This file implements OpcUa client based on FreeOpcUa implementation. More...

#include <ros/ros.h>
#include <signal.h>
#include <opcua_helpers.h>
#include "ros_opcua_msgs/Address.h"
#include "ros_opcua_msgs/TypeValue.h"
#include "ros_opcua_srvs/CallMethod.h"
#include "ros_opcua_srvs/Connect.h"
#include "ros_opcua_srvs/Disconnect.h"
#include "ros_opcua_srvs/ListNode.h"
#include "ros_opcua_srvs/Read.h"
#include "ros_opcua_srvs/Subscribe.h"
#include "ros_opcua_srvs/Write.h"
#include "ros_opcua_srvs/Unsubscribe.h"
#include <opc/ua/client/client.h>
#include <opc/ua/subscription.h>

Include dependency graph for opcua_client.cpp:

Go to the source code of this file.

Classes
class	SubClient
	Subscription client class handles subscription callbacks. More...

Functions
bool	call_method (ros_opcua_srvs::CallMethod::Request &req, ros_opcua_srvs::CallMethod::Response &res)

bool	connect (ros_opcua_srvs::Connect::Request &req, ros_opcua_srvs::Connect::Response &res)

bool	disconnect (ros_opcua_srvs::Disconnect::Request &req, ros_opcua_srvs::Disconnect::Response &res)

bool	list_node (ros_opcua_srvs::ListNode::Request &req, ros_opcua_srvs::ListNode::Response &res)

int	main (int argc, char **argv)

void	on_shutdown (int sig)

bool	read (ros_opcua_srvs::Read::Request &req, ros_opcua_srvs::Read::Response &res)

bool	subscribe (ros_opcua_srvs::Subscribe::Request &req, ros_opcua_srvs::Subscribe::Response &res)

bool	unsubscribe (ros_opcua_srvs::Unsubscribe::Request &req, ros_opcua_srvs::Unsubscribe::Response &res)

bool	write (ros_opcua_srvs::Write::Request &req, ros_opcua_srvs::Write::Response &res)

Variables
std::map< std::string, ros::Publisher >	_callback_publishers
	Callback publishers list. More...

OpcUa::UaClient	_client (false)
	Client variable. More...

bool	_connected = false
	Connected status variable. More...

SubClient	_sclt
	Subscription client store. More...

std::map< std::string, uint32_t >	_subscription_handles
	List of subscription handles. More...

std::map< std::string, std::shared_ptr< OpcUa::Subscription > >	_subscriptions
	Subscription list. More...

Detailed Description

This file implements OpcUa client based on FreeOpcUa implementation.

Author: Denis Štogl

Copyright

         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/>.

Todo:: Would be cool to have dignostic topic to write subscriptions and stuff

Definition in file opcua_client.cpp.

Function Documentation

bool call_method	(	ros_opcua_srvs::CallMethod::Request &	req,
		ros_opcua_srvs::CallMethod::Response &	res
	)

Definition at line 191 of file opcua_client.cpp.

bool connect	(	ros_opcua_srvs::Connect::Request &	req,
		ros_opcua_srvs::Connect::Response &	res
	)

ROS-service call: Connect. Connects to OpcUa server.

Parameters

req	service request
res	service response

Returns: True, if service execution broken than False.

Definition at line 90 of file opcua_client.cpp.

bool disconnect	(	ros_opcua_srvs::Disconnect::Request &	req,
		ros_opcua_srvs::Disconnect::Response &	res
	)

ROS-service call: Disconnect. Disconnects from OpcUa server.

Parameters

req	service request
res	service response

Returns: True, if service execution broken than False.

Definition at line 123 of file opcua_client.cpp.

bool list_node	(	ros_opcua_srvs::ListNode::Request &	req,
		ros_opcua_srvs::ListNode::Response &	res
	)

ROS-service call: ListNode. Gets list of Node children from OpcUa server.

Parameters

req	service request
res	service response

Returns: True, if service execution broken than False.

Definition at line 153 of file opcua_client.cpp.

int main	(	int	argc,
		char **	argv
	)

Start function of ROS-Node with default name 'opcua_client_node'

Parameters

argc	number of command line arguments
argv	command line arguments

Returns: 0 if programs ends successfully.

Definition at line 426 of file opcua_client.cpp.

void on_shutdown ( int sig )

Handler for Shutdown of the node

Definition at line 413 of file opcua_client.cpp.

bool read	(	ros_opcua_srvs::Read::Request &	req,
		ros_opcua_srvs::Read::Response &	res
	)

ROS-service call: Read. Reads value from OpcUa server.

Parameters

req	service request
res	service response

Returns: True, if service execution broken than False.

Definition at line 238 of file opcua_client.cpp.

bool subscribe	(	ros_opcua_srvs::Subscribe::Request &	req,
		ros_opcua_srvs::Subscribe::Response &	res
	)

ROS-service call: Subscribe. Subscribe to DataChange of Node on OpcUa server.

Parameters

req	service request
res	service response

Returns: True, if service execution broken than False.

Todo:: can subscribe on only one node

Definition at line 327 of file opcua_client.cpp.

bool unsubscribe	(	ros_opcua_srvs::Unsubscribe::Request &	req,
		ros_opcua_srvs::Unsubscribe::Response &	res
	)

ROS-service call: Unsubscribe. Unsubscribe from Node on OpcUa server.

Parameters

req	service request
res	service response

Returns: True, if service execution broken than False.

Definition at line 370 of file opcua_client.cpp.

bool write	(	ros_opcua_srvs::Write::Request &	req,
		ros_opcua_srvs::Write::Response &	res
	)

ROS-service call: Write. Writes value to OpcUa server.

Parameters

req	service request
res	service response

Returns: True, if service execution broken than False.

Definition at line 277 of file opcua_client.cpp.

Variable Documentation

std::map<std::string, ros::Publisher> _callback_publishers

Callback publishers list.

Key is OpcUa string node identifier and value ROS publisher

Definition at line 52 of file opcua_client.cpp.

OpcUa::UaClient _client(false)

Client variable.

bool _connected = false

Connected status variable.

Definition at line 57 of file opcua_client.cpp.

SubClient _sclt

Subscription client store.

Todo:: Need checking for multiple subscriptions

Definition at line 82 of file opcua_client.cpp.

std::map<std::string, uint32_t> _subscription_handles

List of subscription handles.

Key is OpcUa string node identifier and value is node handle. This is needed for deteting of subscriptions

Definition at line 55 of file opcua_client.cpp.

std::map<std::string, std::shared_ptr<OpcUa::Subscription> > _subscriptions

Subscription list.

Key is OpcUa string node identifier and value subscription reference.

Definition at line 49 of file opcua_client.cpp.

Classes

Functions

Variables

Detailed Description

Function Documentation

Variable Documentation