opcua_helpers.h File Reference

This file contains helper functions for ROS implementation of OpcUa client. More...

#include "ros_opcua_msgs/Address.h"
#include "ros_opcua_msgs/TypeValue.h"
#include <opc/ua/node.h>
#include <opc/ua/protocol/string_utils.h>

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Functions
OpcUa::Variant	convertTypeValueToVariant (ros_opcua_msgs::TypeValue &typeValue)
ros_opcua_msgs::TypeValue	convertVariantToTypeValue (const OpcUa::Variant &variant)
Variables
std::map< int, std::string >	_TypeToStringMap
	Remapping between ROS types and OpenOpcUa types.

---

Detailed Description

This file contains helper functions for ROS implementation of OpcUa client.

Author:

Denis Štogl

Copyright:

Copyright 2015 SkillPro Consortium

This file is part of SkillPro-Framework.

SkillPro-Framework is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

SkillPro-Framework is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with SkillPro-Framework. If not, see <http://www.gnu.org/licenses/>.

Definition in file opcua_helpers.h.

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Function Documentation

OpcUa::Variant convertTypeValueToVariant

(

ros_opcua_msgs::TypeValue &

typeValue

)

This function converts ros_opcua_msgs::TypeValue data type into OpcUa::Variant data type.

Parameters:

typeValue

TypeValue to be converted

Returns:

Variant object created from typeValue

Definition at line 194 of file opcua_helpers.h.

ros_opcua_msgs::TypeValue convertVariantToTypeValue

(

const OpcUa::Variant &

variant

)

This function converts between ros_opcua_msgs::Address data type into OpcUa::NodeID data type.

Parameters:

address

address to convert.

Returns:

NodeID object created from address. This function converts between OpcUa::NodeID data type into ros_opcua_msgs::Address data type.

Parameters:

nodeID

nodeId to convert.

Returns:

Address object created from nodeID. This function converts OpcUa::Variant data type into ros_opcua_msgs::TypeValue data type.

Parameters:

variant

Variant to be converted.

Returns:

TypeValue object created from variant.

Definition at line 140 of file opcua_helpers.h.

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Variable Documentation

std::map<int, std::string> _TypeToStringMap

Initial value:

 {

    {1, "bool"},
    {2, "int8"},
    {3, "uint8"},
    {4, "int16"},
    {5, "uint16"},
    {6, "int32"},
    {7, "uint32"},
    {8, "int64"},
    {9, "uint64"},
    {10, "float32"},
    {11, "float64"},
    {12, "string"},













}

Remapping between ROS types and OpenOpcUa types.

Commented values are not used in current implementation, there don't exist remapping to ROS.

Definition at line 31 of file opcua_helpers.h.