Waterpump Example

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#include "opcuamachinebackend.h"

#include <QtQml>

OpcUaMachineBackend::OpcUaMachineBackend(QObject *parent)
    : QObject(parent)
    , m_percentFilledTank1(0)
    , m_percentFilledTank2(0)
    , m_tank2TargetPercent(0)
    , m_tank2ValveState(false)
    , m_machineState(MachineState::Idle)
    , m_connected(false)
    , m_message("Ready to connect")
    , m_successfullyCreated(false)
{
    qRegisterMetaType<OpcUaMachineBackend::MachineState>();
    qmlRegisterType<OpcUaMachineBackend>("OpcUaMachineBackend", 1, 0, "OpcUaMachineBackend");

    QOpcUaProvider provider;
    setBackends(provider.availableBackends());
}

OpcUaMachineBackend::~OpcUaMachineBackend()
{
    if (m_client && m_client->state() == QOpcUaClient::Connected)
        m_client->disconnectFromEndpoint();
}

void OpcUaMachineBackend::clientStateHandler(QOpcUaClient::ClientState state)
{
    m_connected = (state == QOpcUaClient::ClientState::Connected);

    emit connectedChanged(m_connected);

    if (state == QOpcUaClient::ClientState::Connected) {
        setMessage("Connected");
        // Create node objects for reading, writing and subscriptions
        m_machineNode.reset(m_client->node("ns=2;s=Machine"));
        m_machineStateNode.reset(m_client->node("ns=2;s=Machine.State"));
        m_percentFilledTank1Node.reset(m_client->node("ns=2;s=Machine.Tank1.PercentFilled"));
        m_percentFilledTank2Node.reset(m_client->node("ns=2;s=Machine.Tank2.PercentFilled"));
        m_tank2TargetPercentNode.reset(m_client->node("ns=2;s=Machine.Tank2.TargetPercent"));
        m_tank2ValveStateNode.reset(m_client->node("ns=2;s=Machine.Tank2.ValveState"));
        m_machineDesignationNode.reset(m_client->node("ns=2;s=Machine.Designation"));

        // Connect signal handlers for subscribed values
        QObject::connect(m_machineStateNode.data(), &QOpcUaNode::dataChangeOccurred, this, &OpcUaMachineBackend::machineStateUpdated);
        QObject::connect(m_percentFilledTank1Node.data(), &QOpcUaNode::dataChangeOccurred, this, &OpcUaMachineBackend::percentFilledTank1Updated);
        QObject::connect(m_percentFilledTank2Node.data(), &QOpcUaNode::dataChangeOccurred, this, &OpcUaMachineBackend::percentFilledTank2Updated);
        QObject::connect(m_tank2TargetPercentNode.data(), &QOpcUaNode::dataChangeOccurred, this, &OpcUaMachineBackend::tank2TargetPercentUpdated);
        QObject::connect(m_tank2ValveStateNode.data(), &QOpcUaNode::dataChangeOccurred, this, &OpcUaMachineBackend::tank2ValveStateUpdated);

        // Subscribe to data changes
        m_machineStateNode->enableMonitoring(QOpcUa::NodeAttribute::Value, QOpcUaMonitoringParameters(100));
        m_percentFilledTank1Node->enableMonitoring(QOpcUa::NodeAttribute::Value, QOpcUaMonitoringParameters(100));
        m_percentFilledTank2Node->enableMonitoring(QOpcUa::NodeAttribute::Value, QOpcUaMonitoringParameters(100));
        m_tank2TargetPercentNode->enableMonitoring(QOpcUa::NodeAttribute::Value, QOpcUaMonitoringParameters(100));
        m_tank2ValveStateNode->enableMonitoring(QOpcUa::NodeAttribute::Value, QOpcUaMonitoringParameters(100));

        // Connect the handler for async reading
        QObject::connect(m_machineDesignationNode.data(), &QOpcUaNode::attributeRead, this, &OpcUaMachineBackend::machineDesignationRead);
        // Request the value attribute of the machine designation node
        m_machineDesignationNode->readAttributes(QOpcUa::NodeAttribute::Value);

        // Add handlers for write and call results
        QObject::connect(m_tank2TargetPercentNode.data(), &QOpcUaNode::attributeWritten, this, &OpcUaMachineBackend::setpointWritten);
        QObject::connect(m_machineNode.data(), &QOpcUaNode::methodCallFinished, this, &OpcUaMachineBackend::handleMethodResult);

        // Add handlers for enableMonitoring results
        QObject::connect(m_machineStateNode.data(), &QOpcUaNode::enableMonitoringFinished, this, &OpcUaMachineBackend::enableMonitoringFinished);
        QObject::connect(m_percentFilledTank1Node.data(), &QOpcUaNode::enableMonitoringFinished, this, &OpcUaMachineBackend::enableMonitoringFinished);
        QObject::connect(m_percentFilledTank2Node.data(), &QOpcUaNode::enableMonitoringFinished, this, &OpcUaMachineBackend::enableMonitoringFinished);
        QObject::connect(m_tank2TargetPercentNode.data(), &QOpcUaNode::enableMonitoringFinished, this, &OpcUaMachineBackend::enableMonitoringFinished);
        QObject::connect(m_tank2ValveStateNode.data(), &QOpcUaNode::enableMonitoringFinished, this, &OpcUaMachineBackend::enableMonitoringFinished);
    }

    if (state == QOpcUaClient::ClientState::Connecting)
        setMessage(QStringLiteral("Connecting"));

    if (state == QOpcUaClient::ClientState::Disconnected)
        setMessage(QString("Disconnected: %1").arg(QMetaEnum::fromType<QOpcUaClient::ClientError>().valueToKey(static_cast<int>(m_client->error()))));
}

void OpcUaMachineBackend::machineStateUpdated(QOpcUa::NodeAttribute attr, const QVariant &value)
{
    Q_UNUSED(attr);
    MachineState newState = static_cast<MachineState>(value.toUInt());
    if (newState != m_machineState) {
        m_machineState = newState;
        emit machineStateChanged(m_machineState);
    }
}

void OpcUaMachineBackend::percentFilledTank1Updated(QOpcUa::NodeAttribute attr, const QVariant &value)
{
    Q_UNUSED(attr);
    m_percentFilledTank1 = value.toDouble();
    emit percentFilledTank1Changed(m_percentFilledTank1);
}

void OpcUaMachineBackend::percentFilledTank2Updated(QOpcUa::NodeAttribute attr, const QVariant &value)
{
    Q_UNUSED(attr);
    m_percentFilledTank2 = value.toDouble();
    emit percentFilledTank2Changed(m_percentFilledTank2);
}

void OpcUaMachineBackend::tank2TargetPercentUpdated(QOpcUa::NodeAttribute attr, const QVariant &value)
{
    Q_UNUSED(attr);
    m_tank2TargetPercent = value.toDouble();
    emit tank2TargetPercentChanged(m_tank2TargetPercent);
}

void OpcUaMachineBackend::tank2ValveStateUpdated(QOpcUa::NodeAttribute attr, const QVariant &value)
{
    Q_UNUSED(attr);
    m_tank2ValveState = value.toBool();
    emit tank2ValveStateChanged(m_tank2ValveState);
}

void OpcUaMachineBackend::machineDesignationRead(QOpcUa::NodeAttributes attr)
{
    if (attr & QOpcUa::NodeAttribute::Value) { // Make sure the value attribute has been read
        if (m_machineDesignationNode->attributeError(QOpcUa::NodeAttribute::Value) == QOpcUa::UaStatusCode::Good) { // Make sure there was no error
            m_machineDesignation = m_machineDesignationNode->attribute(QOpcUa::NodeAttribute::Value).toString(); // Get the attribute from the cache
            emit machineDesignationChanged(m_machineDesignation);
        }
    }
}

void OpcUaMachineBackend::setpointWritten(QOpcUa::NodeAttribute attr, QOpcUa::UaStatusCode status)
{
    if (attr == QOpcUa::NodeAttribute::Value && status == QOpcUa::UaStatusCode::Good)
        setMessage("Setpoint successfully set");
    else if (attr == QOpcUa::NodeAttribute::Value && status != QOpcUa::UaStatusCode::Good)
        setMessage("Failed to set setpoint");
}

void OpcUaMachineBackend::handleMethodResult(QString methodNodeId, const QVariant &result, QOpcUa::UaStatusCode statusCode)
{
    Q_UNUSED(result);

    if (methodNodeId == "ns=2;s=Machine.Start") {
        if (statusCode == QOpcUa::UaStatusCode::Good)
            setMessage("Pump successfully started");
        else
            setMessage("Unable to start pump");
    } else if (methodNodeId == "ns=2;s=Machine.Stop") {
        if (statusCode == QOpcUa::UaStatusCode::Good)
            setMessage("Pump successfully stopped");
        else
            setMessage("Unable to stop pump");
    } else if (methodNodeId == "ns=2;s=Machine.FlushTank2") {
        if (statusCode == QOpcUa::UaStatusCode::Good)
            setMessage("Flushing tank 2 successfully started");
        else
            setMessage("Unable to flush tank 2");
    } else if (methodNodeId == "ns=2;s=Machine.Reset") {
        if (statusCode == QOpcUa::UaStatusCode::Good)
            setMessage("Simulation successfully reset");
        else
            setMessage("Unable to reset simulation");
    }
}

void OpcUaMachineBackend::enableMonitoringFinished(QOpcUa::NodeAttribute attr, QOpcUa::UaStatusCode status)
{
    Q_UNUSED(attr);
    if (!sender())
        return;
    if (status == QOpcUa::UaStatusCode::Good)
        qDebug() << "Monitoring successfully enabled for" << qobject_cast<QOpcUaNode *>(sender())->nodeId();
    else {
        qDebug() << "Failed to enable monitoring for" << qobject_cast<QOpcUaNode *>(sender())->nodeId() << ":" << status;
        setMessage("Failed to enable monitoring");
    }
}

void OpcUaMachineBackend::setBackends(const QStringList &backends)
{
    if (m_backends != backends) {
        m_backends = backends;
        emit backendsChanged(m_backends);
    }
}

QStringList OpcUaMachineBackend::backends() const
{
    return m_backends;
}

double OpcUaMachineBackend::percentFilledTank1() const
{
    return m_percentFilledTank1;
}

double OpcUaMachineBackend::percentFilledTank2() const
{
    return m_percentFilledTank2;
}

OpcUaMachineBackend::MachineState OpcUaMachineBackend::machineState() const
{
    return m_machineState;
}

void OpcUaMachineBackend::machineWriteTank2TargetPercent(double value)
{
    if (m_tank2TargetPercentNode)
        m_tank2TargetPercentNode->writeAttribute(QOpcUa::NodeAttribute::Value, value);
}

void OpcUaMachineBackend::startPump()
{
    m_machineNode->callMethod("ns=2;s=Machine.Start");
}

void OpcUaMachineBackend::stopPump()
{
    if (m_machineNode)
        m_machineNode->callMethod("ns=2;s=Machine.Stop");
}

void OpcUaMachineBackend::flushTank2()
{
    if (m_machineNode)
        m_machineNode->callMethod("ns=2;s=Machine.FlushTank2");
}

void OpcUaMachineBackend::resetSimulation()
{
    if (m_machineNode)
        m_machineNode->callMethod("ns=2;s=Machine.Reset");
}

void OpcUaMachineBackend::requestEndpointsFinished(const QList<QOpcUaEndpointDescription> &endpoints)
{
    if (endpoints.isEmpty()) {
       qWarning() << "The server did not return any endpoints";
       clientStateHandler(QOpcUaClient::ClientState::Disconnected);
       return;
    }
    m_client->connectToEndpoint(endpoints.at(0));
}

void OpcUaMachineBackend::setMessage(const QString &message)
{
    if (message != m_message) {
        m_message = message;
        emit messageChanged(m_message);
    }
}

bool OpcUaMachineBackend::successfullyCreated() const
{
    return m_successfullyCreated;
}

QString OpcUaMachineBackend::message() const
{
    return m_message;
}

QString OpcUaMachineBackend::machineDesignation() const
{
    return m_machineDesignation;
}

bool OpcUaMachineBackend::connected() const
{
    return m_connected;
}

void OpcUaMachineBackend::connectToEndpoint(const QString &url, qint32 index)
{
    if (m_connected)
        return;

    QOpcUaProvider provider;

    if (index < 0 || index >= m_backends.size())
        return; // Invalid index

    if (!m_client || (m_client && m_client->backend() != m_backends.at(index))) {
        m_client.reset(provider.createClient(m_backends.at(index)));
        if (m_client) {
            QObject::connect(m_client.data(), &QOpcUaClient::endpointsRequestFinished, this, &OpcUaMachineBackend::requestEndpointsFinished);
            QObject::connect(m_client.data(), &QOpcUaClient::stateChanged, this, &OpcUaMachineBackend::clientStateHandler);
        }
    }

    if (!m_client) {
        qWarning() << "Could not create client";
        m_successfullyCreated = false;
        return;
    }

    m_successfullyCreated = true;
    m_client->requestEndpoints(url);
}

void OpcUaMachineBackend::disconnectFromEndpoint()
{
    if (m_connected)
        m_client->disconnectFromEndpoint();
}

bool OpcUaMachineBackend::tank2ValveState() const
{
    return m_tank2ValveState;
}

double OpcUaMachineBackend::tank2TargetPercent() const
{
    return m_tank2TargetPercent;
}