Package org.eclipse.basyx.vab.protocol.opcua.connector.milo

Class MiloOpcUaClient

java.lang.Object

org.eclipse.basyx.vab.protocol.opcua.connector.milo.MiloOpcUaClient

All Implemented Interfaces:

IOpcUaClient

public class MiloOpcUaClient
extends Object
implements IOpcUaClient

Provides a wrapper around the eclipse Milo OPC UA client that works in the BaSyx environment.

Constructor Summary

Constructors

Constructor	Description
MiloOpcUaClient(String endpointUrl)	Creates a new OPC UA client for the given endpoint URL with a default configuration.

Method Summary

Modifier and Type	Method	Description
CompletableFuture<org.eclipse.milo.opcua.sdk.client.api.UaClient>	getClient()	Gets the client object from the underlying OPC UA library.
ClientConfiguration	getConfiguration()	Gets the current client configuration.
String	getEndpointUrl()	Gets the endpoint URL that this client connects to.
boolean	hasConnected()	Gets a value signifying whether this client has already attempted to establish a connection to the server endpoint.
List<Object>	invokeMethod(NodeId ownerId, NodeId methodId, Object... parameters)	Invokes an OPC UA method on an object.
CompletableFuture<List<Object>>	invokeMethodAsync(NodeId ownerId, NodeId methodId, Object... parameters)	Invokes an OPC UA method on an object.
Object	readValue(NodeId nodeId)	Reads the current value from an OPC UA node.
CompletableFuture<Object>	readValueAsync(NodeId nodeId)	Reads the current value from an OPC UA node.
void	setConfiguration(ClientConfiguration configuration)	Sets the client configuration.
void	setConfiguration(org.eclipse.milo.opcua.sdk.client.api.config.OpcUaClientConfigBuilder configuration)	Sets advanced configuration settings not available in ClientConfiguration.
NodeId	translateBrowsePathToNodeId(String browsePath)	Gets the id of the node matching the given browse path when resolved against the root node.
NodeId	translateBrowsePathToNodeId(NodeId startingNode, String relativePath)	Gets the id of the node pointed to by when resolving the given path against the starting node.
CompletableFuture<NodeId>	translateBrowsePathToNodeIdAsync(String browsePath)	Gets the id of the node matching the given browse path when resolved against the root node.
CompletableFuture<NodeId>	translateBrowsePathToNodeIdAsync(NodeId startingNode, String relativePath)	Gets the id of the node pointed to by when resolving the given path against the starting node.
List<NodeId>	translateBrowsePathToParentAndTargetNodeId(String browsePath)	Gets the id of the last two nodes pointed to by when resolving the given path against the starting node.
CompletableFuture<List<NodeId>>	translateBrowsePathToParentAndTargetNodeIdAsync(String browsePath)	Gets the id of the last two nodes pointed to by when resolving the given path against the starting node.
void	writeValue(NodeId nodeId, Object value)	Writes the value of an OPC UA node.
CompletableFuture<Void>	writeValueAsync(NodeId nodeId, Object value)	Writes the value of an OPC UA node.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

MiloOpcUaClient

public MiloOpcUaClient(String endpointUrl)

Creates a new OPC UA client for the given endpoint URL with a default configuration.

The client will attempt to discover available endpoint at this URL. The one to use will be selected by looking at the security policy and message security mode. These can be configured using setConfiguration(ClientConfiguration).

Parameters:

endpointUrl - The client will attempt to discover available endpoints at this URL. Among all of these the one that matches the configured security policy and message security mode will be selected.

Throws:

IllegalArgumentException - if endpointUrl is null.

Method Detail

getConfiguration

public ClientConfiguration getConfiguration()

Gets the current client configuration.

See the documentation of IOpcUaClient.getConfiguration() for more information.

Specified by:

getConfiguration in interface IOpcUaClient

Returns:

A copy of the current configuration.

setConfiguration

public void setConfiguration(ClientConfiguration configuration)

Sets the client configuration.

See the documentation of IOpcUaClient.setConfiguration(ClientConfiguration) for more information.

Specified by:

setConfiguration in interface IOpcUaClient

Parameters:

configuration - The configuration to set or null to use a default configuration.

setConfiguration

public void setConfiguration(org.eclipse.milo.opcua.sdk.client.api.config.OpcUaClientConfigBuilder configuration)

Sets advanced configuration settings not available in ClientConfiguration.

This method allows setting a Milo-specific configuration object which gives access to the full range of options that Milo supports as opposed to the limited selection in ClientConfiguration.

Be aware, that the security policy and message security mode for endpoint selection can only be set using setConfiguration(ClientConfiguration).
Additionally, for settings which are available in both configuration objects, ClientConfiguration will take precedence over OpcUaClientConfigBuilder.

The order in which you call setConfiguration(ClientConfiguration) and setConfiguration(OpcUaClientConfigBuilder) is not important. Caution: Use this method at your own risk. Your code might break if BaSyx switches to a newer version of Milo or a different OPC UA implementation altogether.

Parameters:

configuration - The Milo client configuration object.

Throws:

IllegalStateException - if this method is called after a connection has been established.

getEndpointUrl

public String getEndpointUrl()

Gets the endpoint URL that this client connects to.

Specified by:

getEndpointUrl in interface IOpcUaClient

Returns:

The endpoint URL of the server to connect to.

hasConnected

public boolean hasConnected()

Gets a value signifying whether this client has already attempted to establish a connection to the server endpoint.

See the documentation of IOpcUaClient.hasConnected() for more information.

Specified by:

hasConnected in interface IOpcUaClient

Returns:

true if a connection attempt has been made, false otherwise.

getClient

public CompletableFuture<org.eclipse.milo.opcua.sdk.client.api.UaClient> getClient()

Gets the client object from the underlying OPC UA library.

If the client hasn't been created, yet, it will be created automatically, making any subsequent changes to the configuration impossible. Caution: Use this method at your own risk. The underlying client API might change without notice, making any user code relying on this method fragile.

Returns:

The underlying client object.

translateBrowsePathToNodeId

public NodeId translateBrowsePathToNodeId(String browsePath)

Gets the id of the node matching the given browse path when resolved against the root node.

See the documentation of IOpcUaClient.translateBrowsePathToNodeId(String) for more information.

Specified by:

translateBrowsePathToNodeId in interface IOpcUaClient

Parameters:

browsePath - The string representation of the browse path.

Returns:

The id of the node matching the browse path.

translateBrowsePathToNodeIdAsync

public CompletableFuture<NodeId> translateBrowsePathToNodeIdAsync(String browsePath)

Gets the id of the node matching the given browse path when resolved against the root node.

See the documentation of IOpcUaClient.translateBrowsePathToNodeIdAsync(String) for more information.

Specified by:

translateBrowsePathToNodeIdAsync in interface IOpcUaClient

Parameters:

browsePath - The string representation of the browse path.

Returns:

A CompletableFuture for the target node's id.

translateBrowsePathToNodeId

public NodeId translateBrowsePathToNodeId(NodeId startingNode,
                                          String relativePath)

Gets the id of the node pointed to by when resolving the given path against the starting node.

See the documentation of IOpcUaClient.translateBrowsePathToNodeId(NodeId, String) for more information.

Specified by:

translateBrowsePathToNodeId in interface IOpcUaClient

Parameters:

startingNode - The starting node from where to start resolving relativePath.

relativePath - The string representation of the relative path to resolve against startingNode.

Returns:

The id of the node matching the browse path.

translateBrowsePathToNodeIdAsync

public CompletableFuture<NodeId> translateBrowsePathToNodeIdAsync(NodeId startingNode,
                                                                  String relativePath)

Gets the id of the node pointed to by when resolving the given path against the starting node.

See the documentation of IOpcUaClient.translateBrowsePathToNodeId(NodeId, String) for more information.

Specified by:

translateBrowsePathToNodeIdAsync in interface IOpcUaClient

Parameters:

startingNode - The starting node from where to start resolving relativePath.

relativePath - The string representation of the relative path to resolve against startingNode.

Returns:

A CompletableFuture for the target node's id.

translateBrowsePathToParentAndTargetNodeId

public List<NodeId> translateBrowsePathToParentAndTargetNodeId(String browsePath)

Gets the id of the last two nodes pointed to by when resolving the given path against the starting node.

See the documentation of IOpcUaClient.translateBrowsePathToParentAndTargetNodeId(String) for more information.

Specified by:

translateBrowsePathToParentAndTargetNodeId in interface IOpcUaClient

Parameters:

browsePath - The string representation of the browse path.

Returns:

A list of two node ids, where the first is the method node and the second is its parent.

translateBrowsePathToParentAndTargetNodeIdAsync

public CompletableFuture<List<NodeId>> translateBrowsePathToParentAndTargetNodeIdAsync(String browsePath)

Gets the id of the last two nodes pointed to by when resolving the given path against the starting node.

See the documentation of IOpcUaClient.translateBrowsePathToParentAndTargetNodeIdAsync(String) for more information.

Specified by:

translateBrowsePathToParentAndTargetNodeIdAsync in interface IOpcUaClient

Parameters:

browsePath - The string representation of the browse path.

Returns:

A CompletableFuture for a list of parent and method node id.

readValue

public Object readValue(NodeId nodeId)
                 throws OpcUaException

Reads the current value from an OPC UA node.

See the documentation of IOpcUaClient.readValue(NodeId) for more information.

Specified by:

readValue in interface IOpcUaClient

Parameters:

nodeId - The id of the node to read.

Returns:

The node's current value.

Throws:

OpcUaException - if an OPC UA related error occurs or if the server can't provide a valid value at this time. This is a generic wrapper type for exceptions thrown by the client library.

readValueAsync

public CompletableFuture<Object> readValueAsync(NodeId nodeId)

Reads the current value from an OPC UA node.

See the documentation of IOpcUaClient.readValueAsync(NodeId) for more information.

Specified by:

readValueAsync in interface IOpcUaClient

Parameters:

nodeId - The id of the node to read.

Returns:

A CompletableFuture for the node's current value.

writeValue

public void writeValue(NodeId nodeId,
                       Object value)
                throws OpcUaException

Writes the value of an OPC UA node.

See the documentation of IOpcUaClient.writeValue(NodeId, Object) for more information.

Specified by:

writeValue in interface IOpcUaClient

Parameters:

nodeId - The id of the node to write.

value - The new value to write. Can be null.

Throws:

OpcUaException - if an OPC UA related error occurs. This is a generic wrapper type for exceptions thrown by the client library.

writeValueAsync

public CompletableFuture<Void> writeValueAsync(NodeId nodeId,
                                               Object value)

Writes the value of an OPC UA node.

See the documentation of IOpcUaClient.writeValueAsync(NodeId, Object) for more information.

Specified by:

writeValueAsync in interface IOpcUaClient

Parameters:

nodeId - The id of the node to write.

value - The new value to write. Can be null.

Returns:

A CompletableFuture.

invokeMethod

public List<Object> invokeMethod(NodeId ownerId,
                                 NodeId methodId,
                                 Object... parameters)
                          throws OpcUaException

Invokes an OPC UA method on an object.

See the documentation of IOpcUaClient.invokeMethod(NodeId, NodeId, Object...) for more information.

Specified by:

invokeMethod in interface IOpcUaClient

Parameters:

ownerId - The node id of the object (or object type) on which to invoke the method.

methodId - The node id of the method to invoke.

parameters - The input parameters of the operation.

Returns:

The outputs from the operation.

Throws:

OpcUaException - if an OPC UA related error occurs. This is a generic wrapper type for exceptions thrown by the client library.

invokeMethodAsync

public CompletableFuture<List<Object>> invokeMethodAsync(NodeId ownerId,
                                                         NodeId methodId,
                                                         Object... parameters)

Invokes an OPC UA method on an object.

See the documentation of IOpcUaClient.invokeMethodAsync(NodeId, NodeId, Object...) for more information.

Specified by:

invokeMethodAsync in interface IOpcUaClient

Parameters:

ownerId - The node id of the object (or object type) on which to invoke the method.

methodId - The node id of the method to invoke.

parameters - The input parameters of the operation.

Returns:

A CompletableFuture for the method's outputs.