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. More...

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.

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.

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.