles (including the PR-gating `linux-netstandard2.1`) and the matching build legs. **Breaking API change (2.0 preview):** removed `HttpsTransportListener.IsWssTransportSupported` and `ReplicatedGossipOptions.IsGossipStateDecodingSupported`. They only returned `false` on netstandard2.1 and are now always `true`. The test guards that used them were removed as well. **Docs** - NuGet READMEs, `README.md`, `DeveloperGuide.md`, `PubSub.md`, the certificate/ECC/identity docs and the 2.0 migration guide (plus its `.agents` skill mirror) are updated. - The migration guide notes that 4.7.2 consumers must move to 4.8 and netstandard2.1 consumers to net8.0+. ### Reviewer notes - The `System.IO.FileSystem.AccessControl` `PackageVersion` pin is left in `Directory.Packages.props`. It has no direct reference any more, but transitive pinning is on, so it was kept to avoid shifting resolved versions. - The `#if` rewrite was done mechanically by a truth-table evaluator. The diff in the `.cs` files is limited to directive lines, removed dead branches, and stale-comment updates. ### Verified locally - `dotnet build UA.slnx -p:CustomTestTarget=net48`: 0 errors. - `dotnet build UA.slnx -p:CustomTestTarget=net10.0`: 0 errors. - Default multi-target builds (no `CustomTestTarget`) of Opc.Ua.Types, Bindings.Https, PubSub.Mqtt and Redundancy.Server succeeded. - net10.0 tests: - Opc.Ua.Redundancy.Server.Tests: 840/840 passed. - Opc.Ua.Types.Tests: 11363 passed, 1 skipped. - ModelDependencyScanner tests: 20/20 passed. - The full test suite was **not** run locally. ## Related Issues - None ## 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. - [ ] 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. 🤖 Generated with [Claude Code](https://claude.com/claude-code) --------- Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com> |
||
|
Marc SchierandCopilot
|
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 |