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feat!: Allow different OPC UA arg types #71

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merged 1 commit into from
Dec 18, 2024
Merged

feat!: Allow different OPC UA arg types #71

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24 changes: 12 additions & 12 deletions src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -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(),
]),
);
},
Expand All @@ -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(),
]),
);
},
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12 changes: 6 additions & 6 deletions src/opc_ua_client.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand Down
6 changes: 3 additions & 3 deletions src/ros_services.rs
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Original file line number Diff line number Diff line change
@@ -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;
Expand All @@ -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,
}
Expand All @@ -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,
}
Expand Down
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