mirror of
https://github.com/OPCFoundation/UA-.NETStandard.git
synced 2026-10-29 15:11:53 +08:00
Alexander Köpke
fb4eece24d
# Description
_Describe the changes here to communicate to the maintainers why they
should accept this pull request. By default - this will become the
Commit message after merging and thus define history._
Fix OpenUSD sample discovery and integrate artifact delivery with the
xRegistry companion model.
- Load xRegistry before OpenUSD in the sample node managers, mount
stages with `Organizes`, and align root-layer identifiers with served
`.usda` files.
- Bootstrap immutable logical Resources and exact Versions in
`Artifacts`. Stage `Assets` folders provide non-owning `Organizes`
views, and explicit container identifiers allow sharing.
- Update the binding model to draft 0.9.0 while preserving existing
NodeIds and the `HasAddIn` correction.
- Disambiguate default container identifiers by stage instance, publish
the required read-only capabilities map, and preserve standard and
xRegistry BrowseName namespaces.
- Add registry, file-delivery, sharing, collision, qualified-browse, and
live-discovery regressions. Update the OpenUSD documentation.
Review fixes are in 6ac47a5b82. All four
review threads have been answered and resolved.
**Local validation**
| Command | Result |
| --- | --- |
| `dotnet test tests/Opc.Ua.OpenUsd.Tests/Opc.Ua.OpenUsd.Tests.csproj
--no-restore -f net10.0 -p:CustomTestTarget=net10.0 --verbosity quiet` |
Passed: 1,178 tests. |
| `dotnet test tests/Opc.Ua.OpenUsd.Tests/Opc.Ua.OpenUsd.Tests.csproj -f
net48 -p:CustomTestTarget=net48 --filter
FullyQualifiedName~UsdAssetDeliveryTests --verbosity quiet` | Passed: 36
focused regressions, including build and dependency restore. |
| `dotnet test tests/Opc.Ua.OpenUsd.Tests/Opc.Ua.OpenUsd.Tests.csproj
--no-build --no-restore -f net48 -p:CustomTestTarget=net48 --verbosity
quiet` | Failed: 937 passed; five generator integration tests failed
during fixture setup because Mono does not implement
`ECDsa.Create(ECCurve)`. |
The full `UA.slnx` suite and coverage measurement were not run locally.
## Related Issues
_Reference all GitHub issues this PR addresses. If there is no issue
yet, open one and link it here._
_If this is a relatively large or complex change, a design must have
been discussed in the related tracking issue and signed off (which
becomes the Architectural Decision Record (ADR))._
No linked tracking issue.
## Checklist
_Put an `x` in the boxes that apply. You can complete these step by step
after opening the PR._
- [ ] I have signed the
[CLA](https://opcfoundation.org/license/cla/ContributorLicenseAgreementv1.0.pdf)
and read the
[CONTRIBUTING](https://github.com/OPCFoundation/UA-.NETStandard/blob/master/CONTRIBUTING.md)
doc.
- [ ] I have added tests that prove my fix is effective or that my
feature works and increased code coverage.
- [x] I have added all necessary documentation.
- [x] I have verified that my changes do not introduce (new) build or
analyzer warnings.
- [ ] I ran **all** tests locally using the **UA.slnx** solution against
at least .net **framework** and .net **10**, and all passed.
- [ ] I fixed **all** failing and flaky tests in the CI pipelines and
**all** CodeQL warnings.
- [x] I have addressed **all** PR feedback received.
70 lines
2.5 KiB
C#
70 lines
2.5 KiB
C#
/* ========================================================================
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* Copyright (c) 2005-2026 The OPC Foundation, Inc. All rights reserved.
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*
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* OPC Foundation MIT License 1.00
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*
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* The complete license agreement can be found here:
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* http://opcfoundation.org/License/MIT/1.00/
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* ======================================================================*/
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using System;
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using Opc.Ua;
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using Opc.Ua.OpenUsd;
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using Opc.Ua.Robotics.Server;
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using Opc.Ua.XRegistry;
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namespace Robotics.IntentEnabledRobot
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{
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/// <summary>
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/// Contributes the compiled OpenUSD companion model to the standalone Robot Intent manager.
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/// </summary>
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public sealed class OpenUsdIntentModelProvider : IRobotIntentModelProvider
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{
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/// <inheritdoc/>
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public int Order => 10;
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/// <inheritdoc/>
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public ArrayOf<string> NamespaceUris => new string[]
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{
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Opc.Ua.OpenUsd.Namespaces.OpenUSD,
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Opc.Ua.XRegistry.Namespaces.xRegistry
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};
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/// <inheritdoc/>
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public void AddPredefinedNodes(NodeStateCollection nodes, ISystemContext context)
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{
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if (nodes == null)
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{
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throw new ArgumentNullException(nameof(nodes));
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}
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if (context == null)
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{
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throw new ArgumentNullException(nameof(context));
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}
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nodes.AddOpcUaXRegistry(context);
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nodes.AddOpcUaOpenUsd(context);
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}
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}
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}
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