java结合opcua遍历搜有节点代码

以下是Java结合OPC UA进行遍历搜有节点的基本代码示例：

import java.util.List;
import java.util.concurrent.CompletableFuture;

import org.eclipse.milo.opcua.sdk.client.OpcUaClient;
import org.eclipse.milo.opcua.sdk.client.api.UaNode;
import org.eclipse.milo.opcua.sdk.client.nodes.UaObjectNode;
import org.eclipse.milo.opcua.sdk.client.nodes.UaVariableNode;
import org.eclipse.milo.opcua.stack.core.Identifiers;
import org.eclipse.milo.opcua.stack.core.UaException;
import org.eclipse.milo.opcua.stack.core.types.builtin.DataValue;
import org.eclipse.milo.opcua.stack.core.types.builtin.NodeId;
import org.eclipse.milo.opcua.stack.core.types.builtin.QualifiedName;

public class OpcUaNodeBrowser {

    public static void main(String[] args) throws Exception {
        // 连接OPC UA服务器
        OpcUaClient client = connectToOPCUAServer();

        // 遍历并打印所有节点信息
        browseNodes(client, Identifiers.RootFolder);
    }

    private static OpcUaClient connectToOPCUAServer() throws Exception {
        // 创建OPC UA客户端实例
        OpcUaClient client = OpcUaClient.create("opc.tcp://localhost:12686/example");

        // 异步连接
        CompletableFuture<OpcUaClient> future = client.connect();
        future.thenAccept(c -> System.out.println("Connected to OPC UA server: " + c.getEndpoint().getEndpointUrl()));

        // 等待连接完成
        future.get();

        return client;
    }

    private static void browseNodes(OpcUaClient client, NodeId nodeId) throws UaException {
        // 获取指定节点的子节点
        List<UaNode> children = client.getAddressSpace().getChildren(nodeId).get();

        for (UaNode child : children) {
            // 打印节点信息
            System.out.println(getNodeInfo(child));

            if (child instanceof UaObjectNode || child instanceof UaVariableNode) {
                // 遍历子节点
                browseNodes(client, child.getNodeId());
            }
        }
    }

    private static String getNodeInfo(UaNode node) throws UaException {
        NodeId nodeId = node.getNodeId();
        QualifiedName browseName = node.getBrowseName();
        DataValue value = node.readValue();

        String info = "Node ID: " + nodeId + ", Browse Name: " + browseName;

        if (node instanceof UaVariableNode && value != null && !value.isNull()) {
            info += ", Value: " + value.getValue().getValue();
        }

        return info;
    }

}

这个示例连接到本地OPC UA服务器，遍历所有节点，并打印节点的ID，浏览名称和值（如果是变量节点）。你可以根据自己的需求进行修改。