node.h

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/******************************************************************************
 *   Copyright (C) 2014-2014 Olivier Roulet-Dubonnet          *
 *   olivier.roulet@gmail.com          *
 *                      *
 *   This library 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; version 3 of the License.   *
 *                      *
 *   This library 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 this library; if not, write to the          *
 *   Free Software Foundation, Inc.,              *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.        *
 ******************************************************************************/

#pragma once

#include <opc/ua/services/services.h>

#include <sstream>


namespace OpcUa
{

  class NodeNotFoundException : public std::runtime_error 
  {
    public:
      NodeNotFoundException() : std::runtime_error("NodeNotFoundException") { }
  };


  class Node
  {
  public:
    // Creating Root Node.
    explicit Node(Services::SharedPtr srv);
    Node(Services::SharedPtr srv, const NodeId& id);
    Node(const Node& other); 
    Node(){}

    NodeId GetId() const;

    QualifiedName GetBrowseName() const;
    //void SetBrowseName(const QualifiedName& name) const;

    std::vector<Node> GetChildren(const OpcUa::ReferenceId& refid) const;

    std::vector<Node> GetChildren() const;

    //The GetChildNode methods return a node defined by its path from the node. A path is defined by
    // a sequence of browse name(QualifiedName). A browse name is either defined through a qualifiedname object
    // or a string of format namespace:browsename. If a namespace is not specified it is assumed to be
    //the same as the parent
    Node GetChild(const std::vector<OpcUa::QualifiedName>& path) const;
    Node GetChild(const std::vector<std::string>& path) const;
    Node GetChild(const std::string& browsename) const ;

    std::vector<Node> GetProperties() const {return GetChildren(OpcUa::ReferenceId::HasProperty);}
    std::vector<Node> GetVariables() const {return GetChildren(OpcUa::ReferenceId::HasComponent);} //Not correct should filter by variable type

    

    //TODO: How to get References?

    //The Read and Write methods read or write attributes of the node
    //FIXME: add possibility to read and write several nodes at once
    DataValue GetAttribute(const AttributeId attr) const;
    void SetAttribute(AttributeId attr, const DataValue &dval) const;
    //std::vector<StatusCode> WriteAttrs(OpcUa::AttributeId attr, const Variant &val);
    
    //Helper method to get/set VALUE attribute of a node (Not all nodes support VALUE attribute)
    Variant GetValue() const;
    DataValue GetDataValue() const;
    void SetValue(const Variant& val) const;
    void SetValue(const DataValue& dval) const;

    Variant GetDataType() const;

    // CallMethod
    std::vector<Variant> CallMethod(NodeId methodId, std::vector<Variant> inputArguments) const;
    std::vector<std::vector<Variant>> CallMethods(std::vector<NodeId> methodIds, std::vector<std::vector<Variant>> inputArguments) const;

    //OpcUa low level methods to to modify address space model
    std::vector<AddNodesResult> AddNodes(std::vector<AddNodesItem> items) const;
    std::vector<StatusCode> AddReferences(std::vector<AddReferencesItem> items) const;


    //Helper classes to modify address space model
    Node AddFolder(const NodeId& folderId, const QualifiedName& browseName) const;
    Node AddFolder(const std::string& nodeid, const std::string& browseName) const; 
    Node AddFolder(uint32_t namespaceidx, const std::string& browseName) const;

    Node AddObject(const NodeId& folderId, const QualifiedName& browseName) const;
    Node AddObject(const std::string& nodeid, const std::string& browseName) const; 
    Node AddObject(uint32_t namespaceidx, const std::string& browseName) const;

    Node AddVariable(const NodeId& variableId, const QualifiedName& browsename, const Variant& val) const;
    Node AddVariable(uint32_t namespaceidx, const std::string& BrowseName, const Variant& val) const;
    Node AddVariable(const std::string& nodeId, const std::string& browseName, const Variant& val) const; 

    Node AddProperty(const NodeId& propertyId, const QualifiedName& browsename, const Variant& val) const;
    Node AddProperty(const std::string& nodeid, const std::string& browseName, const Variant& val) const;
    Node AddProperty(uint32_t namespaceidx, const std::string& browseName, const Variant& val) const;

    Node AddMethod(const NodeId& variableId, const QualifiedName& browsename, std::function<std::vector<OpcUa::Variant> (std::vector<OpcUa::Variant> arguments)> method) const;
    Node AddMethod(uint32_t namespaceidx, const std::string& BrowseName, std::function<std::vector<OpcUa::Variant> (std::vector<OpcUa::Variant> arguments)> method) const;
    Node AddMethod(const std::string& nodeId, const std::string& browseName, std::function<std::vector<OpcUa::Variant> (std::vector<OpcUa::Variant> arguments)> method) const; 

    std::string ToString() const;

    bool operator==(Node const& x) const { return Id == x.Id; }
    bool operator!=(Node const& x) const { return Id != x.Id; }

    //FIXME: I need this to create a copy for python binding, another way?
    OpcUa::Services::SharedPtr GetServices() const {return Server;}

  protected:
    OpcUa::Services::SharedPtr Server;
    NodeId Id;
  };


  std::ostream& operator<<(std::ostream& os, const Node& node);

  //FIXME: The following methods should be moved somewhere else!!!

  ObjectId VariantTypeToDataType(VariantType vt);


} // namespace OpcUa