Table 23 defines the corresponding ConformanceUnits for the OPC UA Information Model for RSL.
Table 23 – Conformance Units for Relative Spatial Location
|
Category |
Title |
Description |
|
Server |
RSL Base |
Supports the base functionality defined in RSL InformationModel with at least one instance of SpatialObjectsListType (6.2) organized by the RelativeSpatialLocations object. The SpatialObjectsListType instance shall support at least one instance of SpatialObjectType (6.1). The Variable PositionFrame of the SpatialObjectType instance shall be of a discrete subtype of SpatialLocationType (7.2) |
|
Server |
RSL SpatialObject Identifier |
Supports the variable Identifier of SpatialObjectType (6.1). |
|
Server |
RSL SpatialObject AttachPoints |
Supports the folder AttachPoints of SpatialObjectType (6.1). |
|
Server |
RSL SpatialObject InternalFrames |
Supports the folder InternalFrames of SpatialObjectType (6.1). |
|
Server |
RSL SpatialObject AlternativeFrames |
Supports the folder AlternativeFrames of SpatialObjectType (6.1). |
|
Server |
CartesianFrameAngleOrientationType |
Instances of SpatialObjectType use the CartesianFrameAngleOrientationType (7.3) for WorldFrame and PositionFrame |
|
Client |
RSL Client Base |
Consumes the Object RelativeSpatialLocations (8.1) and Objects that conform to the types SpatialObjectType (6.1), SpatialObjectsListType (6.2) (described with sequences in Annex D.1) and interpret provided location information (e.g. following the reference chains to find the world frame) |
|
Client |
RSL Client ModelChange |
Receives the ModelChangeEvent or subscribes to the NodeVersion property and updates the model related information in its use-cases (e.g. rebrowse of the address space) |
Table 24 lists all Profiles defined in this document and defines their URIs.
Table 24 – Profile URIs for RSL
|
Profile |
URI |
|
RSL CartesianFrameAngleOrientation Profile |
http://opcfoundation.org/UA-Profile/RSL/Server/ CartesianFrameAngleOrientation |
|
RSL CartesianFrameAngleOrientation Identifier Profile
|
http://opcfoundation.org/UA-Profile/RSL/Server/ CartesianFrameAngleOrientationIdentifier |
The following sections specify the Facets available for Servers that implement the RSL companion specification. Each section defines and describes a Facet or Profile.
Table 25 defines a Profile that describes the base functionality of RSL information model using the CartesianFrameAngleOrientationType.
Table 25 – RSL CartesianFrameAngleOrientation Profile
|
Group |
Conformance Unit / Profile Title |
Mandatory / Optional |
|
Address Space Model |
0:Address Space Base |
M |
|
Address Space Model |
0:Address Space AddIn Reference |
M |
|
Address Space Model |
0:Address Space AddIn DefaultInstanceBrowsename |
M |
|
View Services |
0:View Basic |
M |
|
View Services |
0:View TranslateBrowsePath |
M |
|
View Services |
0:View Minimum Continuation Point 01 |
M |
|
Attribute Services |
0:Attribute Read |
M |
|
RSL |
RSL Base |
M |
|
RSL |
CartesianFrameAngleOrientationType |
M |
|
RSL |
RSL SpatialObject AttachPoints |
O |
|
RSL |
RSL SpatialObject InternalFrames |
O |
|
RSL |
RSL SpatialObject AlternativeFrames |
O |
Table 26 defines a Facet that describes the additionally to the base functionality of RSL information model using the CartesianFrameAngleOrientationType the Identifier Property SpatialObjects.
|
Group |
Conformance Unit / Profile Title |
Mandatory / Optional |
|
Profile |
RSL CartesianFrameAngleOrientation Profile |
M |
|
RSL |
RSL SpatialObject Identifier |
M |
The following tables specify the Facets available for Clients that implement the Relative Spatial Location companion specification.
Table 27 defines a Facet that describes the base characteristics for all OPC UA Clients that make use of this companion specification. Additional Profiles will define support for various information models that are part of this document.
Table 27 – RSL Base Client Profile
|
Group |
Conformance Unit / Profile Title |
Mandatory / Optional |
|
Profile |
0:AddressSpace Lookup Client Facethttp://opcfoundation.org/UA-Profile/Client/AddressSpaceLookup |
|
|
Profile |
0:DataAccess Client Facethttp://opcfoundation.org/UA-Profile/Client/DataAccess |
|
|
Profile |
0:DataChange Subscriber Client Facethttp://opcfoundation.org/UA-Profile/Client/DataChangeSubscriber |
|
|
Session Services |
0:Session Client Detect Shutdown |
M |
|
RSL |
RSL Client Base |
M |
|
RSL |
RSL Client ModelChange |
O |