/
browse.go
204 lines (185 loc) · 6.42 KB
/
browse.go
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package opcua
import (
"context"
"fmt"
"log"
ua "github.com/awcullen/opcua"
mqtt "github.com/eclipse/paho.mqtt.golang"
"github.com/pkg/errors"
"google.golang.org/protobuf/proto"
)
const (
// defaultTimeoutHint is the default number of milliseconds before a request is cancelled. (15 sec)
defaultTimeoutHint uint32 = 15000
// defaultDiagnosticsHint is the default diagnostic hint that is sent in a request. (None)
defaultDiagnosticsHint uint32 = 0x00000000
)
// onBrowseRequest handles messages to the 'commands/browse-requests' topic of the MQTT broker.
func (d *device) onBrowseRequest(client mqtt.Client, msg mqtt.Message) {
req := new(BrowseRequest)
err := proto.Unmarshal(msg.Payload(), req)
if err != nil {
log.Println(errors.Wrapf(err, "[opcua] Device '%s' error parsing browse-request", d.deviceID))
return
}
res, err := d.Browse(d.ctx, req)
if err != nil {
log.Println(errors.Wrapf(err, "[opcua] Device '%s' error browsing", d.deviceID))
return
}
payload, err := proto.Marshal(res)
if err != nil {
log.Println(errors.Wrapf(err, "[opcua] Device '%s' error marshalling response", d.deviceID))
return
}
if tok := client.Publish(fmt.Sprintf("/devices/%s/events/browse-response", d.DeviceID()), 1, false, payload); tok.Wait() && tok.Error() != nil {
log.Println(errors.Wrapf(tok.Error(), "[opcua] Device '%s' error publishing to broker", d.deviceID))
return
}
}
// Browse grpc service implementation.
func (d *device) Browse(ctx context.Context, req *BrowseRequest) (*BrowseResponse, error) {
// prepare request
nodes := make([]*ua.BrowseDescription, 0)
for _, item := range req.NodesToBrowse {
nodes = append(nodes, &ua.BrowseDescription{
NodeID: ua.ParseNodeID(item.NodeId),
BrowseDirection: ua.BrowseDirection(item.BrowseDirection),
ReferenceTypeID: ua.ParseNodeID(item.ReferenceTypeId),
IncludeSubtypes: item.IncludeSubtypes,
NodeClassMask: item.NodeClassMask,
ResultMask: item.ResultMask,
})
}
req2 := &ua.BrowseRequest{
RequestedMaxReferencesPerNode: req.RequestedMaxReferencesPerNode,
NodesToBrowse: nodes,
}
// do request
res2, err := d.browse(ctx, req2)
if err != nil {
log.Println(errors.Wrapf(err, "[opcua] Device '%s' error browsing", d.deviceID))
res := &BrowseResponse{
RequestHandle: req.RequestHandle,
StatusCode: uint32(ua.BadConnectionClosed),
}
return res, nil
}
// prepare response
results := make([]*BrowseResult, 0)
for _, result := range res2.Results {
refs := make([]*ReferenceDescription, 0)
for _, ref := range result.References {
refs = append(refs, &ReferenceDescription{
ReferenceTypeId: ref.ReferenceTypeID.String(),
IsForward: ref.IsForward,
NodeId: ref.NodeID.String(),
BrowseName: ref.BrowseName.String(),
DisplayName: ref.DisplayName.Text,
NodeClass: uint32(ref.NodeClass),
TypeDefinition: ref.TypeDefinition.String(),
})
}
results = append(results, &BrowseResult{
StatusCode: uint32(result.StatusCode),
ContinuationPoint: []byte(result.ContinuationPoint),
References: refs,
})
}
// return response
res := &BrowseResponse{
RequestHandle: req.RequestHandle,
StatusCode: uint32(res2.ServiceResult),
Results: results,
}
return res, nil
}
// Browse discovers the References of a specified Node.
func (d *device) browse(ctx context.Context, request *ua.BrowseRequest) (*ua.BrowseResponse, error) {
response, err := d.request(ctx, request)
if err != nil {
return nil, err
}
return response.(*ua.BrowseResponse), nil
}
// onBrowseNextRequest handles messages to the 'commands/browse-next-requests' topic of the MQTT broker.
func (d *device) onBrowseNextRequest(client mqtt.Client, msg mqtt.Message) {
req := new(BrowseNextRequest)
err := proto.Unmarshal(msg.Payload(), req)
if err != nil {
log.Println(errors.Wrapf(err, "[opcua] Device '%s' error parsing browse-next-request", d.deviceID))
return
}
res, err := d.BrowseNext(d.ctx, req)
if err != nil {
log.Println(errors.Wrapf(err, "[opcua] Device '%s' error browsing", d.deviceID))
return
}
payload, err := proto.Marshal(res)
if err != nil {
log.Println(errors.Wrapf(err, "[opcua] Device '%s' error marshalling response", d.deviceID))
return
}
if tok := client.Publish(fmt.Sprintf("/devices/%s/events/browse-next-response", d.DeviceID()), 1, false, payload); tok.Wait() && tok.Error() != nil {
log.Println(errors.Wrapf(tok.Error(), "[opcua] Device '%s' error publishing to broker", d.deviceID))
return
}
}
// BrowseNext service implementation.
func (d *device) BrowseNext(ctx context.Context, req *BrowseNextRequest) (*BrowseNextResponse, error) {
// prepare request
cps := make([]ua.ByteString, 0)
for _, item := range req.ContinuationPoints {
cps = append(cps, ua.ByteString(item))
}
req2 := &ua.BrowseNextRequest{
ReleaseContinuationPoints: req.ReleaseContinuationPoints,
ContinuationPoints: cps,
}
// do request
res2, err := d.browseNext(ctx, req2)
if err != nil {
log.Println(errors.Wrapf(err, "[opcua] Device '%s' error browsing", d.deviceID))
res := &BrowseNextResponse{
RequestHandle: req.RequestHandle,
StatusCode: uint32(ua.BadConnectionClosed),
}
return res, nil
}
// prepare response
results := make([]*BrowseResult, 0)
for _, result := range res2.Results {
refs := make([]*ReferenceDescription, 0)
for _, ref := range result.References {
refs = append(refs, &ReferenceDescription{
ReferenceTypeId: ref.ReferenceTypeID.String(),
IsForward: ref.IsForward,
NodeId: ref.NodeID.String(),
BrowseName: ref.BrowseName.String(),
DisplayName: ref.DisplayName.Text,
NodeClass: uint32(ref.NodeClass),
TypeDefinition: ref.TypeDefinition.String(),
})
}
results = append(results, &BrowseResult{
StatusCode: uint32(result.StatusCode),
ContinuationPoint: []byte(result.ContinuationPoint),
References: refs,
})
}
// return response
res := &BrowseNextResponse{
RequestHandle: req.RequestHandle,
StatusCode: uint32(res2.ServiceResult),
Results: results,
}
return res, nil
}
// BrowseNext requests the next set of Browse responses, when the information is too large to be sent in a single response.
func (d *device) browseNext(ctx context.Context, request *ua.BrowseNextRequest) (*ua.BrowseNextResponse, error) {
response, err := d.request(ctx, request)
if err != nil {
return nil, err
}
return response.(*ua.BrowseNextResponse), nil
}