Examples with UaNode org.eclipse.milo.opcua.sdk.client.nodes.UaNode used on opensource projects

Example 1 with UaNode

use of org.eclipse.milo.opcua.sdk.client.nodes.UaNode 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;
        }
    });
}

Example 2 with UaNode

use of org.eclipse.milo.opcua.sdk.client.nodes.UaNode in project milo by eclipse.

the class AddressSpaceTest method browseWithNodeClassMask.

@Test
public void browseWithNodeClassMask() throws UaException {
    AddressSpace addressSpace = client.getAddressSpace();
    UaNode serverNode = addressSpace.getNode(Identifiers.Server);
    {
        BrowseOptions browseOptions = addressSpace.getBrowseOptions().copy(b -> b.setNodeClassMask(EnumSet.of(NodeClass.Method)));
        List<? extends UaNode> nodes = addressSpace.browseNodes(serverNode, browseOptions);
        assertFalse(nodes.isEmpty());
        assertTrue(nodes.stream().allMatch(n -> n.getNodeClass() == NodeClass.Method));
    }
    {
        BrowseOptions browseOptions = addressSpace.getBrowseOptions().copy(b -> b.setNodeClassMask(EnumSet.of(NodeClass.Object)));
        List<? extends UaNode> nodes = addressSpace.browseNodes(serverNode, browseOptions);
        assertFalse(nodes.isEmpty());
        assertTrue(nodes.stream().allMatch(n -> n.getNodeClass() == NodeClass.Object));
    }
    {
        BrowseOptions browseOptions = addressSpace.getBrowseOptions().copy(b -> b.setNodeClassMask(EnumSet.of(NodeClass.Variable)));
        List<? extends UaNode> nodes = addressSpace.browseNodes(serverNode, browseOptions);
        assertFalse(nodes.isEmpty());
        assertTrue(nodes.stream().allMatch(n -> n.getNodeClass() == NodeClass.Variable));
    }
}

Example 3 with UaNode

use of org.eclipse.milo.opcua.sdk.client.nodes.UaNode in project milo by eclipse.

the class AddressSpaceTest method browseWithReferenceType.

@Test
public void browseWithReferenceType() throws UaException {
    AddressSpace addressSpace = client.getAddressSpace();
    UaNode serverNode = addressSpace.getNode(Identifiers.Server);
    BrowseOptions browseOptions = addressSpace.getBrowseOptions().copy(b -> b.setReferenceType(BuiltinReferenceType.HasProperty));
    List<? extends UaNode> nodes = addressSpace.browseNodes(serverNode, browseOptions);
    assertEquals(5, nodes.size());
    assertTrue(nodes.stream().anyMatch(n -> n.getNodeId().equals(Identifiers.Server_ServerArray)));
    assertTrue(nodes.stream().anyMatch(n -> n.getNodeId().equals(Identifiers.Server_NamespaceArray)));
    assertTrue(nodes.stream().anyMatch(n -> n.getNodeId().equals(Identifiers.Server_ServiceLevel)));
    assertTrue(nodes.stream().anyMatch(n -> n.getNodeId().equals(Identifiers.Server_Auditing)));
    assertTrue(nodes.stream().anyMatch(n -> n.getNodeId().equals(Identifiers.Server_EstimatedReturnTime)));
}

Example 4 with UaNode

use of org.eclipse.milo.opcua.sdk.client.nodes.UaNode in project milo by eclipse.

the class AddressSpaceTest method modifyBrowseOptions.

@Test
public void modifyBrowseOptions() throws UaException {
    AddressSpace addressSpace = client.getAddressSpace();
    UaNode serverNode = addressSpace.getNode(Identifiers.Server);
    {
        addressSpace.modifyBrowseOptions(b -> b.setNodeClassMask(EnumSet.of(NodeClass.Method)));
        List<? extends UaNode> nodes = addressSpace.browseNodes(serverNode);
        assertFalse(nodes.isEmpty());
        assertTrue(nodes.stream().allMatch(n -> n.getNodeClass() == NodeClass.Method));
    }
    {
        addressSpace.modifyBrowseOptions(b -> b.setNodeClassMask(EnumSet.of(NodeClass.Object)));
        List<? extends UaNode> nodes = addressSpace.browseNodes(serverNode);
        assertFalse(nodes.isEmpty());
        assertTrue(nodes.stream().allMatch(n -> n.getNodeClass() == NodeClass.Object));
    }
    {
        addressSpace.modifyBrowseOptions(b -> b.setNodeClassMask(EnumSet.of(NodeClass.Variable)));
        List<? extends UaNode> nodes = addressSpace.browseNodes(serverNode);
        assertFalse(nodes.isEmpty());
        assertTrue(nodes.stream().allMatch(n -> n.getNodeClass() == NodeClass.Variable));
    }
}

Example 5 with UaNode

use of org.eclipse.milo.opcua.sdk.client.nodes.UaNode in project milo by eclipse.

the class AddressSpaceTest method getNode.

@Test
public void getNode() throws UaException {
    AddressSpace addressSpace = client.getAddressSpace();
    UaNode serverNode = addressSpace.getNode(Identifiers.Server);
    assertNotNull(serverNode);
    assertTrue(serverNode instanceof ServerTypeNode);
    UaNode serverStatusNode = addressSpace.getNode(Identifiers.Server_ServerStatus);
    assertNotNull(serverStatusNode);
    assertTrue(serverStatusNode instanceof ServerStatusTypeNode);
}