opcua模块服务器支持修改名称，并完善例程

cv-rmvl · Mar 19, 2024 · 6d4b7b4 · 6d4b7b4
1 parent 9a63859
commit 6d4b7b4
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Showing 10 changed files with 46 additions and 22 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -68,7 +68,7 @@ include(cmake/RMVLVersion.cmake)
 # ----------------------------------------------------------------------------
 #  RMVL parameters and miscellaneous generation
 # ----------------------------------------------------------------------------
-set(para_template_path "${CMAKE_SOURCE_DIR}/cmake/templates" CACHE STRING "GenPara template path" FORCE)
+set(para_template_path "${CMAKE_SOURCE_DIR}/cmake/templates" CACHE INTERNAL "GenPara template path" FORCE)
 include(cmake/RMVLGenPara.cmake)
 
 # ----------------------------------------------------------------------------

diff --git a/modules/opcua/include/rmvl/opcua/server.hpp b/modules/opcua/include/rmvl/opcua/server.hpp
@@ -58,9 +58,10 @@ class Server
      * @brief 创建 OPC UA 服务器
      *
      * @param[in] port OPC UA 服务器端口号，一般设置为 `4840U`
+     * @param[in] name OPC UA 服务器名称，为空则采用默认值 `open62541-based OPC UA Application`
      * @param[in] users 用户列表 @see UserConfig
      */
-    explicit Server(uint16_t port, const std::vector<UserConfig> &users = {});
+    Server(uint16_t port, std::string_view name = {}, const std::vector<UserConfig> &users = {});
 
     /**
      * @brief 从服务器配置函数指针创建 OPC UA 服务器
@@ -70,9 +71,10 @@ class Server
      *
      * @param[in] on_config 服务器配置函数指针
      * @param[in] port OPC UA 服务器端口号，一般设置为 `4840U`
+     * @param[in] name OPC UA 服务器名称，为空则采用默认值 `open62541-based OPC UA Application`
      * @param[in] users 用户列表 @see UserConfig
      */
-    Server(ServerUserConfig on_config, uint16_t port, const std::vector<UserConfig> &users = {});
+    Server(ServerUserConfig on_config, uint16_t port, std::string_view name = {}, const std::vector<UserConfig> &users = {});
 
     Server(const Server &) = delete;
     Server(Server &&) = delete;

diff --git a/modules/opcua/param/opcua.para b/modules/opcua/param/opcua.para
@@ -1,4 +1,4 @@
-uint32_t SPIN_TIMEOUT = 500 # 服务器超时响应的时间，单位 (ms)
+uint32_t SPIN_TIMEOUT = 10 # 服务器超时响应的时间，单位 (ms)
 
 double SAMPLING_INTERVAL = 2      # 服务器监视变量的采样速度，单位 (ms)，不得小于 2ms
 double PUBLISHING_INTERVAL = 2    # 服务器尝试发布数据变更的期望时间间隔，若数据未变更则不会发布，单位 (ms)，不得小于 2ms

diff --git a/modules/opcua/src/publisher.cpp b/modules/opcua/src/publisher.cpp
@@ -33,7 +33,7 @@ namespace rm
 /************************************** 发布者 **************************************/
 
 Publisher<TransportID::UDP_UADP>::Publisher(const std::string &pub_name, const std::string &address, uint16_t port,
-                                            const std::vector<UserConfig> &users) : Server(port, users), _name(pub_name)
+                                            const std::vector<UserConfig> &users) : Server(port, pub_name, users), _name(pub_name)
 {
     //////////////////// 添加连接配置 ////////////////////
     UA_ServerConfig_addPubSubTransportLayer(UA_Server_getConfig(_server), UA_PubSubTransportLayerUDPMP());

diff --git a/modules/opcua/src/server.cpp b/modules/opcua/src/server.cpp
@@ -24,12 +24,25 @@ namespace rm
 
 // ============================= 基本配置 =============================
 
-Server::Server(uint16_t port, const std::vector<UserConfig> &users)
+Server::Server(uint16_t port, std::string_view name, const std::vector<UserConfig> &users)
 {
     _server = UA_Server_new();
 
     UA_ServerConfig *config = UA_Server_getConfig(_server);
     UA_ServerConfig_setMinimal(config, port, nullptr);
+    // 修改名字
+    if (!name.empty())
+    {
+        UA_LocalizedText_clear(&config->applicationDescription.applicationName);
+        config->applicationDescription.applicationName = UA_LOCALIZEDTEXT_ALLOC("en-US", name.data());
+        for (size_t i = 0; i < config->endpointsSize; ++i)
+        {
+            UA_LocalizedText *ptr = &config->endpoints[i].server.applicationName;
+            UA_LocalizedText_clear(ptr);
+            *ptr = UA_LOCALIZEDTEXT_ALLOC("en-US", name.data());
+        }
+    }
+    // 修改采样间隔和发布间隔
     config->samplingIntervalLimits.min = 2.0;
     config->publishingIntervalLimits.min = 2.0;
     if (!users.empty())
@@ -56,7 +69,7 @@ Server::Server(uint16_t port, const std::vector<UserConfig> &users)
     }
 }
 
-Server::Server(ServerUserConfig on_config, uint16_t port, const std::vector<UserConfig> &users) : Server(port, users)
+Server::Server(ServerUserConfig on_config, uint16_t port, std::string_view name, const std::vector<UserConfig> &users) : Server(port, name, users)
 {
     if (on_config != nullptr)
         on_config(_server);

diff --git a/modules/opcua/src/subscriber.cpp b/modules/opcua/src/subscriber.cpp
@@ -30,7 +30,7 @@ namespace rm
 {
 
 Subscriber<TransportID::UDP_UADP>::Subscriber(const std::string &sub_name, const std::string &address, uint16_t port,
-                                              const std::vector<UserConfig> &users) : Server(port, users), _name(sub_name)
+                                              const std::vector<UserConfig> &users) : Server(port, sub_name, users), _name(sub_name)
 {
     //////////////////// 添加连接配置 ////////////////////
     UA_ServerConfig_addPubSubTransportLayer(UA_Server_getConfig(_server), UA_PubSubTransportLayerUDPMP());

diff --git a/modules/opcua/test/test_opcua_server.cpp b/modules/opcua/test/test_opcua_server.cpp
@@ -38,7 +38,7 @@ TEST(OPC_UA_Server, value_config)
 // 服务器添加变量节点
 TEST(OPC_UA_Server, add_node)
 {
-    rm::Server svr(4840);
+    rm::Server svr(4840, "TestServer");
     rm::Variable variable = 3.1415;
     variable.browse_name = "test_double";
     variable.description = "this is test double";

diff --git a/modules/rmath/include/rmvl/rmath/uty_math.hpp b/modules/rmath/include/rmvl/rmath/uty_math.hpp
@@ -72,6 +72,10 @@ using Matx11f = Matx<float, 1, 1>;
 using Matx11d = Matx<double, 1, 1>;
 using Matx51f = Matx<float, 5, 1>;
 using Matx15f = Matx<float, 1, 5>;
+using Matx51d = Matx<double, 5, 1>;
+using Matx15d = Matx<double, 1, 5>;
+using Matx55f = Matx<float, 5, 5>;
+using Matx55d = Matx<double, 5, 5>;
 
 } // namespace cv
 

diff --git a/samples/opcua/opcua_client.cpp b/samples/opcua/opcua_client.cpp
@@ -3,8 +3,8 @@
 int main()
 {
     rm::Client client("opc.tcp://localhost:4840");
-    auto var_id = rm::nodeObjectsFolder | client.find("var_demo");
-    auto var = client.read(var_id);
-    printf("\033[32mValue: %d\033[0m\n", var.cast<int>());
+    auto position_id = rm::nodeObjectsFolder | client.find("position");
+    auto position = client.read(position_id);
+    printf("\033[32mValue: %d\033[0m\n", position.cast<int>());
     return 0;
 }
diff --git a/samples/opcua/opcua_server.cpp b/samples/opcua/opcua_server.cpp
@@ -1,18 +1,23 @@
+#include <csignal>
+
 #include "rmvl/opcua/server.hpp"
 
+rm::Server *p_server{nullptr};
+
+inline void onHandle(int) { p_server->stop(); }
+
 int main()
 {
-    rm::Server server(4840U);
-    rm::Variable var = 42;
-    var.display_name = "VarDemo";
-    var.browse_name = "var_demo";
-    server.addVariableNode(var);
-    server.start();
+    signal(SIGINT, onHandle);
+
+    rm::Server server(4840);
+    p_server = &server;
 
-    printf("\033[32mServer started for 20 seconds ...\033[0m\n");
-    std::this_thread::sleep_for(std::chrono::seconds(20));
-    printf("\033[32mServer stopped ...\033[0m\n");
-    server.stop();
+    rm::Variable position = 5500;
+    position.display_name = "Position";
+    position.browse_name = "position";
+    server.addVariableNode(position);
+    server.start();
     server.join();
     return 0;
 }