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add example code showing how to create custom enums and structures
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,195 @@ | ||
| use std::sync::Arc; | ||
|
|
||
| use opcua::{ | ||
| nodes::{DataTypeBuilder, ObjectBuilder, ReferenceDirection, VariableBuilder}, | ||
| server::node_manager::memory::SimpleNodeManager, | ||
| types::{ | ||
| DataTypeDefinition, DataTypeId, EnumDefinition, EnumField, ExpandedNodeId, ExtensionObject, | ||
| NodeId, ObjectId, ObjectTypeId, ReferenceTypeId, StructureDefinition, StructureField, | ||
| StructureType, | ||
| }, | ||
| }; | ||
|
|
||
| use crate::NAMESPACE_URI; | ||
|
|
||
| const STRUCT_ENC_TYPE_ID: u32 = 3324; | ||
| const STRUCT_DATA_TYPE_ID: u32 = 3325; | ||
| const ENUM_DATA_TYPE_ID: u32 = 3326; | ||
|
|
||
| pub fn add_custom_types(nm: Arc<SimpleNodeManager>, ns: u16) { | ||
| let enum_id = add_enum_data_type(&nm, ns); | ||
| let struct_id = add_custom_data_type(&nm, ns, &enum_id); | ||
|
|
||
| let addr = nm.address_space(); | ||
| let mut addr = addr.write(); | ||
| let error_node = NodeId::next_numeric(ns); | ||
| let error_data = ErrorData::new("No Error", 98, AxisState::Idle); | ||
| VariableBuilder::new(&error_node, "ErrorData", "ErrorData") | ||
| .organized_by(ObjectId::ObjectsFolder) | ||
| .data_type(struct_id.clone()) | ||
| .value(ExtensionObject::new(error_data)) | ||
| .insert(&mut *addr); | ||
| } | ||
|
|
||
| fn enum_field(name: &str, value: i64) -> EnumField { | ||
| EnumField { | ||
| name: name.into(), | ||
| description: name.into(), | ||
| display_name: name.into(), | ||
| value, | ||
| } | ||
| } | ||
|
|
||
| fn add_enum_data_type(nm: &Arc<SimpleNodeManager>, ns: u16) -> NodeId { | ||
| let mut addr = nm.address_space().write(); | ||
|
|
||
| let id = NodeId::new(ns, ENUM_DATA_TYPE_ID); | ||
|
|
||
| let type_def = DataTypeDefinition::Enum(EnumDefinition { | ||
| fields: Some(vec![ | ||
| enum_field("Disabled", 1), | ||
| enum_field("Enabled", 2), | ||
| enum_field("Idle", 3), | ||
| enum_field("MoveAbs", 4), | ||
| enum_field("Error", 5), | ||
| ]), | ||
| }); | ||
| DataTypeBuilder::new(&id, "AxisState", "AxisState") | ||
| .subtype_of(DataTypeId::Enumeration) | ||
| .data_type_definition(type_def) | ||
| .insert(&mut *addr); | ||
|
|
||
| id | ||
| } | ||
|
|
||
| fn add_encoding(nm: &SimpleNodeManager, ns: u16, struct_id: &NodeId) -> NodeId { | ||
| let mut addr = nm.address_space().write(); | ||
| let id = NodeId::new(ns, STRUCT_ENC_TYPE_ID); | ||
| ObjectBuilder::new(&id, "Default Binary", "Default Binary") | ||
| .reference( | ||
| struct_id, | ||
| ReferenceTypeId::HasEncoding, | ||
| ReferenceDirection::Inverse, | ||
| ) | ||
| .has_type_definition(ObjectTypeId::DataTypeEncodingType) | ||
| .insert(&mut *addr); | ||
| id | ||
| } | ||
|
|
||
| fn add_custom_data_type(nm: &SimpleNodeManager, ns: u16, e_state_id: &NodeId) -> NodeId { | ||
| let struct_id = NodeId::new(ns, STRUCT_DATA_TYPE_ID); | ||
| let enc_id = add_encoding(nm, ns, &struct_id); | ||
|
|
||
| let type_def = DataTypeDefinition::Structure(StructureDefinition { | ||
| default_encoding_id: NodeId::new(ns, STRUCT_ENC_TYPE_ID), | ||
| base_data_type: DataTypeId::Structure.into(), | ||
| structure_type: StructureType::Structure, | ||
| fields: Some(vec![ | ||
| StructureField { | ||
| name: "sErrorMessage".into(), | ||
| data_type: DataTypeId::String.into(), | ||
| value_rank: -1, | ||
| ..Default::default() | ||
| }, | ||
| StructureField { | ||
| name: "nErrorID".into(), | ||
| data_type: DataTypeId::UInt32.into(), | ||
| value_rank: -1, | ||
| ..Default::default() | ||
| }, | ||
| StructureField { | ||
| name: "eLastState".into(), | ||
| data_type: e_state_id.clone(), | ||
| value_rank: -1, | ||
| ..Default::default() | ||
| }, | ||
| ]), | ||
| }); | ||
| let mut addr = nm.address_space().write(); | ||
| DataTypeBuilder::new(&struct_id, "ErrorData", "ErrorData") | ||
| .subtype_of(DataTypeId::Structure) | ||
| .data_type_definition(type_def) | ||
| .reference( | ||
| enc_id, | ||
| ReferenceTypeId::HasEncoding, | ||
| ReferenceDirection::Forward, | ||
| ) | ||
| .insert(&mut *addr); | ||
|
|
||
| struct_id | ||
| } | ||
|
|
||
| #[derive( | ||
| Debug, | ||
| Copy, | ||
| Clone, | ||
| PartialEq, | ||
| Eq, | ||
| opcua::types::UaEnum, | ||
| opcua::types::BinaryEncodable, | ||
| opcua::types::BinaryDecodable, | ||
| )] | ||
| #[cfg_attr( | ||
| feature = "json", | ||
| derive(opcua::types::JsonEncodable, opcua::types::JsonDecodable) | ||
| )] | ||
| #[cfg_attr(feature = "xml", derive(opcua::types::FromXml))] | ||
| #[derive(Default)] | ||
| #[repr(i32)] | ||
| pub enum AxisState { | ||
| #[default] | ||
| Disabled = 1i32, | ||
| Enabled = 2i32, | ||
| Idle = 3i32, | ||
| MoveAbs = 4i32, | ||
| Error = 5i32, | ||
| } | ||
|
|
||
| #[derive(Debug, Clone, PartialEq, opcua::types::BinaryEncodable, opcua::types::BinaryDecodable)] | ||
| #[cfg_attr( | ||
| feature = "json", | ||
| derive(opcua::types::JsonEncodable, opcua::types::JsonDecodable) | ||
| )] | ||
| #[cfg_attr(feature = "xml", derive(opcua::types::FromXml))] | ||
| #[derive(Default)] | ||
| pub struct ErrorData { | ||
| message: opcua::types::UAString, | ||
| error_id: u32, | ||
| last_state: AxisState, | ||
| } | ||
|
|
||
| impl ErrorData { | ||
| pub fn new(msg: &str, error_id: u32, last_state: AxisState) -> Self { | ||
| Self { | ||
| message: msg.into(), | ||
| error_id, | ||
| last_state, | ||
| } | ||
| } | ||
| } | ||
|
|
||
| impl opcua::types::ExpandedMessageInfo for ErrorData { | ||
| fn full_type_id(&self) -> opcua::types::ExpandedNodeId { | ||
| ExpandedNodeId { | ||
| node_id: NodeId::new(0, STRUCT_ENC_TYPE_ID), | ||
| namespace_uri: NAMESPACE_URI.into(), | ||
| server_index: 0, | ||
| } | ||
| } | ||
|
|
||
| fn full_json_type_id(&self) -> opcua::types::ExpandedNodeId { | ||
| todo!() | ||
| } | ||
|
|
||
| fn full_xml_type_id(&self) -> opcua::types::ExpandedNodeId { | ||
| todo!() | ||
| } | ||
|
|
||
| fn full_data_type_id(&self) -> opcua::types::ExpandedNodeId { | ||
| ExpandedNodeId { | ||
| node_id: NodeId::new(0, STRUCT_DATA_TYPE_ID), | ||
| namespace_uri: NAMESPACE_URI.into(), | ||
| server_index: 0, | ||
| } | ||
| } | ||
| } |
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