feat(opcua): zero-config native A&C alarms -> faults#511
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Pull request overview
Adds zero-config native OPC-UA Alarms & Conditions → SOVD faults support to the ros2_medkit_opcua plugin via a new auto_alarms node-map configuration. This extends the plugin’s alarm ingestion beyond hand-written event_alarms mappings by auto-deriving faults from observed condition events, while preserving explicit-mapping precedence and avoiding duplicate subscriptions.
Changes:
- Implemented
auto_alarmsparsing inNodeMap(bool + map forms, defaults, validation, unknown-key warnings) plus helpers for auto fault-code derivation, filtering, and severity mapping. - Updated
OpcuaPollerto subscribe/replay effective alarm sources (explicit + optional synthetic auto source), filter non-condition “system message” events, and supportauto_clearsemantics. - Added/extended unit tests and wired a new gtest target to cover the pure-function selection/filters and YAML behavior; updated plugin README documentation.
Reviewed changes
Copilot reviewed 8 out of 8 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
| src/ros2_medkit_plugins/ros2_medkit_opcua/src/opcua_poller.cpp | Adds effective alarm-source selection, non-condition event filtering, and auto-derived fault handling in the event + replay paths. |
| src/ros2_medkit_plugins/ros2_medkit_opcua/include/ros2_medkit_opcua/opcua_poller.hpp | Exposes/notes new pure helpers and per-observation clear-gating override. |
| src/ros2_medkit_plugins/ros2_medkit_opcua/src/node_map.cpp | Parses auto_alarms, warns on unknown keys, and registers the fallback fault-bearing entity. |
| src/ros2_medkit_plugins/ros2_medkit_opcua/include/ros2_medkit_opcua/node_map.hpp | Introduces AutoAlarmsConfig/AutoAlarmsSeverityBands and declares auto-derivation helpers. |
| src/ros2_medkit_plugins/ros2_medkit_opcua/test/test_node_map.cpp | Adds unit tests for fault-code derivation, filters, severity bands, and YAML parsing/defaults. |
| src/ros2_medkit_plugins/ros2_medkit_opcua/test/test_opcua_poller.cpp | New tests for effective_alarm_sources() precedence and is_condition_event() system-message filtering. |
| src/ros2_medkit_plugins/ros2_medkit_opcua/CMakeLists.txt | Registers the new test_opcua_poller gtest target and assigns a test domain. |
| src/ros2_medkit_plugins/ros2_medkit_opcua/README.md | Documents auto_alarms configuration and behavior. |
bburda
reviewed
Jul 10, 2026
bburda
previously approved these changes
Jul 11, 2026
Add auto_alarms to the node map: subscribe to a server EventNotifier (default Server object) and auto-derive a fault per condition with no per-alarm event_alarms mapping. fault_code from ConditionName/SourceName, falling back to a hash of SourceNode+EventType+Message so Siemens alarms sharing one SourceNode don't collapse. Filters non-condition system messages (null ConditionId). Explicit event_alarms still take precedence. Composes with #509 (discovery) and #510 (auto_browse).
…mments - AutoAlarmsConfig::entity_id doc (node_map.hpp) and the poller comment describing its fallback (opcua_poller.cpp) both said the default was the node map's bare component_id / PLC root component; NodeMap::load() actually defaults it to "<component_id>_alarms" to avoid an entity ID collision with the Component entity. Comments now match the code. - apply_condition_state()'s require_confirm_for_clear doc (opcua_poller.hpp) described the auto-derived-alarm caller as passing '!auto_clear complemented'; the actual on_event()/read_fallback_replay() logic forces false (plus acked_state=true) when auto_clear is true, and otherwise passes the poller-wide config_.require_confirm_for_clear unchanged - not a value derived from auto_clear at all. - README: auto_clear: false does not gate clearing through an event_alarms-mapping-provided acknowledge_fault operation (auto-derived alarms never get one); clearing is gated by the OPC-UA server's own Acked/Confirmed condition state, set by an HMI/SCADA system or another OPC-UA client. - clang-format-18 pass on touched files.
Enables zero-config native A&C with no node_map file: endpoint (from discovery) + auto_alarms: true is enough. The JSON/ROS param overlays the node-map YAML auto_alarms config block (param wins, mirroring auto_browse); explicit event_alarms mappings still win over auto-derivation at the poller. finalize_auto_alarms_overlay re-derives the default entity + parsed source NodeId and rebuilds entity_defs so the alarms App is discoverable with no map.
…edup Derive and store the auto fault_code/entity once at first observation of a ConditionId and deliver the stored values, so a condition's raise and clear always carry one code across the live, replay and reconcile paths. Fold the SourceNode into fault_code tiers 1/2 so same-named conditions on different sources stay distinct, and compare NodeIds canonically so equivalent spellings dedup and auto events already handled by an explicit event_alarms source do not double-fire.
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bburda
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Closes #514
Summary
Zero-config native OPC-UA Alarms & Conditions: subscribe to the server's alarm events and surface them as faults with no per-alarm
event_alarmsmapping. Completes "find a PLC (#509) -> tree (#510) -> native faults, zero config". Default off.What's included
auto_alarms: baretrueor a map (source_node_iddefaulti=2253,entity_iddefault<component_id>_alarms,auto_clear,severity_bands,include/excludesubstring filters). Unknown keys warn.derive_auto_fault_code, pure):PLC_ALARM_<slug(ConditionName)>->slug(SourceName)->hash(SourceNode+EventType+Message). Message is folded into the hash tier because Siemens multiplexes every Program_Alarm of one FB through a single SourceNode with empty names, distinguished only by message.ConditionIdare dropped (Part 9 - only real Conditions carry one), so a "CPU not in RUN" system message on the Server EventNotifier raises no false fault.event_alarmsmappings resolve first;auto_alarmsadds one synthetic mapping-less source for the rest (no duplicate subscriptions).Tests
27 gtest cases (
test_node_map, newtest_opcua_poller): derivation tiers, message disambiguation, filters, severity bands, YAML parse, precedence, system-message filtering. Full suite green;clang-format-18clean.Hardware-tested
Real Siemens (
opc.tcp://192.168.1.10:4840, zeroevent_alarms): zero-config subscription live, real "CPU not in RUN" system message correctly filtered (no false fault). Full raise->derive->clear proven against a real OPC-UA session (repotest_alarm_server):Overpressure/SensorLost->PLC_ALARM_OVERPRESSURE(CRITICAL) /PLC_ALARM_SENSORLOST(INFO) with correct message/entity, cleared on clear. Fixed along the way:auto_clearmust force both Ack+Confirm gates (auto alarms have no acknowledge op); defaultentity_id=<component_id>_alarms(bare component_id collided with the Component entity in the SOVD merge).