SpringBoot集成Milo库实现OPC UA客户端：连接、遍历节点、读取、写入、订阅与批量订阅

import org.eclipse.milo.opcua.sdk.client.*;
import org.eclipse.milo.opcua.sdk.client.api.subscriptions.UaSubscription;
import org.eclipse.milo.opcua.stack.core.types.builtin.NodeId;
import org.eclipse.milo.opcua.stack.core.types.builtin.StatusCode;
import org.eclipse.milo.opcua.stack.core.types.enumerated.ServerState;
import org.eclipse.milo.opcua.stack.core.types.structures.EndpointDescription;
 
import java.util.EnumSet;
import java.util.List;
import java.util.concurrent.CompletableFuture;
import java.util.concurrent.ExecutionException;
 
public class OpcUaClientExample {
 
    public static void main(String[] args) throws ExecutionException, InterruptedException {
        // 创建OPC UA客户端配置
        OpcUaClientConfig clientConfig = OpcUaClientConfig.builder()
                .setApplicationName(LocalizedText.english("OpcUaClient"))
                .setApplicationUri("http://example.com/OpcUaClient")
                .setProductUri("http://example.com/OpcUaClient")
                .build();
 
        // 连接到OPC UA服务器
        try (OpcUaClient client = OpcUaClient.create("opc.tcp://example.com:4840", clientConfig)) {
            // 连接
            client.connect().get();
 
            // 浏览服务器端点并选择一个端点
            EndpointDescription endpoint = client.getEndpoints()
                    .orElseThrow(() -> new IllegalStateException("No endpoints found"))
                    .stream()
                    .findFirst()
                    .orElseThrow(() -> new IllegalStateException("No endpoints found"));
 
            // 状态变更事件
            client.addStateListener((oldState, newState) -> {
                System.out.println("State changed from " + oldState + " to " + newState);
                if (newState == ServerState.Connected) {
                    System.out.println("Connected to server!");
                }
            });
 
            // 浏览服务器信息
            client.getServerDiagnosticInfos()
                    .ifPresent(diagnosticInfos -> diagnosticInfos.forEach(diagnosticInfo -> {
                        System.out.println("Server Diagnostic Info: " + diagnosticInfo);
                    }));
 
            // 创建订阅
            UaSubscription subscription = client.getSubscriptionManager().createSubscription().get();
 
            // 读取节点属性
            CompletableFuture<DataValue> future = client.readValue(0.0, NodeId.parse("ns=2;s=1"));
            DataValue value