From 0672cae588aa717d5de8f964208a8b3dd7eddb7f Mon Sep 17 00:00:00 2001
From: Philipp Caspers <117186241+philipp-caspers@users.noreply.github.com>
Date: Thu, 12 Dec 2024 10:54:35 +0000
Subject: [PATCH] feat!: Allow different OPC UA arg types

The previous `Vec<T>` solution could not handle different argument types
for the `call_method` method of the opc_ua_client although it's very common
to have those.
Hence, this change uses the OPC UA Variant type for the arguments, which
eliminates this drawback.
---
 src/main.rs          | 24 ++++++++++++------------
 src/opc_ua_client.rs | 12 ++++++------
 src/ros_services.rs  |  6 +++---
 3 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/src/main.rs b/src/main.rs
index 0237470..39cec30 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -68,12 +68,12 @@ fn main() -> Result<(), RclrsError> {
                 NodeId::new(1, 100182),
                 NodeId::new(1, 100267),
                 Some(vec![
-                    msg.force.x,
-                    msg.force.y,
-                    msg.force.z,
-                    msg.torque.x,
-                    msg.torque.y,
-                    msg.torque.z,
+                    msg.force.x.into(),
+                    msg.force.y.into(),
+                    msg.force.z.into(),
+                    msg.torque.x.into(),
+                    msg.torque.y.into(),
+                    msg.torque.z.into(),
                 ]),
             );
         },
@@ -88,12 +88,12 @@ fn main() -> Result<(), RclrsError> {
                     NodeId::new(1, 100182),
                     NodeId::new(1, 100265),
                     Some(vec![
-                        msg.translation.x,
-                        msg.translation.y,
-                        msg.translation.z,
-                        msg.rotation.x,
-                        msg.rotation.y,
-                        msg.rotation.z,
+                        msg.translation.x.into(),
+                        msg.translation.y.into(),
+                        msg.translation.z.into(),
+                        msg.rotation.x.into(),
+                        msg.rotation.y.into(),
+                        msg.rotation.z.into(),
                     ]),
                 );
             },
diff --git a/src/opc_ua_client.rs b/src/opc_ua_client.rs
index 6cf93ab..d4b301a 100644
--- a/src/opc_ua_client.rs
+++ b/src/opc_ua_client.rs
@@ -117,14 +117,14 @@ impl OPCUAClient {
         Ok(())
     }
 
-    pub fn call_method<T>(&self, object_id: NodeId, method_id: NodeId, args: Option<Vec<T>>)
-    where
-        T: Into<Variant>,
-    {
+    pub fn call_method(
+        &self,
+        object_id: NodeId,
+        method_id: NodeId,
+        arguments: Option<Vec<Variant>>,
+    ) {
         let cloned_session_lock = self.session.clone().unwrap();
         let session = cloned_session_lock.read();
-        let arguments: Option<Vec<Variant>> =
-            args.map(|vec| vec.into_iter().map(Into::into).collect());
         let method = CallMethodRequest {
             object_id,
             method_id,
diff --git a/src/ros_services.rs b/src/ros_services.rs
index 19caf21..ecdec07 100644
--- a/src/ros_services.rs
+++ b/src/ros_services.rs
@@ -1,7 +1,7 @@
 use std::sync::{Arc, Mutex};
 
 use log::info;
-use opcua::types::NodeId;
+use opcua::types::{NodeId, Variant};
 use std_srvs::srv::{Empty_Request, Empty_Response};
 
 use crate::opc_ua_client::OPCUAClient;
@@ -26,7 +26,7 @@ impl ROSServices {
         self.opc_ua_client
             .lock()
             .unwrap()
-            .call_method(object_id, method_id, None::<Vec<()>>);
+            .call_method(object_id, method_id, None::<Vec<Variant>>);
         Empty_Response {
             structure_needs_at_least_one_member: 0,
         }
@@ -42,7 +42,7 @@ impl ROSServices {
         self.opc_ua_client
             .lock()
             .unwrap()
-            .call_method(object_id, method_id, None::<Vec<()>>);
+            .call_method(object_id, method_id, None::<Vec<Variant>>);
         Empty_Response {
             structure_needs_at_least_one_member: 0,
         }