wip: single read (7ad855ba) · Commits · ros / packages / opcua-bridge

CMakeLists.txt

+2 −2

Original line number	Diff line number	Diff line
		@@ -22,10 +22,10 @@ find_package(rosidl_default_generators REQUIRED)

		# ROS
		find_package(rclcpp REQUIRED)
		find_package(std_msgs REQUIRED)

		# Standard (e.g. fmt)
		find_package(fmt REQUIRED)
		find_package(oru REQUIRED)
		find_package(open62541pp REQUIRED)

		list(
		@@ -33,7 +33,7 @@ list(
		rclcpp::rclcpp
		fmt::fmt
		open62541pp::open62541pp
		oru::core
		${std_msgs_TARGETS}
		)

		# Interface generation.

flake.lock

+277 −92

Original line number	Diff line number	Diff line
		{
		"nodes": {
		"extended-msgs": {
		"fire": {
		"inputs": {
		"fire": [
		"oru",
		"fire"
		"firepkgs": "firepkgs",
		"nixpkgs": [
		"fire",
		"firepkgs",
		"nixpkgs"
		],
		"ornlpkgs": [
		"fire",
		"firepkgs",
		"ornlpkgs"
		],
		"parts": [
		"fire",
		"firepkgs",
		"parts"
		],
		"ros2nix": [
		"fire",
		"firepkgs",
		"ros2nix"
		]
		},
		"locked": {
		"lastModified": 1753312847,
		"narHash": "sha256-v9MNcFVlHw/xyn7v/aT0zh+Ze8ZEn+k9CM8AhqI59Nw=",
		"ref": "master",
		"rev": "956da98e4f4714062841f9508cd8a3ddc26bb374",
		"revCount": 8,
		"type": "git",
		"url": "ssh://git@code.ornl.gov/mdf/ros/extended-msgs.git"
		"host": "code.ornl.gov",
		"lastModified": 1774901632,
		"narHash": "sha256-pzsobcm+54pQVQ8TRTLRBgYCiTe7MeCTBiY8W+usNKs=",
		"owner": "ros",
		"repo": "fire",
		"rev": "30401a919d428a18d5123ede392fe1837ed76d7f",
		"type": "gitlab"
		},
		"original": {
		"ref": "master",
		"type": "git",
		"url": "ssh://git@code.ornl.gov/mdf/ros/extended-msgs.git"
		"host": "code.ornl.gov",
		"owner": "ros",
		"repo": "fire",
		"type": "gitlab"
		}
		},
		"fire": {
		"firepkgs": {
		"inputs": {
		"lasm": "lasm",
		"nixpkgs": [
		"fire",
		"ornlpkgs",
		"nixpkgs"
		],
		"nixpkgs": "nixpkgs",
		"nro": "nro",
		"ornlpkgs": "ornlpkgs",
		"parts": [
		"fire",
		"firepkgs",
		"ornlpkgs",
		"parts"
		]
		],
		"ros2nix": "ros2nix"
		},
		"locked": {
		"host": "code.ornl.gov",
		"lastModified": 1753319212,
		"narHash": "sha256-/E79cRl3C5bNMHCkLIMRxklT6JnOaQ6+POZH1GkexQY=",
		"owner": "ros",
		"repo": "fire",
		"rev": "ecbd67c9f5fd31ecfc3fc9fd8bddbaea843486d1",
		"lastModified": 1774901529,
		"narHash": "sha256-BIKv7PFeqnZQg+wy4KQ6AbAx/YT1OFPql33gcKCRejo=",
		"owner": "ros%2Fsupport",
		"repo": "firepkgs",
		"rev": "9ad7d1f9b806213a61f835d82f93b0c8f9b5f592",
		"type": "gitlab"
		},
		"original": {
		"host": "code.ornl.gov",
		"owner": "ros",
		"repo": "fire",
		"owner": "ros%2Fsupport",
		"repo": "firepkgs",
		"type": "gitlab"
		}
		},
		"flake-compat": {
		"locked": {
		"lastModified": 1696426674,
		"narHash": "sha256-kvjfFW7WAETZlt09AgDn1MrtKzP7t90Vf7vypd3OL1U=",
		"rev": "0f9255e01c2351cc7d116c072cb317785dd33b33",
		"revCount": 57,
		"type": "tarball",
		"url": "https://api.flakehub.com/f/pinned/edolstra/flake-compat/1.0.1/018afb31-abd1-7bff-a5e4-cff7e18efb7a/source.tar.gz"
		},
		"original": {
		"type": "tarball",
		"url": "https://flakehub.com/f/edolstra/flake-compat/1.tar.gz"
		}
		},
		"flake-utils": {
		"inputs": {
		"systems": "systems"
		@@ -72,55 +101,93 @@
		"type": "github"
		}
		},
		"flake-utils_2": {
		"inputs": {
		"systems": "systems_2"
		},
		"locked": {
		"lastModified": 1731533236,
		"narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
		"owner": "numtide",
		"repo": "flake-utils",
		"rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
		"type": "github"
		},
		"original": {
		"owner": "numtide",
		"repo": "flake-utils",
		"type": "github"
		}
		},
		"flake-utils_3": {
		"inputs": {
		"systems": "systems_3"
		},
		"locked": {
		"lastModified": 1710146030,
		"narHash": "sha256-SZ5L6eA7HJ/nmkzGG7/ISclqe6oZdOZTNoesiInkXPQ=",
		"owner": "numtide",
		"repo": "flake-utils",
		"rev": "b1d9ab70662946ef0850d488da1c9019f3a9752a",
		"type": "github"
		},
		"original": {
		"owner": "numtide",
		"repo": "flake-utils",
		"type": "github"
		}
		},
		"lasm": {
		"inputs": {
		"flake-utils": [
		"fire",
		"nro",
		"flake-utils"
		],
		"flake-utils": "flake-utils_2",
		"nixpkgs": [
		"fire",
		"firepkgs",
		"ornlpkgs",
		"nixpkgs"
		]
		},
		"locked": {
		"lastModified": 1749414546,
		"narHash": "sha256-K28T2POA8mKNs0TwfjYZCSCAljPX3rLy9KnCcRrRvbY=",
		"owner": "cadkin",
		"repo": "ld-audit-search-mod",
		"rev": "b662dd19c285acc2cd912f45a6f563882ad4913a",
		"type": "github"
		"host": "code.ornl.gov",
		"lastModified": 1770138893,
		"narHash": "sha256-1NTCgbqtdQeoJzfUdyBCFbOCaHYbfmkrbYZxiDkxIDM=",
		"owner": "nix%2Fsupport",
		"repo": "lasm",
		"rev": "22b7f045757293cbe055b3c0e5ad4faea943b913",
		"type": "gitlab"
		},
		"original": {
		"owner": "cadkin",
		"repo": "ld-audit-search-mod",
		"type": "github"
		"host": "code.ornl.gov",
		"owner": "nix%2Fsupport",
		"repo": "lasm",
		"type": "gitlab"
		}
		},
		"nixpkgs": {
		"locked": {
		"lastModified": 1748026580,
		"narHash": "sha256-rWtXrcIzU5wm/C8F9LWvUfBGu5U5E7cFzPYT1pHIJaQ=",
		"owner": "NixOS",
		"host": "code.ornl.gov",
		"lastModified": 1774888729,
		"narHash": "sha256-GavVD61xL/3jWZj7KRnXP1fOh/TuWmaZqGDcIK0w4i0=",
		"owner": "nix",
		"repo": "nixpkgs",
		"rev": "11cb3517b3af6af300dd6c055aeda73c9bf52c48",
		"type": "github"
		"rev": "8bb41805823d2de3df19dd8085258d86168d3fc8",
		"type": "gitlab"
		},
		"original": {
		"owner": "NixOS",
		"ref": "25.05",
		"host": "code.ornl.gov",
		"owner": "nix",
		"ref": "release-25.11",
		"repo": "nixpkgs",
		"type": "github"
		"type": "gitlab"
		}
		},
		"nixpkgs-lib": {
		"locked": {
		"lastModified": 1751159883,
		"narHash": "sha256-urW/Ylk9FIfvXfliA1ywh75yszAbiTEVgpPeinFyVZo=",
		"lastModified": 1769909678,
		"narHash": "sha256-cBEymOf4/o3FD5AZnzC3J9hLbiZ+QDT/KDuyHXVJOpM=",
		"owner": "nix-community",
		"repo": "nixpkgs.lib",
		"rev": "14a40a1d7fb9afa4739275ac642ed7301a9ba1ab",
		"rev": "72716169fe93074c333e8d0173151350670b824c",
		"type": "github"
		},
		"original": {
		@@ -129,40 +196,83 @@
		"type": "github"
		}
		},
		"nixpkgs-unstable": {
		"locked": {
		"lastModified": 1770931844,
		"narHash": "sha256-5Y5thtqieBPqI6+aks6i5Zsu1taAf7/uvaF9AVA6IXc=",
		"owner": "NixOS",
		"repo": "nixpkgs",
		"rev": "3a685a83d56c9777be8c20ca98e143f801eee99a",
		"type": "github"
		},
		"original": {
		"owner": "NixOS",
		"ref": "master",
		"repo": "nixpkgs",
		"type": "github"
		}
		},
		"nixpkgs_2": {
		"locked": {
		"lastModified": 1761236834,
		"narHash": "sha256-+pthv6hrL5VLW2UqPdISGuLiUZ6SnAXdd2DdUE+fV2Q=",
		"owner": "nixos",
		"repo": "nixpkgs",
		"rev": "d5faa84122bc0a1fd5d378492efce4e289f8eac1",
		"type": "github"
		},
		"original": {
		"owner": "nixos",
		"ref": "nixpkgs-unstable",
		"repo": "nixpkgs",
		"type": "github"
		}
		},
		"nro": {
		"inputs": {
		"flake-utils": "flake-utils",
		"nixpkgs": [
		"fire",
		"firepkgs",
		"ornlpkgs",
		"nixpkgs"
		]
		},
		"locked": {
		"lastModified": 1748720382,
		"narHash": "sha256-8CC1XSJMO+6LU9LOm58u4dqjHTb6dpRFXv+YoA2EO98=",
		"owner": "lopsided98",
		"host": "code.ornl.gov",
		"lastModified": 1774820398,
		"narHash": "sha256-Y/wfhmxO0bon2lOrEiUeBqyfQeWd9ZaidbLvWMl5+0g=",
		"owner": "ros%2Fsupport",
		"repo": "nix-ros-overlay",
		"rev": "2435baa8acbd4bf244551dff13a42978f8075319",
		"type": "github"
		"rev": "21d7c9153ebefb192c550587bb06ccdb31ed4d0f",
		"type": "gitlab"
		},
		"original": {
		"owner": "lopsided98",
		"host": "code.ornl.gov",
		"owner": "ros%2Fsupport",
		"ref": "nixos-unstable",
		"repo": "nix-ros-overlay",
		"type": "github"
		"type": "gitlab"
		}
		},
		"ornlpkgs": {
		"inputs": {
		"nixpkgs": "nixpkgs",
		"lasm": "lasm",
		"nixpkgs": [
		"fire",
		"firepkgs",
		"nixpkgs"
		],
		"nixpkgs-unstable": "nixpkgs-unstable",
		"parts": "parts"
		},
		"locked": {
		"host": "code.ornl.gov",
		"lastModified": 1752346665,
		"narHash": "sha256-1wC9lnFEU9y7N+y6xUr8Bpm7KnoYJynND5gyNEI2W70=",
		"lastModified": 1774469816,
		"narHash": "sha256-rqLMKvX8rhb1LmG8/bwj02f7ZBGxf1mX/h1RwLhN19c=",
		"owner": "nix",
		"repo": "ornlpkgs",
		"rev": "2539d16f222c02ada3704993b78238cdc662388e",
		"rev": "e1a11bd9f75b3ba3008ce525250636c89e98b693",
		"type": "gitlab"
		},
		"original": {
		@@ -172,38 +282,16 @@
		"type": "gitlab"
		}
		},
		"oru": {
		"inputs": {
		"extended-msgs": "extended-msgs",
		"fire": [
		"fire"
		]
		},
		"locked": {
		"lastModified": 1753373956,
		"narHash": "sha256-YN8VBE6UFOJyrbmmL2CBbSD8zb4wdxslSFJcqvAWB/k=",
		"ref": "master",
		"rev": "4f7b8dc7ac2e64fe00e5b7d612012be1357ebbbc",
		"revCount": 15,
		"type": "git",
		"url": "ssh://git@code.ornl.gov/mdf/ros/oru.git"
		},
		"original": {
		"ref": "master",
		"type": "git",
		"url": "ssh://git@code.ornl.gov/mdf/ros/oru.git"
		}
		},
		"parts": {
		"inputs": {
		"nixpkgs-lib": "nixpkgs-lib"
		},
		"locked": {
		"lastModified": 1751413152,
		"narHash": "sha256-Tyw1RjYEsp5scoigs1384gIg6e0GoBVjms4aXFfRssQ=",
		"lastModified": 1769996383,
		"narHash": "sha256-AnYjnFWgS49RlqX7LrC4uA+sCCDBj0Ry/WOJ5XWAsa0=",
		"owner": "hercules-ci",
		"repo": "flake-parts",
		"rev": "77826244401ea9de6e3bac47c2db46005e1f30b5",
		"rev": "57928607ea566b5db3ad13af0e57e921e6b12381",
		"type": "github"
		},
		"original": {
		@@ -214,8 +302,57 @@
		},
		"root": {
		"inputs": {
		"fire": "fire",
		"oru": "oru"
		"fire": "fire"
		}
		},
		"ros2nix": {
		"inputs": {
		"flake-compat": "flake-compat",
		"flake-utils": "flake-utils_3",
		"nix-ros-overlay": [
		"fire",
		"firepkgs",
		"nro"
		],
		"nixpkgs": [
		"fire",
		"firepkgs",
		"nixpkgs"
		],
		"rosdistro": "rosdistro",
		"treefmt-nix": "treefmt-nix"
		},
		"locked": {
		"host": "code.ornl.gov",
		"lastModified": 1772729386,
		"narHash": "sha256-tU9VxhXU2wRMQyxyrUcx9b7OhXjnEdHcRcZYWLIk53Q=",
		"owner": "ros%2Fsupport",
		"repo": "ros2nix",
		"rev": "34bb749dfdf606462ba8460361e9a291d669714b",
		"type": "gitlab"
		},
		"original": {
		"host": "code.ornl.gov",
		"owner": "ros%2Fsupport",
		"ref": "fire",
		"repo": "ros2nix",
		"type": "gitlab"
		}
		},
		"rosdistro": {
		"flake": false,
		"locked": {
		"lastModified": 1772615193,
		"narHash": "sha256-Er+II9A92TPAn6zIp/3K3XDi7DF7D057lVIT5RiAPvw=",
		"owner": "ros",
		"repo": "rosdistro",
		"rev": "5a10a970c0e4639a64518ac8fe16a047f67873f6",
		"type": "github"
		},
		"original": {
		"owner": "ros",
		"repo": "rosdistro",
		"type": "github"
		}
		},
		"systems": {
		@@ -232,6 +369,54 @@
		"repo": "default",
		"type": "github"
		}
		},
		"systems_2": {
		"locked": {
		"lastModified": 1681028828,
		"narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
		"owner": "nix-systems",
		"repo": "default",
		"rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
		"type": "github"
		},
		"original": {
		"owner": "nix-systems",
		"repo": "default",
		"type": "github"
		}
		},
		"systems_3": {
		"locked": {
		"lastModified": 1681028828,
		"narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
		"owner": "nix-systems",
		"repo": "default",
		"rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
		"type": "github"
		},
		"original": {
		"owner": "nix-systems",
		"repo": "default",
		"type": "github"
		}
		},
		"treefmt-nix": {
		"inputs": {
		"nixpkgs": "nixpkgs_2"
		},
		"locked": {
		"lastModified": 1767122417,
		"narHash": "sha256-yOt/FTB7oSEKQH9EZMFMeuldK1HGpQs2eAzdS9hNS/o=",
		"owner": "numtide",
		"repo": "treefmt-nix",
		"rev": "dec15f37015ac2e774c84d0952d57fcdf169b54d",
		"type": "github"
		},
		"original": {
		"owner": "numtide",
		"repo": "treefmt-nix",
		"type": "github"
		}
		}
		},
		"root": "root",

flake.nix

+9 −12

Original line number	Diff line number	Diff line
		@@ -8,23 +8,16 @@
		repo = "fire";
		host = "code.ornl.gov";
		};

		oru = {
		type = "git";
		url = "git@code.ornl.gov:mdf/ros/oru.git";
		ref = "master";
		inputs.fire.follows = "fire";
		};
		};

		outputs = inputs @ { self, fire, ... }: (
		fire.lib.mkPackage inputs {
		name = "opcua-bridge";
		version = "0.0.1";
		version = "0.1.0";

		package = (
		{
		src, version,
		name, src, version,

		lib, buildRosPackage,

		@@ -32,11 +25,11 @@

		rclcpp, rclcpp-action, rosidl-default-generators,

		oru, open62541, open62541pp
		open62541, open62541pp, fmt, std-msgs
		}:

		buildRosPackage {
		pname = "opcua-bridge";
		pname = name;
		inherit version src;

		nativeBuildInputs = [
		@@ -47,9 +40,13 @@
		buildInputs = [
		rclcpp
		rclcpp-action
		oru
		open62541
		open62541pp
		fmt
		];

		propagatedBuildInputs = [
		std-msgs
		];

		meta = {

include/opcua_bridge/log.hpp

0 → 100644

+122 −0

Original line number	Diff line number	Diff line
		#pragma once

		// ROS2
		#include <rclcpp/rclcpp.hpp>
		#include <rclcpp/logger.hpp>
		#include <rcutils/logging_macros.h>

		// fmt
		#include <fmt/core.h>
		#include <fmt/ranges.h>

		namespace ornl::ros::util {
		namespace log {
		template<typename... args_t>
		void dump(rclcpp::Logger logger, args_t&&... args) {
		for (const auto& printable : { args... }) {
		RCLCPP_DEBUG(logger, fmt::format("{}", printable).c_str());
		}
		}

		template<typename... args_t>
		void debug(rclcpp::Logger logger, fmt::format_string<args_t...> format, args_t&&... args) {
		RCLCPP_DEBUG(logger, fmt::format(format, std::forward<args_t>(args)...).c_str());
		}

		template<typename... args_t>
		void info(rclcpp::Logger logger, fmt::format_string<args_t...> format, args_t&&... args) {
		RCLCPP_INFO(logger, fmt::format(format, std::forward<args_t>(args)...).c_str());
		}

		template<typename... args_t>
		void warn(rclcpp::Logger logger, fmt::format_string<args_t...> format, args_t&&... args) {
		RCLCPP_WARN(logger, fmt::format(format, std::forward<args_t>(args)...).c_str());
		}

		template<typename... args_t>
		void error(rclcpp::Logger logger, fmt::format_string<args_t...> format, args_t&&... args) {
		RCLCPP_ERROR(logger, fmt::format(format, std::forward<args_t>(args)...).c_str());
		}

		template<typename... args_t>
		void fatal(rclcpp::Logger logger, fmt::format_string<args_t...> format, args_t&&... args) {
		RCLCPP_FATAL(logger, fmt::format(format, std::forward<args_t>(args)...).c_str());
		}
		}

		class CapturedLogger {
		public:
		CapturedLogger(
		rclcpp::Logger logger,
		std::string prefix = {}
		) :
		m_rcl_logger(logger)
		{
		if (!prefix.empty()) {
		m_prefix = "[" + prefix + "]";
		m_prefix += " ";
		}
		}

		template<typename... args_t>
		void dump(args_t&&... args) const {
		for (const auto& printable : { args... }) {
		this->info("dump: {}", printable);
		}
		}

		template<typename... args_t>
		void debug(fmt::format_string<args_t...> format, args_t&&... args) const {
		log::debug(
		m_rcl_logger,
		"{}{}",
		m_prefix,
		fmt::format(format, std::forward<args_t>(args)...)
		);
		}

		template<typename... args_t>
		void info(fmt::format_string<args_t...> format, args_t&&... args) const {
		log::info(
		m_rcl_logger,
		"{}{}",
		m_prefix,
		fmt::format(format, std::forward<args_t>(args)...)
		);
		}

		template<typename... args_t>
		void warn(fmt::format_string<args_t...> format, args_t&&... args) const {
		log::warn(
		m_rcl_logger,
		"{}{}",
		m_prefix,
		fmt::format(format, std::forward<args_t>(args)...)
		);
		}

		template<typename... args_t>
		void error(fmt::format_string<args_t...> format, args_t&&... args) const {
		log::error(
		m_rcl_logger,
		"{}{}",
		m_prefix,
		fmt::format(format, std::forward<args_t>(args)...)
		);
		}

		template<typename... args_t>
		void fatal(fmt::format_string<args_t...> format, args_t&&... args) const {
		log::fatal(
		m_rcl_logger,
		"{}{}",
		m_prefix,
		fmt::format(format, std::forward<args_t>(args)...)
		);
		}

		private:
		rclcpp::Logger m_rcl_logger;
		std::string m_prefix;
		};
		}

include/opcua_bridge/node.hpp

+8 −2

Original line number	Diff line number	Diff line
		@@ -4,10 +4,11 @@
		#include <rclcpp/rclcpp.hpp>

		// oru
		#include "oru/rclcpp/log.hpp"
		#include "opcua_bridge/log.hpp"

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

		namespace obridge {
		class OpcuaNode final : public rclcpp::Node {
		@@ -26,7 +27,12 @@ namespace obridge {
		ornl::ros::util::CapturedLogger m_logger;
		opcua::Client m_client;

		std::map<std::string, rclcpp::PublisherBase::SharedPtr> m_publishers;
		struct OpcuaData {
		std::shared_ptr<opcua::Node<opcua::Client>> node;
		rclcpp::PublisherBase::SharedPtr publisher;
		};

		std::map<std::string, OpcuaData> m_publishers;
		};
		}