| RMVL 2.3.0 Robotic Manipulation and Vision Library

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samples/opcua/opcua_client.cpp

OPC UA 客户端例程

OPC UA 客户端例程

#include <iostream>
#ifdef _WIN32
#include <conio.h>
#else
#include <termios.h>
#include <unistd.h>
#endif
#include "rmvl/opcua/client.hpp"
using namespace rm;
enum class Direction
{
UP = 1,
DOWN = 2,
LEFT = 3,
RIGHT = 4,
ENTER = 0,
OTHER = -1
};
#ifdef _WIN32
Direction get_direction()
{
int ch = _getch();
if (ch == 0xE0)
{
ch = _getch();
switch (ch)
{
case 72:
return Direction::UP;
case 80:
return Direction::DOWN;
case 75:
return Direction::LEFT;
case 77:
return Direction::RIGHT;
}
}
else if (ch == '\r' || ch == '\n')
return Direction::ENTER;
return Direction::OTHER;
}
#else
// 设置终端为非阻塞模式
void setNonBlocking(bool enable)
{
struct termios tty;
tcgetattr(STDIN_FILENO, &tty);
if (enable)
{
tty.c_lflag &= ~ICANON;
tty.c_lflag &= ~ECHO;
}
else
{
tty.c_lflag |= ICANON;
tty.c_lflag |= ECHO;
}
tcsetattr(STDIN_FILENO, TCSANOW, &tty);
}
// 读取单个字符
char _getch()
{
char buf = 0;
setNonBlocking(true);
auto size = read(STDIN_FILENO, &buf, 1);
if (size < 0)
return 0;
setNonBlocking(false);
return buf;
}
Direction get_direction()
{
char ch = _getch();
if (ch == '\033')
{
_getch(); // 跳过 '['
switch (_getch())
{
case 'A':
return Direction::UP;
case 'B':
return Direction::DOWN;
case 'C':
return Direction::RIGHT;
case 'D':
return Direction::LEFT;
}
}
else if (ch == '\r' || ch == '\n')
return Direction::ENTER;
return Direction::OTHER;
}
#endif
static void clear_sreen()
{
#ifdef _WIN32
int ch = system("cls");
#else
int ch = system("clear");
#endif
if (ch == -1)
{
printf("\033[2J");
printf("\033[0;0H");
}
}
static void clear_mark()
{
printf("\033[1;3H0\033[2;3H1\033[3;3H2\033[4;3Hq\033[0m\033[1;14H%*s\033[2;14H%*s\033[3;14H%*s\033[4;14H%*s",
13, " ", 13, " ", 13, " ", 13, " ");
fflush(stdout);
}
static rm::NodeId find_node_and_mark(Client &cli, int id)
{
constexpr const char *names[] = {"value_1", "value_2", "add"};
std::cout << "\033[" << id + 1 << ";14H\033[1;5;33m<--\033[0m" << std::flush;
return cli.find(names[id]);
}
static std::string tips_op()
{
std::cout << "\033[1;3H\033[33m0\033[2;3H1\033[3;3H2\033[4;3Hq\033[0m"
"\033[1;26H\033[K┌───────────────────────┐"
"\033[2;26H\033[K│ Input the ID: │"
"\033[3;26H\033[K│ │"
"\033[4;26H\033[K└───────────────────────┘"
<< std::flush;
constexpr const char *choice_map[4] = {"0", "1", "2", "q"};
uint8_t choice_idx{};
Direction ch{Direction::OTHER};
while (true)
{
if (choice_idx == 0)
std::cout << "\033[3;28H\033[3;4;33m'0'\033[0m '1' '2' 'q'\033[5;1H" << std::flush;
else if (choice_idx == 1)
std::cout << "\033[3;28H'0' \033[3;4;33m'1'\033[0m '2' 'q'\033[5;1H" << std::flush;
else if (choice_idx == 2)
std::cout << "\033[3;28H'0' '1' \033[3;4;33m'2'\033[0m 'q'\033[5;1H" << std::flush;
else
std::cout << "\033[3;28H'0' '1' '2' \033[3;4;33m'q'\033[0m\033[5;1H" << std::flush;
ch = get_direction();
if (ch == Direction::RIGHT)
choice_idx = (choice_idx + 1) % 4;
else if (ch == Direction::LEFT)
choice_idx = (choice_idx + 3) % 4;
else if (ch == Direction::ENTER)
break;
}
clear_mark();
return choice_map[choice_idx];
}
static int tips_rw()
{
std::cout << "\033[1;26H┌───────────────────────┐"
"\033[2;26H│ Select the operation: │"
"\033[3;26H│ Read Write │"
"\033[4;26H└───────────────────────┘"
<< std::flush;
uint8_t choice_idx{};
auto ch{Direction::OTHER};
while (true)
{
if (choice_idx == 0)
std::cout << "\033[3;31H\033[3;4;33mRead\033[0m Write\033[5;1H" << std::flush;
else
std::cout << "\033[3;31HRead \033[3;4;33mWrite\033[0m\033[5;1H" << std::flush;
ch = get_direction();
if (ch == Direction::ENTER)
break;
else if (ch != Direction::OTHER)
choice_idx = !choice_idx;
}
return choice_idx;
}
template <typename Tp>
static Tp tips_val(int id)
{
std::cout << "\033[" << id + 1
<< ";18H\033[1;5;33mWrite\033[0m"
"\033[1;26H┌───────────────────────┐"
"\033[2;26H│ Input the value │"
"\033[3;26H│ --> │"
"\033[4;26H└───────────────────────┘"
"\033[3;32H"
<< std::flush;
Tp val{};
std::cin >> val;
return val;
}
static int tips_arg(std::string_view str)
{
std::cout << "\033[1;26H┌─ Calculate the sum of 2 numbers ─┐"
"\033[2;26H│ │"
"\033[3;26H│ --> │"
"\033[4;26H└──────────────────────────────────┘"
"\033[2;28H"
<< "Input the \033[33m" << str << "\033[0m argument (int): " << "\033[3;32H"
<< std::flush;
int val{};
std::cin >> val;
return val;
}
template <typename Tp>
static void show_value(int id, Tp val)
{
clear_mark();
std::cout << "\033[" << id + 1 << ";14H\033[1;32m<--\033[0m \033[32m" << val << "\033[0m" << std::flush;
}
static bool ask_exit()
{
std::cout << "\033[1;24H ┌────────────────────────────────────────┐"
"\033[2;24H │ │"
"\033[3;24H │ Are you sure to exit this program? │"
"\033[4;24H │ │"
"\033[5;24H │ │"
"\033[6;24H │ │"
"\033[7;24H └────────────────────────────────────────┘"
<< std::flush;
int choice{}; // 0: Yes, 1: No
Direction ch{Direction::OTHER};
while (true)
{
if (choice == 0)
std::cout << "\033[5;35H\033[3;4;33mYes\033[0m No\033[5;1H" << std::flush;
else
std::cout << "\033[5;35HYes \033[3;4;33mNo\033[0m\033[5;1H" << std::flush;
ch = get_direction();
if (ch == Direction::ENTER)
break;
else if (ch != Direction::OTHER)
choice = !choice;
}
std::cout << "\033[1;24H\033[K\033[2;24H\033[K\033[3;24H\033[K\033[4;24H\033[K\033[5;24H\033[K\033[6;24H\033[K\033[7;24H\033[K" << std::flush;
return choice == 0;
}
int main()
{
Client cli("opc.tcp://127.0.0.1:4840");
if (!cli.ok())
return -1;
clear_sreen();
std::cout << "- 0: value_1\n- 1: value_2\n- 2: add\n- q: Exit\n";
while (true)
{
auto num = tips_op();
if (num == "0")
{
auto nd = find_node_and_mark(cli, 0);
int rw = tips_rw();
if (rw == 0)
{
int val = cli.read(nd);
show_value(0, val);
}
else
{
int val = tips_val<int>(0);
cli.write(nd, val);
show_value(0, val);
}
}
else if (num == "1")
{
auto nd = find_node_and_mark(cli, 1);
int rw = tips_rw();
if (rw == 0)
{
double val = cli.read(nd);
show_value(1, val);
}
else
{
double val = tips_val<double>(1);
cli.write(nd, val);
show_value(1, val);
}
}
else if (num == "2")
{
find_node_and_mark(cli, 2);
int v1 = tips_arg("first");
int v2 = tips_arg("second");
auto [result, oargs] = cli.call("add", {v1, v2});
if (result)
show_value(2, oargs[0].cast<int>());
else
std::cout << "\033[3;14H\033[31m\u2716\033[0m" << std::flush;
}
else
{
if (ask_exit())
{
std::cout << "\033[5;1H" << std::flush;
break;
}
}
}
return 0;
}
rm::Client
OPC UA 客户端
定义 client.hpp:118
rm::Client::find
NodeId find(std::string_view browse_path, const NodeId &src_nd=nodeObjectsFolder) const noexcept
通过 BrowseName 的路径搜索命名空间 ns 为 1 的节点
rm::Client::call
std::pair< bool, Variables > call(const NodeId &obj_nd, std::string_view name, const Variables &inputs) const
在客户端调用指定对象节点中的方法
rm::Client::read
Variable read(const NodeId &node) const
从指定的变量节点读数据
rm::Client::write
bool write(const NodeId &node, const Variable &val) const
给指定的变量节点写数据
rm::Client::ok
bool ok() const
是否成功创建客户端并成功连接到服务器
定义 client.hpp:145
rm::NodeId
OPC UA 节点 ID
定义 utilities.hpp:42
client.hpp
OPC UA 客户端
rm::CompensateType::RIGHT
@ RIGHT
向右强制补偿
定义 compensator.h:52
rm::CompensateType::LEFT
@ LEFT
向左强制补偿
定义 compensator.h:51
rm::CompensateType::DOWN
@ DOWN
向下强制补偿
定义 compensator.h:50
rm::CompensateType::UP
@ UP
向上强制补偿
定义 compensator.h:49
rm::reflect::size
consteval std::size_t size(auto &&...args)
获取指定类型的成员个数
定义 util.hpp:320
rm::str
定义 str.hpp:19
rm
定义 datastruct.hpp:20