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Robotics NodeSet VDMA 40010-1
December 1, 2019
18:24, EET
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Tobs
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December 1, 2019
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Hello,

I am trying to load a custom informationmodel which requires the “Opc.Ua.Di.NodeSet2.xml” and “Opc.Ua.Robotics.NodeSet2.xml” but whenever i load the robotics nodeset i get several errors:

“java.lang.ClassCastException: class com.prosysopc.ua.server.nodes.UaExternalNodeImpl cannot be cast to class com.prosysopc.ua.nodes.UaDataType (com.prosysopc.ua.server.nodes.UaExternalNodeImpl and com.prosysopc.ua.nodes.UaDataType are in unnamed module of loader ‘app’)
at com.prosysopc.ua.server.nodes.UaVariableNode.setDataTypeId(SourceFile:321)
at com.prosysopc.ua.server.nodes.UaVariableNode.setAttributes(SourceFile:290)
at com.prosysopc.ua.server.NodeManagerUaNode.addNode(SourceFile:1356)
at com.prosysopc.ua.server.NodeManagerTable.addNode(SourceFile:2393)
at com.prosysopc.ua.server.NodeManagerTable.addNode(SourceFile:2373)
at com.prosysopc.ua.server.ModelParser.doAddNode(SourceFile:117)
at com.prosysopc.ua.ModelParserBase.addNodes(SourceFile:5597)
at com.prosysopc.ua.ModelParserBase.createModel(SourceFile:433)
at com.prosysopc.ua.server.NodeManagerTable.loadModel(SourceFile:2160)
at com.prosysopc.ua.server.NodeManagerTable.loadModel(SourceFile:2126)
at de.ostfalia.ua.server.OstfaliaUaServer.loadInformationModels(OstfaliaUaServer.java:211)
at de.ostfalia.ua.server.OstfaliaUaServer.(OstfaliaUaServer.java:78)
at de.ostfalia.ua.main.StartServer.main(StartServer.java:19)
12/01/2019 16:46:17.679 WARN [main] com.prosysopc.ua.ModelParserBase – createModel: Failed to create node: CartesianCoordinates with id:nsu=http%3A%2F%2Fopcfoundation.org%2FUA%2FRobotics%2F;i=16130
java.lang.ClassCastException: class com.prosysopc.ua.server.nodes.UaExternalNodeImpl cannot be cast to class com.prosysopc.ua.nodes.UaDataType (com.prosysopc.ua.server.nodes.UaExternalNodeImpl and com.prosysopc.ua.nodes.UaDataType are in unnamed module of loader ‘app’)
at com.prosysopc.ua.server.nodes.UaVariableNode.setDataTypeId(SourceFile:321)
at com.prosysopc.ua.server.nodes.UaVariableNode.setAttributes(SourceFile:290)
at com.prosysopc.ua.server.NodeManagerUaNode.addNode(SourceFile:1356)
at com.prosysopc.ua.server.NodeManagerTable.addNode(SourceFile:2393)
at com.prosysopc.ua.server.NodeManagerTable.addNode(SourceFile:2373)
at com.prosysopc.ua.server.ModelParser.doAddNode(SourceFile:117)
at com.prosysopc.ua.ModelParserBase.addNodes(SourceFile:5597)
at com.prosysopc.ua.ModelParserBase.createModel(SourceFile:433)
at com.prosysopc.ua.server.NodeManagerTable.loadModel(SourceFile:2160)
at com.prosysopc.ua.server.NodeManagerTable.loadModel(SourceFile:2126)
at de.ostfalia.ua.server.OstfaliaUaServer.loadInformationModels(OstfaliaUaServer.java:211)
at de.ostfalia.ua.server.OstfaliaUaServer.(OstfaliaUaServer.java:78)
at de.ostfalia.ua.main.StartServer.main(StartServer.java:19)

[…]”

is it possible to use this nodeset with the sdk?

December 2, 2019
10:03, EET
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Bjarne Boström
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Hi,

Based on the error stacktrace of mention of ‘CartesianCoordinates’ I assume this model (or the Robotics model in practice) needs types from the Amendment 11 (for 1.04) – Spatial types. The standard nodeset file (thus generated code for) that comes with the SDK doesn’t yet include those.

SDK 4.2.0 will include the latest nodeset. However it seems we are getting 1.04.4 Errata soon, so we might wait until it is published.

If you are interested in a beta build (it does include a nodeset file that contains the types from Amendment 11) , send email to uajava-support@prosysopc.com.

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