use of org.eclipse.milo.opcua.sdk.client.nodes.UaMethodNode in project FAAAST-Service by FraunhoferIOSB.
the class OpcUaAssetConnection method registerOperationProvider.
/**
* {@inheritdoc}
*
* @throws AssetConnectionException if nodeId could not be parsed
* @throws AssetConnectionException if nodeId does not refer to a method
* node
* @throws AssetConnectionException if parent node of nodeId could not be
* resolved
* @throws AssetConnectionException if output variables are null or do
* contain any other type than
* {@link de.fraunhofer.iosb.ilt.faaast.service.model.value.PropertyValue}
*/
@Override
public void registerOperationProvider(Reference reference, OpcUaOperationProviderConfig operationProvider) throws AssetConnectionException {
String baseErrorMessage = "error registering operation provider";
final NodeId nodeId = parseNodeId(operationProvider.getNodeId());
final UaNode node;
try {
node = client.getAddressSpace().getNode(nodeId);
} catch (UaException ex) {
throw new AssetConnectionException(String.format("%s - could not resolve nodeId (nodeId: %s)", baseErrorMessage, operationProvider.getNodeId()), ex);
}
if (!UaMethodNode.class.isAssignableFrom(node.getClass())) {
throw new AssetConnectionException(String.format("%s - provided node must be a method (nodeId: %s", baseErrorMessage, operationProvider.getNodeId()));
}
final UaMethodNode methodNode = (UaMethodNode) node;
final NodeId parentNodeId;
try {
parentNodeId = client.getAddressSpace().getNode(nodeId).browseNodes(AddressSpace.BrowseOptions.builder().setBrowseDirection(BrowseDirection.Inverse).build()).get(0).getNodeId();
} catch (UaException ex) {
throw new AssetConnectionException(String.format("%s - could not resolve parent node (nodeId: %s)", baseErrorMessage, operationProvider.getNodeId()), ex);
}
final Argument[] methodArguments;
try {
methodArguments = methodNode.readInputArgumentsAsync().get() != null ? methodNode.readInputArgumentsAsync().get() : new Argument[0];
} catch (InterruptedException | ExecutionException ex) {
throw new AssetConnectionException(String.format("%s - could not read input arguments (nodeId: %s)", baseErrorMessage, operationProvider.getNodeId()), ex);
}
final Argument[] methodOutputArguments;
try {
methodOutputArguments = methodNode.readOutputArgumentsAsync().get() != null ? methodNode.readOutputArgumentsAsync().get() : new Argument[0];
} catch (InterruptedException | ExecutionException ex) {
throw new AssetConnectionException(String.format("%s - could not read ouput arguments (nodeId: %s)", baseErrorMessage, operationProvider.getNodeId()), ex);
}
final OperationVariable[] outputVariables = serviceContext.getOperationOutputVariables(reference) != null ? serviceContext.getOperationOutputVariables(reference) : new OperationVariable[0];
for (var outputVariable : outputVariables) {
if (outputVariable == null) {
throw new AssetConnectionException(String.format("%s - output variable must be non-null (nodeId: %s)", baseErrorMessage, operationProvider.getNodeId()));
}
SubmodelElement submodelElement = outputVariable.getValue();
if (submodelElement == null) {
throw new AssetConnectionException(String.format("%s - output variable must contain non-null submodel element (nodeId: %s)", baseErrorMessage, operationProvider.getNodeId()));
}
if (!Property.class.isAssignableFrom(submodelElement.getClass())) {
throw new AssetConnectionException(String.format("%s - unsupported element type (nodeId: %s, element type: %s)", baseErrorMessage, submodelElement.getClass(), operationProvider.getNodeId()));
}
}
this.operationProviders.put(reference, new AssetOperationProvider() {
@Override
public OperationVariable[] invoke(OperationVariable[] input, OperationVariable[] inoutput) throws AssetConnectionException {
String baseErrorMessage = "error invoking operation on asset connection";
Map<String, ElementValue> inputParameter = input == null ? new HashMap<>() : Stream.of(input).collect(Collectors.toMap(x -> x.getValue().getIdShort(), x -> ElementValueMapper.toValue(x.getValue())));
Map<String, ElementValue> inoutputParameter = inoutput == null ? new HashMap<>() : Stream.of(inoutput).collect(Collectors.toMap(x -> x.getValue().getIdShort(), x -> ElementValueMapper.toValue(x.getValue())));
if (methodArguments.length != (inputParameter.size() + inoutputParameter.size())) {
throw new AssetConnectionException(String.format("%s - argument count mismatch (expected: %d, provided input arguments: %d, provided inoutput arguments: %d)", baseErrorMessage, methodArguments.length, inputParameter.size(), inoutputParameter.size()));
}
Variant[] actualParameters = new Variant[methodArguments.length];
for (int i = 0; i < methodArguments.length; i++) {
String argumentName = methodArguments[i].getName();
ElementValue parameterValue;
if (inputParameter.containsKey(argumentName)) {
parameterValue = inputParameter.get(argumentName);
} else if (inoutputParameter.containsKey(argumentName)) {
parameterValue = inoutputParameter.get(argumentName);
} else {
throw new AssetConnectionException(String.format("%s - missing argument (argument name: %s)", baseErrorMessage, argumentName));
}
if (parameterValue == null) {
throw new AssetConnectionException(String.format("%s - parameter value must be non-null (argument name: %s)", baseErrorMessage, argumentName));
}
if (!PropertyValue.class.isAssignableFrom(parameterValue.getClass())) {
throw new AssetConnectionException(String.format("%s - currently only parameters of the Property are supported (argument name: %s, provided type: %s)", baseErrorMessage, argumentName, parameterValue.getClass()));
}
actualParameters[i] = valueConverter.convert(((PropertyValue) parameterValue).getValue(), methodArguments[i].getDataType());
}
CallMethodResult methodResult;
try {
methodResult = client.call(new CallMethodRequest(parentNodeId, nodeId, actualParameters)).get();
} catch (InterruptedException | ExecutionException ex) {
throw new AssetConnectionException(String.format("%s - executing OPC UA method failed (nodeId: %s)", baseErrorMessage, operationProvider.getNodeId()));
}
OperationVariable[] result = new OperationVariable[outputVariables.length];
for (int i = 0; i < methodOutputArguments.length; i++) {
String argumentName = methodArguments[i].getName();
for (int j = 0; j < outputVariables.length; j++) {
if (Objects.equals(argumentName, outputVariables[j].getValue().getIdShort())) {
SubmodelElement element = outputVariables[j].getValue();
Datatype targetType = ((PropertyValue) ElementValueMapper.toValue(element)).getValue().getDataType();
TypedValue<?> newValue = valueConverter.convert(methodResult.getOutputArguments()[i], targetType);
// TODO better use deep copy?
DefaultProperty newProperty = new DefaultProperty.Builder().idShort(element.getIdShort()).build();
ElementValueMapper.setValue(newProperty, PropertyValue.builder().value(newValue).build());
result[j] = new DefaultOperationVariable.Builder().value(newProperty).build();
}
}
// update inoutput variable values
if (inoutputParameter.containsKey(argumentName)) {
// find in original array and set there
for (int j = 0; j < inoutput.length; j++) {
if (Objects.equals(argumentName, inoutput[j].getValue().getIdShort())) {
ElementValueMapper.setValue(inoutput[j].getValue(), new PropertyValue(valueConverter.convert(methodResult.getOutputArguments()[i], ((PropertyValue) inoutputParameter.get(argumentName)).getValue().getDataType())));
}
}
}
}
return result;
}
});
}
use of org.eclipse.milo.opcua.sdk.client.nodes.UaMethodNode in project milo by eclipse.
the class AddressSpace method newMethodNode.
private UaMethodNode newMethodNode(NodeId nodeId, List<DataValue> attributeValues) throws UaException {
DataValue nodeIdDataValue = attributeValues.get(0);
StatusCode nodeIdStatusCode = nodeIdDataValue.getStatusCode();
if (nodeIdStatusCode != null && nodeIdStatusCode.isBad()) {
throw new UaException(nodeIdStatusCode);
}
try {
NodeClass nodeClass = NodeClass.from((Integer) attributeValues.get(1).getValue().getValue());
Preconditions.checkArgument(nodeClass == NodeClass.Method, "expected NodeClass.Method, got NodeClass." + nodeClass);
QualifiedName browseName = (QualifiedName) attributeValues.get(2).getValue().getValue();
LocalizedText displayName = (LocalizedText) attributeValues.get(3).getValue().getValue();
LocalizedText description = getAttributeOrNull(attributeValues.get(4), LocalizedText.class);
UInteger writeMask = getAttributeOrNull(attributeValues.get(5), UInteger.class);
UInteger userWriteMask = getAttributeOrNull(attributeValues.get(6), UInteger.class);
Boolean executable = (Boolean) attributeValues.get(7).getValue().getValue();
Boolean userExecutable = (Boolean) attributeValues.get(8).getValue().getValue();
return new UaMethodNode(client, nodeId, nodeClass, browseName, displayName, description, writeMask, userWriteMask, executable, userExecutable);
} catch (Throwable t) {
throw UaException.extract(t).orElse(new UaException(StatusCodes.Bad_UnexpectedError, t));
}
}
use of org.eclipse.milo.opcua.sdk.client.nodes.UaMethodNode in project milo by eclipse.
the class AddressSpace method createMethodNodeFromBaseAttributes.
private CompletableFuture<UaMethodNode> createMethodNodeFromBaseAttributes(NodeId nodeId, List<DataValue> baseAttributeValues) {
Set<AttributeId> remainingAttributes = Sets.difference(AttributeId.METHOD_ATTRIBUTES, AttributeId.BASE_ATTRIBUTES);
CompletableFuture<ReadResponse> attributesFuture = readAttributes(nodeId, remainingAttributes);
return attributesFuture.thenCompose(response -> {
List<DataValue> attributeValues = new ArrayList<>(baseAttributeValues);
Collections.addAll(attributeValues, response.getResults());
try {
UaMethodNode node = newMethodNode(nodeId, attributeValues);
nodeCache.put(node.getNodeId(), node);
return completedFuture(node);
} catch (UaException e) {
return failedFuture(e);
}
});
}
Aggregations