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fix: re-take an unowned lease after a PLC restart (#7) - #8
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…se (#7, red) MiniPlc.PowerCycle clears the command block (LeaseOwner 0, WatchdogFault 0), State Disabled, Homed off, CommandAck 0. GA-I-25 fails on master: the driver keeps beating a PLC whose LeaseOwner stays 0. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
A tick that reads LeaseOwner = 0 while attached is a PLC restart or a clean release, never another commander. The device now re-attaches in place along the initial attach path: the tick's status block is checked before any write (map version, limit publication, reading range), LeaseOwner = own id, WatchdogFault = 0, a fresh read is checked again, and the engine re-attaches (CommandSeq continues from CommandAck, Enable from the PLC state, a verb in flight fails CommunicationLost naming the dropped lease). One Warning names the register read. The axis then shows whatever the PLC reports (typically Disabled, not homed). A foreign non-zero owner still latches LeaseHeld; a refused re-take latches ProtocolMismatch / OutOfRange; a Transport failure is CommunicationLost. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
… is re-taken in place (#7) Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Fixes #7.
After a PLC power-cycle the PLC came back with
LeaseOwner = 0. The driver kept beating, the tick latchedLeaseHeld("another commander took the axis"),IsConnectedstayed true, and the connector never re-attached. The device was dead until reconfigured.Fix (protocol § FR-11 "Advisory lease"). A tick that reads
LeaseOwner = 0while attached is a PLC restart or a clean release, never another commander. The device re-takes the lease in place along the initial attach path:LeaseOwner= own id, thenWatchdogFault = 0.CommandSeqcontinues fromCommandAck, Enable follows the PLC state, stale edges are cleared. A verb in flight failsCommunicationLostnaming the dropped lease and writes nothing more.LeaseOwner (C+9 = holding 9) = 0 while attached as 1 — PLC restarted or lease released; lease re-taken. …The axis then shows whatever the PLC reports, typically Disabled and not homed, so the next move is refused
NotHomed. A foreign non-zero owner still latchesLeaseHeld. A refused re-take latchesProtocolMismatchorOutOfRangeand writes nothing. A Transport failure is the existingCommunicationLostpath. The connector is unchanged.Tests
MiniPlc.PowerCycle()→ lease re-taken, watchdog re-armed, IsConnected true, one Warning, no LeaseHeld; MoveAbsolute refused NotHomed; after Home it moves. Red on master (commit 1846a74), green with the fix.Gates
dotnet build src/GenericAxis.sln: 0 warnings, 0 errors.dotnet test src/GenericAxis.sln: Plugin.Tests 62 → 62, Tests 203 → 206, TestApp.Tests 261 → 261, all passed.🤖 Generated with Claude Code