feat: read OPCUA values (119b2ff5) · Commits · ros / packages / opcua-bridge

include/opcua_bridge/node.hpp

+2 −0

Original line number	Diff line number	Diff line
		@@ -25,6 +25,8 @@ namespace obridge {

		ornl::ros::util::CapturedLogger m_logger;
		opcua::Client m_client;

		std::map<std::string, rclcpp::PublisherBase::SharedPtr> m_publishers;
		};
		}

include/opcua_bridge/types.hpp

0 → 100644

+58 −0

Original line number	Diff line number	Diff line
		#pragma once

		// rclcpp
		#include <rclcpp/rclcpp.hpp>
		#include <std_msgs/msg/bool.hpp>
		#include <std_msgs/msg/float32.hpp>
		#include <std_msgs/msg/string.hpp>

		template<>
		struct rclcpp::TypeAdapter<std::string, std_msgs::msg::String> {
		using is_specialized = std::true_type;
		using custom_type = std::string;
		using ros_message_type = std_msgs::msg::String;

		static void convert_to_ros_message(const custom_type& source, ros_message_type& destination) {
		destination.data = source;
		}

		static void convert_to_custom(const ros_message_type & source, custom_type & destination) {
		destination = source.data;
		}
		};

		RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(std::string, std_msgs::msg::String);

		template<>
		struct rclcpp::TypeAdapter<float, std_msgs::msg::Float32> {
		using is_specialized = std::true_type;
		using custom_type = float;
		using ros_message_type = std_msgs::msg::Float32;

		static void convert_to_ros_message(const custom_type& source, ros_message_type& destination) {
		destination.data = source;
		}

		static void convert_to_custom(const ros_message_type & source, custom_type & destination) {
		destination = source.data;
		}
		};

		RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(float, std_msgs::msg::Float32);

		template<>
		struct rclcpp::TypeAdapter<bool, std_msgs::msg::Bool> {
		using is_specialized = std::true_type;
		using custom_type = bool;
		using ros_message_type = std_msgs::msg::Bool;

		static void convert_to_ros_message(const custom_type& source, ros_message_type& destination) {
		destination.data = source;
		}

		static void convert_to_custom(const ros_message_type & source, custom_type & destination) {
		destination = source.data;
		}
		};

		RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(bool, std_msgs::msg::Bool);

src/node.cpp

+56 −5

Original line number	Diff line number	Diff line
		@@ -4,7 +4,10 @@
		#include "oru/rclcpp/log.hpp"

		// open62541pp
		#include <open62541pp/subscription.hpp>
		#include <open62541pp/node.hpp>

		// local
		#include "opcua_bridge/types.hpp"

		using namespace std::chrono_literals;

		@@ -13,14 +16,17 @@ namespace obridge {
		Node("opcua_bridge", options),
		m_logger(this->get_logger())
		{
		this->declare_parameter("server.host", "0.0.0.0");
		this->declare_parameter("server.host", "fronius.1500mx.mdf.internal");
		this->declare_parameter("server.port", "4840");

		this->declare_parameter("topics", std::vector<std::string> { });
		this->declare_parameter("bridge.namespace", 1);
		this->declare_parameter("bridge.poll", 200);
		//this->declare_parameter("bridge.objects", std::vector<std::string> { });

		this->attach();

		m_timer = this->create_wall_timer(1000ms, std::bind(&OpcuaNode::attach, this));
		int freq = this->get_parameter("bridge.poll").as_int();
		m_timer = this->create_wall_timer(std::chrono::milliseconds(freq), std::bind(&OpcuaNode::poll, this));

		m_logger.info("opcua bridge now available");
		};
		@@ -46,7 +52,52 @@ namespace obridge {
		}

		auto OpcuaNode::poll() -> void {
		this->attach();
		int space = this->get_parameter("bridge.namespace").as_int();

		auto read_value = [&]<typename value_t>(int space, std::string object) -> void {
		opcua::Node node = {
		m_client,
		opcua::NodeId {
		static_cast<opcua::NamespaceIndex>(space),
		object
		}
		};

		value_t value = node.readValue().to<value_t>();

		m_logger.debug("{}:{} - {}", space, object, value);

		if (!m_publishers.contains(object)) {
		m_publishers[object] = this->create_publisher<value_t>(
		fmt::format("opcua/{}", object),
		rclcpp::QoS(10)
		);
		}

		rclcpp::PublisherBase::SharedPtr pubBase = m_publishers[object];
		auto pub = std::static_pointer_cast<rclcpp::Publisher<value_t>>(pubBase);

		pub->publish(value);
		};

		read_value.template operator()<float>(space, "ACTUAL_CURRENT");
		read_value.template operator()<float>(space, "ACTUAL_GASFLOW");
		read_value.template operator()<float>(space, "ACTUAL_POWER");
		read_value.template operator()<float>(space, "ACTUAL_VOLTAGE");
		read_value.template operator()<float>(space, "ACTUAL_WELDINGTIME");
		read_value.template operator()<float>(space, "ACTUAL_WFS");
		read_value.template operator()<float>(space, "DISPLAY_CURRENT");
		read_value.template operator()<float>(space, "DISPLAY_ENERGY");
		read_value.template operator()<float>(space, "DISPLAY_POWER");
		read_value.template operator()<float>(space, "DISPLAY_VOLTAGE");
		read_value.template operator()<float>(space, "DISPLAY_WFS");
		read_value.template operator()<float>(space, "WIREBUFFER_VALUE");
		read_value.template operator()<float>(space, "ERROR");

		read_value.template operator()<bool>(space, "PROCESS_ACTIVE");

		read_value.template operator()<std::string>(space, "FIRMWAREVERSION");
		read_value.template operator()<std::string>(space, "SERIALNUMBER");
		}
		}