mirror of
https://github.com/OPCFoundation/UA-.NETStandard.git
synced 2026-10-18 14:43:08 +08:00
Marc Schier
6795073d2d
# Description Mount every `OpenUsdRepresentation` AddIn with `HasAddIn` rather than plain `HasComponent`. - Correct the `IOpenUsdRepresentedType` placeholder in the OpenUSD NodeSet. - Route Pump, Minimal Robot, and Intent sample authoring through the shared `CreateRepresentation` helper. - Remove redundant representation subtree rebasing from sample call sites. - Add model, in-process sample, and over-the-wire regression coverage. - Update the OpenUSD documentation and sample diagrams. `HasAddIn` is a subtype of `HasComponent`, so the incorrect reference still browsed and rendered successfully but failed companion-model conformance. ## Related Issues No related issue. ## Validation - `Opc.Ua.OpenUsd.Tests`: 914 passed on .NET 10. - Pump and Minimal Robot sample builds completed without warnings. - Pump and Robot `RepresentationsAreMountedWithHasAddInAsync` E2E tests passed. ## Checklist - [ ] 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. - [x] 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. --------- Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Copilot-Session: 19119d71-e1bc-41c9-ba0d-2d1dea437167
320 lines
14 KiB
C#
320 lines
14 KiB
C#
/* ========================================================================
|
|
* Copyright (c) 2005-2026 The OPC Foundation, Inc. All rights reserved.
|
|
*
|
|
* OPC Foundation MIT License 1.00
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person
|
|
* obtaining a copy of this software and associated documentation
|
|
* files (the "Software"), to deal in the Software without
|
|
* restriction, including without limitation the rights to use,
|
|
* copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
* copies of the Software, and to permit persons to whom the
|
|
* Software is furnished to do so, subject to the following
|
|
* conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be
|
|
* included in all copies or substantial portions of the Software.
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
|
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
|
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
|
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
|
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
|
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
|
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
|
* OTHER DEALINGS IN THE SOFTWARE.
|
|
*
|
|
* The complete license agreement can be found here:
|
|
* http://opcfoundation.org/License/MIT/1.00/
|
|
* ======================================================================*/
|
|
|
|
using System;
|
|
using System.Collections.Generic;
|
|
using System.IO;
|
|
using System.Threading;
|
|
using System.Threading.Tasks;
|
|
using Microsoft.Extensions.Logging;
|
|
using Opc.Ua;
|
|
using Opc.Ua.OpenUsd;
|
|
using Opc.Ua.OpenUsd.Server;
|
|
using ReferenceTypeIds = Opc.Ua.ReferenceTypeIds;
|
|
|
|
namespace Robotics.IntentEnabledRobot
|
|
{
|
|
/// <summary>
|
|
/// Publishes the OpenUSD representation for the minimal Robot Intent sample.
|
|
/// </summary>
|
|
public sealed partial class IntentRobotCell
|
|
{
|
|
private async ValueTask MaterialiseOpenUsdFacilityAsync(CancellationToken cancellationToken)
|
|
{
|
|
try
|
|
{
|
|
ushort ns = (ushort)Manager.Server.NamespaceUris.GetIndex(Opc.Ua.OpenUsd.Namespaces.OpenUSD);
|
|
OpenUsdRootState root = SystemContext.CreateInstanceOfOpenUsdRootType(
|
|
null!, new QualifiedName("OpenUSD", ns));
|
|
root.NodeId = new NodeId("OpenUSD", ns);
|
|
|
|
FolderState stages = root.Stages ?? root.CreateOrReplaceStages(SystemContext, null!);
|
|
_ = root.Representations ?? root.CreateOrReplaceRepresentations(SystemContext, null!);
|
|
|
|
m_cellStage = SystemContext.CreateInstanceOfOpenUsdStageType(
|
|
stages, new QualifiedName("MinimalIntentRobotStage", ns));
|
|
stages.AddChild(m_cellStage);
|
|
m_cellStage.CreateOrReplaceRootLayerIdentifier(SystemContext, null!).Value = RootLayerIdentifier;
|
|
|
|
List<ServedAsset> servedAssets = LoadServedAssets();
|
|
byte[] rootLayerBytes = servedAssets.Find(a => a.Kind == OpenUsdAssetKindEnum.RootLayer)!.Bytes;
|
|
byte[] digest;
|
|
#pragma warning disable CA1850 // Prefer static HashData (net48/netstandard2.0 compatibility)
|
|
using (var sha = System.Security.Cryptography.SHA256.Create())
|
|
{
|
|
digest = sha.ComputeHash(rootLayerBytes);
|
|
}
|
|
#pragma warning restore CA1850
|
|
if (m_cellStage.RootLayerDigest != null)
|
|
{
|
|
m_cellStage.RootLayerDigest.Value = (ByteString)digest;
|
|
}
|
|
if (m_cellStage.RootLayerDigestAlgorithm != null)
|
|
{
|
|
m_cellStage.RootLayerDigestAlgorithm.Value = OpenUsdDigestAlgorithmEnum.Sha256;
|
|
}
|
|
|
|
root.AddReference(ReferenceTypeIds.HasComponent, true, Opc.Ua.ObjectIds.Server);
|
|
UsdAssetDelivery.AttachStageAssets(SystemContext, m_cellStage, ns, servedAssets);
|
|
SystemContext.AssignInstanceChildNodeIds(root);
|
|
await Manager.AddPredefinedNodeAsync(root, cancellationToken).ConfigureAwait(false);
|
|
|
|
m_openUsdRoot = root;
|
|
await LinkOpenUsdRootToServerAsync(cancellationToken).ConfigureAwait(false);
|
|
m_logger.MaterialisedOpenUsdFacility(root.NodeId, m_cellStage.NodeId);
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
m_cellStage = null;
|
|
m_openUsdRoot = null;
|
|
m_logger.OpenUsdFacilityFailed(ex);
|
|
}
|
|
}
|
|
|
|
private async ValueTask MaterialiseRepresentationsAsync(CancellationToken cancellationToken)
|
|
{
|
|
if (m_cellStage == null || m_openUsdRoot == null)
|
|
{
|
|
return;
|
|
}
|
|
|
|
ushort usdNs = (ushort)Manager.Server.NamespaceUris.GetIndex(Opc.Ua.OpenUsd.Namespaces.OpenUSD);
|
|
List<OpenUsdRepresentationState> representations = [];
|
|
|
|
OpenUsdRepresentationState controllerRep = AttachRepresentation(
|
|
Controller.State, "/World/IntentCommand", usdNs);
|
|
CreateBinding(controllerRep, usdNs, "GripperOpenSignal", GuidFor("gripper-open"),
|
|
m_gripperOpenValue?.NodeId ?? NodeId.Null, "/World/IntentCommand", "inputs:gripperOpen", "bool",
|
|
OpenUsdRenderTargetKindEnum.Custom, 1.0);
|
|
CreateBinding(controllerRep, usdNs, "BenchLightSignal", GuidFor("bench-light"),
|
|
m_benchLightValue?.NodeId ?? NodeId.Null, "/World", "inputs:benchLight", "bool",
|
|
OpenUsdRenderTargetKindEnum.Custom, 1.0);
|
|
CreateBinding(controllerRep, usdNs, "HeldPartPosition", GuidFor("payload:held:position"),
|
|
m_heldPartPositionValue?.NodeId ?? NodeId.Null, "/World/Payloads/HeldPart", "xformOp:translate",
|
|
"double3", OpenUsdRenderTargetKindEnum.Translation, 1.0);
|
|
CreateBinding(controllerRep, usdNs, "HeldPartVisibility", GuidFor("payload:held:visibility"),
|
|
m_heldPartVisibleValue?.NodeId ?? NodeId.Null, "/World/Payloads/HeldPart", "visibility", "token",
|
|
OpenUsdRenderTargetKindEnum.Visibility, 1.0);
|
|
for (int ii = 0; ii < s_payloadSlotPrimPaths.Length && ii < m_payloadSlotFilledValues.Count; ii++)
|
|
{
|
|
CreateBinding(controllerRep, usdNs, $"PayloadSlot{ii + 1:00}Visibility",
|
|
GuidFor($"payload:slot:{ii + 1:00}:visibility"),
|
|
m_payloadSlotFilledValues[ii]?.NodeId ?? NodeId.Null, s_payloadSlotPrimPaths[ii],
|
|
"visibility", "token", OpenUsdRenderTargetKindEnum.Visibility, 1.0);
|
|
}
|
|
representations.Add(controllerRep);
|
|
|
|
int axisIndex = 0;
|
|
foreach (global::Opc.Ua.RobotIntent.AxisState axis in Axes)
|
|
{
|
|
OpenUsdRepresentationState axisRep = AttachRepresentation(axis, s_axisUsd[axisIndex].PrimPath, usdNs);
|
|
CreateBinding(
|
|
axisRep, usdNs, $"{s_axisUsd[axisIndex].Name}Rotation", GuidFor(s_axisUsd[axisIndex].Name),
|
|
axis.Position?.NodeId ?? NodeId.Null, s_axisUsd[axisIndex].PrimPath, s_axisUsd[axisIndex].RotateOp,
|
|
"double", OpenUsdRenderTargetKindEnum.Rotation, 1.0);
|
|
representations.Add(axisRep);
|
|
axisIndex++;
|
|
}
|
|
|
|
foreach ((string Name, string PrimPath, double X, double Y, double Z, double Rz) in s_locations)
|
|
{
|
|
global::Opc.Ua.RobotIntent.LocationState? state = FindLocation(Name);
|
|
if (state == null)
|
|
{
|
|
continue;
|
|
}
|
|
OpenUsdRepresentationState locationRep = AttachRepresentation(state, PrimPath, usdNs);
|
|
CreateBinding(locationRep, usdNs, $"{Name}LocationNode", GuidFor("location:" + Name),
|
|
state.NodeId, PrimPath, "inputs:robotIntentLocation", "token",
|
|
OpenUsdRenderTargetKindEnum.Custom, 1.0, sourceSemanticId: "RobotIntent.Location");
|
|
representations.Add(locationRep);
|
|
}
|
|
|
|
foreach (OpenUsdRepresentationState representation in representations)
|
|
{
|
|
OrganiseRepresentation(representation);
|
|
_ = await Manager.AddNodeAsync(
|
|
SystemContext,
|
|
representation.Parent!.NodeId,
|
|
representation,
|
|
cancellationToken).ConfigureAwait(false);
|
|
}
|
|
m_logger.MaterialisedRepresentations(representations.Count, LocationNodes.Count);
|
|
}
|
|
|
|
private global::Opc.Ua.RobotIntent.LocationState? FindLocation(string name)
|
|
{
|
|
foreach (global::Opc.Ua.RobotIntent.LocationState location in Locations)
|
|
{
|
|
if (string.Equals(location.LocationId?.Value, name, StringComparison.Ordinal))
|
|
{
|
|
return location;
|
|
}
|
|
}
|
|
return null;
|
|
}
|
|
|
|
private static List<ServedAsset> LoadServedAssets()
|
|
{
|
|
return
|
|
[
|
|
new("Bench.usda", OpenUsdAssetKindEnum.RootLayer, ReadEmbeddedAsset("Bench.usda")),
|
|
new("arm.usda", OpenUsdAssetKindEnum.Reference, ReadEmbeddedAsset("arm.usda")),
|
|
new("gripper.usda", OpenUsdAssetKindEnum.Reference, ReadEmbeddedAsset("gripper.usda"))
|
|
];
|
|
}
|
|
|
|
private static byte[] ReadEmbeddedAsset(string resourceName)
|
|
{
|
|
using Stream? stream = typeof(IntentRobotCell).Assembly.GetManifestResourceStream(resourceName);
|
|
if (stream == null)
|
|
{
|
|
return [];
|
|
}
|
|
using var memory = new MemoryStream();
|
|
stream.CopyTo(memory);
|
|
return memory.ToArray();
|
|
}
|
|
|
|
private async ValueTask LinkOpenUsdRootToServerAsync(CancellationToken cancellationToken)
|
|
{
|
|
if (m_openUsdRoot == null)
|
|
{
|
|
return;
|
|
}
|
|
IReference[] references =
|
|
[
|
|
new NodeStateReference(ReferenceTypeIds.HasComponent, false, m_openUsdRoot.NodeId)
|
|
];
|
|
await Manager.Server.NodeManager.AddReferencesAsync(
|
|
Opc.Ua.ObjectIds.Server,
|
|
references,
|
|
cancellationToken).ConfigureAwait(false);
|
|
}
|
|
|
|
private OpenUsdRepresentationState AttachRepresentation(NodeState owner, string primPath, ushort ns)
|
|
{
|
|
return AttachRepresentation(SystemContext, m_cellStage!, owner, primPath, ns);
|
|
}
|
|
|
|
internal static OpenUsdRepresentationState AttachRepresentation(
|
|
ISystemContext context,
|
|
OpenUsdStageState stage,
|
|
NodeState owner,
|
|
string primPath,
|
|
ushort ns)
|
|
{
|
|
return context.CreateRepresentation(owner, stage.NodeId, primPath, ns);
|
|
}
|
|
|
|
private void OrganiseRepresentation(OpenUsdRepresentationState rep)
|
|
{
|
|
FolderState? registry = m_openUsdRoot?.Representations;
|
|
if (registry == null)
|
|
{
|
|
return;
|
|
}
|
|
registry.AddReference(ReferenceTypeIds.Organizes, false, rep.NodeId);
|
|
rep.AddReference(ReferenceTypeIds.Organizes, true, registry.NodeId);
|
|
}
|
|
|
|
private OpenUsdLiveBindingState CreateBinding(
|
|
OpenUsdRepresentationState rep,
|
|
ushort ns,
|
|
string name,
|
|
Guid bindingDefinitionId,
|
|
NodeId sourceNodeId,
|
|
string targetPrimPath,
|
|
string targetPropertyName,
|
|
string targetUsdTypeName,
|
|
OpenUsdRenderTargetKindEnum? kind,
|
|
double scale,
|
|
string? sourceSemanticId = null)
|
|
{
|
|
OpenUsdLiveBindingState binding = rep.AddLiveBinding(
|
|
SystemContext,
|
|
ns,
|
|
m_cellStage!.NodeId,
|
|
name,
|
|
bindingDefinitionId,
|
|
sourceNodeId,
|
|
targetPrimPath,
|
|
targetPropertyName,
|
|
targetUsdTypeName,
|
|
kind,
|
|
scale,
|
|
sourceSemanticId: sourceSemanticId);
|
|
AssignInstanceSubtree(binding, rep);
|
|
return binding;
|
|
}
|
|
|
|
private void AssignInstanceSubtree(BaseInstanceState node, NodeState referenceRoot)
|
|
{
|
|
NodeId previousNodeId = SystemContext.AssignInstanceNodeId(node);
|
|
SystemContext.AssignInstanceChildNodeIds(node, previousNodeId, referenceRoot);
|
|
}
|
|
|
|
private const string RootLayerIdentifier = "asset-repo/Bench.usd";
|
|
private static readonly string[] s_payloadSlotPrimPaths =
|
|
[
|
|
"/World/Payloads/FixtureStack/Slot01",
|
|
"/World/Payloads/FixtureStack/Slot02",
|
|
"/World/Payloads/FixtureStack/Slot03",
|
|
"/World/Payloads/FixtureStack/Slot04",
|
|
"/World/Payloads/FixtureStack/Slot05",
|
|
"/World/Payloads/FixtureStack/Slot06",
|
|
"/World/Payloads/FixtureStack/Slot07",
|
|
"/World/Payloads/FixtureStack/Slot08"
|
|
];
|
|
|
|
private OpenUsdRootState? m_openUsdRoot;
|
|
private OpenUsdStageState? m_cellStage;
|
|
}
|
|
|
|
internal static partial class OpenUsdRepresentationLog
|
|
{
|
|
[LoggerMessage(EventId = IntentEnabledRobotEventIds.OpenUsdRepresentation + 1,
|
|
Level = LogLevel.Information,
|
|
Message = "Materialised OpenUSD facility (root {RootId}, stage {StageId}).")]
|
|
public static partial void MaterialisedOpenUsdFacility(this ILogger logger, NodeId rootId, NodeId stageId);
|
|
|
|
[LoggerMessage(EventId = IntentEnabledRobotEventIds.OpenUsdRepresentation + 2,
|
|
Level = LogLevel.Error,
|
|
Message = "Failed to materialise the OpenUSD facility.")]
|
|
public static partial void OpenUsdFacilityFailed(this ILogger logger, Exception exception);
|
|
|
|
[LoggerMessage(EventId = IntentEnabledRobotEventIds.OpenUsdRepresentation + 3,
|
|
Level = LogLevel.Information,
|
|
Message = "Materialised {RepresentationCount} OpenUSD representations with " +
|
|
"{LocationCount} target mappings.")]
|
|
public static partial void MaterialisedRepresentations(
|
|
this ILogger logger, int representationCount, int locationCount);
|
|
}
|
|
}
|