generic-axis

A generic external axis for RocketWelder over Modbus TCP: a linear track that carries the robot or a rotary positioner that carries the part, fronted by any PLC that can serve the register map in docs/protocol.md.

Project	What
src/ModelingEvolution.GenericAxis	NuGet. The driver: IModbusChannel with a priority gate, FR-11 heartbeat + advisory lease, ModbusLinearAxis : ILinearAxis, ModbusRotaryAxis : IRotaryAxis, ModbusAxisDevice : ILinearTrack / IPositioner. Depends on RocketWelder.SDK.Devices.Motion and FluentModbus only.
src/ModelingEvolution.GenericAxis.Plugin	rw2 device plugin ([RocketWelderPlugin("RocketWelder.Motion.Generic")]): declares the axis and builds the device from the devices hub's values.
src/ModelingEvolution.GenericAxis.TestApp	One app for testing, three roles: (1) the PLC simulator (the register map with physics, watchdog, lease, fault injection); (2) a driver panel that connects to the simulator or to a real PLC; (3) the PLC conformance check — --check <host>[:port] [--allow-motion] runs docs/protocol.md as a checklist against a real PLC (transport, word order, command/ack, watchdog trip and re-arm, lease; motion and kill-test only with an operator present) and writes a pass/fail report the PLC developer can act on. The simulator must pass the same check.
python/generic_axis_check/	The PLC conformance check in Python (pymodbus): the same checklist as the C# --check, same ids and report, for a PLC developer's laptop without .NET. python -m generic_axis_check <host>[:port] [--allow-motion] [--report out.md]. Both checkers must pass against the simulator in CI.
src/ModelingEvolution.GenericAxis.Plugin.Tests	Plugin unit tests (declaration, property table, factory, prefix handler, connector).
src/ModelingEvolution.GenericAxis.Tests	Unit tests (lease vectors, heartbeat, packing) and live tests against the in-process simulator (home, move, stop, kill-test).

Requirements: docs/epics/epic-065-external-axis-motion/features/feature-007-pamet-track-direct-plc/ in the docs repo. Reference implementation this generalises: delta-positioner + delta-positioner-sim.

dotnet build src/GenericAxis.sln
dotnet test  src/GenericAxis.sln
dotnet run --project src/ModelingEvolution.GenericAxis.TestApp   # http://localhost:5070

Cross-test: the simulator against both checkers

# 1. the PLC simulator, headless, on port 5023
dotnet src/ModelingEvolution.GenericAxis.TestApp/bin/Debug/net10.0/ModelingEvolution.GenericAxis.TestApp.dll --headless --port 5023 &

# 2. the C# checker (same binary)
dotnet src/ModelingEvolution.GenericAxis.TestApp/bin/Debug/net10.0/ModelingEvolution.GenericAxis.TestApp.dll --check 127.0.0.1:5023 --allow-motion --report cs.md

# 3. the Python checker (no .NET needed on the machine that runs it)
python3 -m venv .venv && . .venv/bin/activate && pip install ./python
python -m generic_axis_check 127.0.0.1:5023 --allow-motion --report py.md

Both must end with RESULT: PASS, exit code 0, CHK-01…CHK-16. Point either checker at a real PLC by replacing 127.0.0.1:5023 with its address; leave out --allow-motion unless an operator is at the machine and the travel is clear. Details and exit codes: python/README.md and docs/protocol.md § Conformance checks.