Load CustomDatatype of a not browsable Node

[TE-2]

Hi together,
I am currently trying to call a method from a Rexroth ctrlX OPC UA server that requires a custom datatype as InputArguments.
The inputarguemnt is a custom data type mapping and is an array consisting of a string, a boolean and another custom datatype mappingTable.

The variable InputArguments refers to the nodeID ns=3;s=types/opcuaserver/companion-model/mapping under which the CustromStruct can also be found in UA Expert.
mappingTable, however refers to the NodeID ns=3;s=types/opcuaserver/companion-model/mapping/$$S:comm.opcua.server.companion.NodeIdMapping and this is where the problem begins. This node is not browsable and is not displayed in the UAExpert address tree.

I have found the discussion #839 in which the use of the functions load_data_type_definitions() and client.load_type_definitions() are described in great detail with which custom structures can be read in.

I have now passed the parent node of both structs with the ID ns=3;s=types/opcuaserver/companion-model to load_data_type_definitions, but this fails with the following error message:

RuntimeError
Unknown datatype for field: StructureField(Name=‘mappingTable’, 
Description=LocalisedText(Locale=None, Text=‘ Mapping of the OPC UA NodeIds’), DataType=NodeId(Identifier='types/opcuaserver/companion-model/mapping/$$S:comm. opcua.server.companion.NodeIdMapping', NamespaceIndex=3, 
NodeIdType=<NodeIdType.String: 3>),
ValueRank=1, ArrayDimensions=[0], MaxStringLength=0, IsOptional=True)
in structure:mapping, please report

My guess is that the NodeIdMapping on which mapping type is based cannot be loaded because it is not browseable.

However, I can load and read the node ns=3;s=types/opcuaserver/companion-model/mapping/$$S:comm.opcua.server.companion.NodeIdMapping via get_node.

Does anyone have an idea how to solve this problem?
Is it possible to load a nested data type directly via the NodeID?

[AndreasHeine]

@TE-2 hm, if the node is present but not browsable ("visible") it might be something with the Permissions maybe check the UserManagement if there is a higher level user!?

[TE-2]

i need the datatype nodeids from each StructField as well!

edit: or are the just NodeId!?

sure here are the three data types in yaml format that build on each other:

mapping:
  nodeId: "ns=3;s=types/opcuaserver/companion-model/mapping"
  DataTypeDefinition: "StructureDefinition"
    StructureType: "StructureWithOptionalFields"
  fields:
    - name: "name"
      nodeId: "ns=0;i=12"
    - name: "typeSafety"
      nodeId: "ns=0;i=1"
    - name: "mappingTable"
      nodeId: "ns=3;s=types/opcuaserver/companion-model/mapping/$$S:comm.opcua.server.companion.NodeIdMapping"

mappingTable:
  nodeId: "ns=3;s=types/opcuaserver/companion-model/mapping/$$S:comm.opcua.server.companion.NodeIdMapping"
  DataTypeDefinition: "StructureDefinition"
    StructureType: "StructureWithOptionalFields"
  fields:
    - name: "sourceUaNodeId"
      nodeId: "ns=0;i=12"
    - name: "targetUaNodeId"
      nodeId: "ns=0;i=12"
    - name: "mappingResult"
      nodeId: "ns=3;s=types/opcuaserver/companion-model/mapping/$$E:comm.opcua.server.companion.MappingResult"

mappingResult:
  nodeId: "ns=3;s=types/opcuaserver/companion-model/mapping/$$E:comm.opcua.server.companion.MappingResult"
  DataTypeDefinition: "EnumDefinition"
    fields: "EnumField Array[6]"

---

you can try to load just the "mappingTable" structure and if that succeed you can try load "mapping" afterwards... i asume its the order which causes issues here, but lets figure it out ;)

Okay, I have tried the following:

node_MappingResult = client.get_node("ns=3;s=types/opcuaserver/companion-model/mapping/$$E:comm.opcua.server.companion.MappingResult")
result1 = await client.load_data_type_definitions(node_MappingResult)

node_NodeIdMapping = client.get_node("ns=3;s=types/opcuaserver/companion-model/mapping/$$S:comm.opcua.server.companion.NodeIdMapping")
result2 = await client.load_data_type_definitions(node_NodeIdMapping)
            
node_mapping = client.get_node("ns=3;s=types/opcuaserver/companion-model/mapping")
result3 = await client.load_data_type_definitions(node_mapping)

struct_MappingResult    = ua.MappingResult()
struct_NodeIdMapping    = ua.NodeIdMapping()
struct_mapping          = ua.mapping()

the load_data_type_definitions() method do not generate any errors, but it looks like the data types are still not being loaded,
the script ends with the following error:

  File "c:\Users\t_bar\folder\datalayer_opcua_mapper\main.py", line 228, in <module>
    main()
    ~~~~^^
  File "c:\Users\user\folder\datalayer_opcua_mapper\main.py", line 223, in main
    loop.run_until_complete(task(loop))
    ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^
  File "C:\Users\user\AppData\Local\Programs\Python\Python313\Lib\asyncio\base_events.py", line 721, in run_until_complete
    return future.result()
           ~~~~~~~~~~~~~^^
  File "c:\Users\user\folder\datalayer_opcua_mapper\main.py", line 197, in task
    struct_NodeIdMapping = ua.NodeIdMapping()
                           ^^^^^^^^^^^^^^^^
AttributeError: module 'asyncua.ua' has no attribute 'NodeIdMapping'

Am I using the method correctly to load a single struct or does the method always require the parent node?
I have also tried to pass the parent node mapping to load_data_type_definitions() but with the same result.

[AndreasHeine]

your using it right! that there are no errors is strange....

node_MappingResult = client.get_node("ns=3;s=types/opcuaserver/companion-model/mapping/$$E:comm.opcua.server.companion.MappingResult")
result1 = await client.load_data_type_definitions(node_MappingResult)
print(result1)

i would expect that the result contains at least one type in the dict!?

[TE-2]

result1 is containing the following:

{'AlarmMask': <class 'asyncua.ua.uatypes.UInt16'>,
 'Handle': <class 'asyncua.ua.uatypes.UInt32'>,
 'TrustListValidationOptions': <class 'asyncua.ua.uatypes.UInt32'>
 'UpdateBehavior': <class 'asyncua.ua.uatypes.UInt32'>,
 'TrimmedString': <class 'asyncua.ua.uatypes.String'>,
 'EncodedTicket': <class 'asyncua.ua.uatypes.String'>,
 'DeviceHealthEnumeration': <enum 'DeviceHealthEnumeration'>,
 'SoftwareVersionFileType': <enum 'SoftwareVersionFileType'>,
 'ExecutionModeEnumeration': <enum 'ExecutionModeEnumeration'>,
 'MotionDeviceCategoryEnumeration': <enum 'MotionDeviceCategoryEnumeration'>,
 'AxisMotionProfileEnumeration': <enum 'AxisMotionProfileEnumeration'>,
 'OperationalModeEnumeration': <enum 'OperationalModeEnumeration'>,
 'GripPointEnumeration': <enum 'GripPointEnumeration'>}

but result2 and result3 are empty { } for some reason

[AndreasHeine]

can you post the output!?
just swap the url!

import asyncio
import logging
from asyncua import Client, ua

logging.basicConfig(level=logging.DEBUG)
_logger = logging.getLogger('asyncua')


async def main():
    client = Client(url="opc.tcp://opcua.umati.app:4843", timeout=4)
    await client.connect()
    res = await client.load_data_type_definitions()
    print("--------------")
    print("Result:")
    for key, value in enumerate(res):
        print(key, value)
    print("--------------")
    await client.disconnect()


if __name__ == "__main__":
    asyncio.run(main())

it is weird that there is no errors nothing....

[TE-2]

sorry for the late return,

I have executed the code and it ends similarly as above with an AttributeError:

Click to expand

Traceback (most recent call last):
  File "c:\Users\user\folder\datalayer_opcua_mapper\main.py", line 262, in <module>
    asyncio.run(main())
    ~~~~~~~~~~~^^^^^^^^
  File "C:\Users\user\AppData\Local\Programs\Python\Python313\Lib\asyncio\runners.py", line 194, in run
    return runner.run(main)
           ~~~~~~~~~~^^^^^^
  File "C:\Users\user\AppData\Local\Programs\Python\Python313\Lib\asyncio\runners.py", line 118, in run
    return self._loop.run_until_complete(task)
           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^
  File "C:\Users\user\AppData\Local\Programs\Python\Python313\Lib\asyncio\base_events.py", line 721, in run_until_complete
    return future.result()
           ~~~~~~~~~~~~~^^
  File "c:\Users\user\folder\datalayer_opcua_mapper\main.py", line 125, in main
    res  = await client.load_data_type_definitions()
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\user\AppData\Local\Programs\Python\Python313\Lib\site-packages\asyncua\client\client.py", line 875, in load_data_type_definitions
    return await load_data_type_definitions(self, node, overwrite_existing=overwrite_existing)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\user\AppData\Local\Programs\Python\Python313\Lib\site-packages\asyncua\common\structures104.py", line 473, in load_data_type_definitions        
    await _recursive_parse(server, base_node, dtypes, add_existing=overwrite_existing)
  File "C:\Users\user\AppData\Local\Programs\Python\Python313\Lib\site-packages\asyncua\common\structures104.py", line 362, in _recursive_parse
    await asyncio.gather(*requests)
  File "C:\Users\user\AppData\Local\Programs\Python\Python313\Lib\site-packages\asyncua\common\structures104.py", line 360, in _recursive_parse
    requests = [ __add_recursion(sdef, desc) for sdef,desc in zip(results,ch)]
                 ~~~~~~~~~~~~~~~^^^^^^^^^^^^
  File "C:\Users\user\AppData\Local\Programs\Python\Python313\Lib\site-packages\asyncua\common\structures104.py", line 355, in __add_recursion
    dtypes.append(DataTypeSorter(desc.NodeId, name, desc, sdef))
                  ~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\user\AppData\Local\Programs\Python\Python313\Lib\site-packages\asyncua\common\structures104.py", line 317, in __init__
    self.encoding_id = self.sdef.DefaultEncodingId
                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^
AttributeError: 'EnumDefinition' object has no attribute 'DefaultEncodingId'

Here are the complete Logs of my client: asyncua.log