Add additional sever configs to tests

AGENTS.md

@@ -199,6 +199,8 @@ This project interfaces with Beckhoff EtherCAT I/O terminals via the ADS protoco
 
 - **Testing with Hardware**: **NEVER** run `fastcs-catio ioc` commands yourself. Let the user run the IOC and report any errors back to you. The IOC requires network access to real hardware that may not be available or may have specific configuration requirements.
 
+- **Testing Troubleshooting**: If `test_system.py` reports that simulator port 48898 is already in use, check if VS Code has auto-forwarded the port. In VS Code's "Ports" panel (View → Ports), delete any forwarding for port 48898. VS Code's auto port-forwarding can prevent the test simulator from binding to the port.
+
 - **Terminal Definitions**: YAML files describing Beckhoff terminal types, their symbols, and CoE objects. See [docs/explanations/terminal-yaml-definitions.md](docs/explanations/terminal-yaml-definitions.md) for:
   - How to generate terminal YAML files using `catio-terminals`
   - Understanding ADS symbol nodes and index groups
@@ -279,7 +281,7 @@ Skills are specialized knowledge that can be loaded on demand. Use these prompts
 2. **Instantiate and load configuration:**
    ```python
    chain = EtherCATChain()  # Create instance first
-   chain.load_config(Path('tests/ads_sim/server_config.yaml'))  # Instance method, not class method
+   chain.load_config(Path('tests/ads_sim/erver_config_CX7000_cs2.yaml'))  # Instance method, not class method
    ```
 
 3. **Check symbol counts:**
@@ -328,7 +330,7 @@ Skills are specialized knowledge that can be loaded on demand. Use these prompts
 **Related files:**
 - `tests/ads_sim/ethercat_chain.py` - Chain and device/slave models
 - `tests/ads_sim/server.py` - ADS protocol server
-- `tests/ads_sim/server_config.yaml` - default YAML representation of the Simulator
+- `tests/ads_sim/erver_config_CX7000_cs2.yaml` - default YAML representation of the Simulator
 - `tests/test_system.py` - Integration tests against simulator
 
 ---

tests/ads_sim/README.md

@@ -82,13 +82,13 @@ asyncio.run(main())
 ## Configuration
 
 The EtherCAT chain is configured via YAML. The default configuration is in
-`server_config.yaml`, which defines the server settings and device instances.
+`erver_config_CX7000_cs2.yaml`, which defines the server settings and device instances.
 Terminal type definitions are stored in separate YAML files in
 `src/catio_terminals/terminals/`, organized by terminal class.
 
 ### Structure
 
-Server configuration file (`server_config.yaml`):
+Server configuration file (`erver_config_CX7000_cs2.yaml`):
 
 ```yaml
 # Server information
@@ -181,7 +181,7 @@ tests/ads_sim/
 ├── __init__.py          # Package exports
 ├── __main__.py          # CLI entry point
 ├── ethercat_chain.py    # Chain configuration parser
-├── server_config.yaml   # Default server/device configuration
+├── erver_config_CX7000_cs2.yaml   # Default server/device configuration
 ├── server.py            # ADS protocol server
 └── README.md            # This file
 

tests/ads_sim/__init__.py

@@ -9,7 +9,8 @@
     python -m tests.ads_sim [--host HOST] [--port PORT] [--config CONFIG]
 
 Example:
-    python -m tests.ads_sim --host 127.0.0.1 --port 48898 --config server_config.yaml
+    python -m tests.ads_sim --host 127.0.0.1 --port 48898 --config
+        server_config_CX7000_cs2.yaml
 """
 
 from .ethercat_chain import EtherCATChain, EtherCATSlave

tests/ads_sim/__main__.py

@@ -9,7 +9,9 @@
     --host HOST              Host address to bind to (default: 127.0.0.1)
     --port PORT              Port to listen on (default: 48898)
     --config PATH            Path to YAML config file
-                             (default: server_config.yaml)
+                             (default: erver_config_CX7000_cs2.yaml)
+    --terminal-defs PATTERN  Glob pattern(s) for terminal definition YAML files
+                             (default: DLS embedded definitions)
     --log-level LEVEL        Set logging level: DEBUG, INFO, WARNING, ERROR
                              (default: INFO)
     --disable-notifications  Disable the notification system to reduce
@@ -18,6 +20,8 @@
 Example:
     python -m tests.ads_sim --host 0.0.0.0 --port 48898 --log-level DEBUG
     python -m tests.ads_sim --disable-notifications --log-level INFO
+    python -m tests.ads_sim --terminal-defs "custom_terminals/*.yaml"
+    python -m tests.ads_sim --terminal-defs "term1.yaml,term2.yaml"
 """
 
 from __future__ import annotations
@@ -66,6 +70,17 @@ def parse_args() -> argparse.Namespace:
         default=None,
         help="Path to YAML configuration file for EtherCAT chain",
     )
+    parser.add_argument(
+        "--terminal-defs",
+        type=str,
+        default=None,
+        help=(
+            "Glob pattern for terminal definition YAML files. "
+            "Can use wildcards like '*.yaml' or '**/*.yaml' for recursive search. "
+            "Defaults to DLS yaml descriptions embedded in the python package. "
+            "May also be a comma separated list of glob patterns or filenames."
+        ),
+    )
     parser.add_argument(
         "--log-level",
         type=str,
@@ -98,16 +113,23 @@ async def main() -> int:
             return 1
     else:
         # Use default config from package
-        default_config = Path(__file__).parent / "server_config.yaml"
+        default_config = Path(__file__).parent / "erver_config_CX7000_cs2.yaml"
         if default_config.exists():
             config_path = default_config
             logger.info(f"Using default config: {config_path}")
 
+    # Parse terminal definitions patterns
+    terminal_patterns: list[str] | None = None
+    if args.terminal_defs:
+        terminal_patterns = [p.strip() for p in args.terminal_defs.split(",")]
+        logger.info(f"Using terminal definition patterns: {terminal_patterns}")
+
     # Create and start server
     server = ADSSimServer(
         host=args.host,
         port=args.port,
         config_path=config_path,
+        terminal_patterns=terminal_patterns,
         enable_notifications=not args.disable_notifications,
     )
 

tests/ads_sim/ethercat_chain.py

@@ -464,12 +464,18 @@ class EtherCATChain:
     device and slave information.
     """
 
-    def __init__(self, config_path: str | Path | None = None):
+    def __init__(
+        self,
+        config_path: str | Path | None = None,
+        terminal_patterns: list[str] | None = None,
+    ):
         """
         Initialize the EtherCAT chain.
 
         Args:
             config_path: Path to YAML configuration file. If None, uses default config.
+            terminal_patterns: Glob patterns for terminal definition YAML files.
+                If None, uses default DLS terminal definitions.
         """
         self.server_info = ServerInfo()
         self.devices: dict[int, EtherCATDevice] = {}
@@ -478,6 +484,7 @@ def __init__(self, config_path: str | Path | None = None):
             str, ModelTerminalType
         ] = {}  # Full terminal models for PDO filtering
         self.runtime_symbols: RuntimeSymbolsConfig | None = None
+        self.terminal_patterns = terminal_patterns
 
         # Load runtime symbols configuration
         self._load_runtime_symbols()
@@ -489,7 +496,7 @@ def __init__(self, config_path: str | Path | None = None):
             self.load_config(config_path)
         else:
             # Load default config from package
-            default_config = Path(__file__).parent / "server_config.yaml"
+            default_config = Path(__file__).parent / "server_config_CX7000_cs2.yaml"
             if default_config.exists():
                 self.load_config(default_config)
             else:
@@ -527,27 +534,58 @@ def _load_terminal_types(self) -> None:
         Load terminal type definitions from YAML files.
 
         Loads terminal types from:
-        1. Built-in terminal types in src/catio_terminals/terminals/
-        2. Legacy terminal_types in the main config (for backwards compatibility)
+        1. Custom patterns if provided via terminal_patterns
+        2. Built-in terminal types in src/catio_terminals/terminals/ (default)
         """
         # load full model TerminalType definitions for PDO group filtering
+        import glob
+
         from catio_terminals.models import TerminalConfig
 
-        # use the default terminal types used by the ioc to ensure we are testing
-        # things that will really happen!
-        terminals_path = (
-            Path(__file__).parents[2]
-            / "src"
-            / "catio_terminals"
-            / "terminals"
-            / "terminal_types.yaml"
-        )
-        if terminals_path.exists():
-            config = TerminalConfig.from_yaml(terminals_path)
-            self.model_terminals = config.terminal_types
-            logger.debug(f"Loaded {len(self.model_terminals)} model terminal types")
+        # Determine which patterns to use
+        if self.terminal_patterns:
+            patterns = self.terminal_patterns
+            logger.info(f"Using custom terminal definition patterns: {patterns}")
         else:
-            raise RuntimeError(f"Terminal types file not found: {terminals_path}")
+            # Use the default terminal types used by the IOC to ensure we are testing
+            # things that will really happen!
+            terminals_path = (
+                Path(__file__).parents[2]
+                / "src"
+                / "catio_terminals"
+                / "terminals"
+                / "*.yaml"
+            )
+            patterns = [str(terminals_path)]
+            logger.debug(f"Using default terminal definition pattern: {patterns[0]}")
+
+        # Expand all glob patterns and collect YAML files
+        yaml_files = []
+        for pattern in patterns:
+            matched = glob.glob(pattern, recursive=True)
+            yaml_files.extend(matched)
+
+        if not yaml_files:
+            raise RuntimeError(
+                f"No terminal definition YAML files found matching patterns: {patterns}"
+            )
+
+        logger.debug(f"Loading terminal types from {len(yaml_files)} YAML files")
+
+        # Load all terminal types from the collected files
+        all_terminals: dict[str, ModelTerminalType] = {}
+        for yaml_file in yaml_files:
+            try:
+                config = TerminalConfig.from_yaml(Path(yaml_file))
+                all_terminals.update(config.terminal_types)
+                logger.debug(
+                    f"Loaded {len(config.terminal_types)} terminals from {yaml_file}"
+                )
+            except Exception as e:
+                logger.warning(f"Failed to load terminal types from {yaml_file}: {e}")
+
+        self.model_terminals = all_terminals
+        logger.info(f"Loaded {len(self.model_terminals)} model terminal types total")
 
     def load_config(self, config_path: str | Path) -> None:
         """

tests/ads_sim/server.py

@@ -288,6 +288,7 @@ def __init__(
         host: str = "127.0.0.1",
         port: int = ADS_TCP_PORT,
         config_path: str | Path | None = None,
+        terminal_patterns: list[str] | None = None,
         enable_notifications: bool = True,
     ):
         """
@@ -297,6 +298,7 @@ def __init__(
             host: Host address to bind to.
             port: Port to listen on.
             config_path: Path to YAML config file for EtherCAT chain.
+            terminal_patterns: Glob patterns for terminal definition YAML files.
             enable_notifications: Whether to enable the notification system.
         """
         self.host = host
@@ -307,7 +309,7 @@ def __init__(
         self.enable_notifications = enable_notifications
 
         # Load EtherCAT chain configuration
-        self.chain = EtherCATChain(config_path)
+        self.chain = EtherCATChain(config_path, terminal_patterns=terminal_patterns)
 
         # ADS state
         self.ads_state = AdsState.ADSSTATE_RUN