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使用Milo 0.2.4调用getVariableNode遇Bad_NodeIdUnknown异常求助

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云上老周
2026-7-24
OPC UA Milo 0.2.4：节点存在但调用getVariableNode时抛出Bad_NodeIdUnknown异常

问题概述

使用OPC UA的Milo 0.2.4版本库，尝试访问节点ns=3;s=CIR.SAV.03.H1QCA.Value时抛出Bad_NodeIdUnknown异常，但通过Prosys客户端可确认该节点确实存在。奇怪的是，将代码中的getVariableNode(id).get()替换为createVariableNode(id)后，能够正常写入OPC UA服务器，且两种方式使用的节点ID完全一致。

异常信息 

2023-04-18 10:57:09.439 ERROR 14012 --- [http-nio-8082-exec-5] c.s.o.ua.client.ClientOpcUa.OPC_TPS_GTC  : Ecriture de la commande ns=3;s=CIR.SAV.03.H1QCA.Value impossible : {}

java.util.concurrent.ExecutionException: UaException: status=Bad_NodeIdUnknown, message=The node id refers to a node that does not exist in the server address space.
    at java.util.concurrent.CompletableFuture.reportGet(CompletableFuture.java:357)
    at java.util.concurrent.CompletableFuture.get(CompletableFuture.java:1908)
    at com.sup.opc.ua.client.ClientOpcUa.writeItems(ClientOpcUa.java:350)
    at com.sup.opc.OpcService.writeValues(OpcService.java:146)
    at com.sup.ws.service.PilotageEquipementService.writeOPC(PilotageEquipementService.java:186)
    at com.sup.ws.service.PilotageEquipementService.execute(PilotageEquipementService.java:133)
    at com.sup.ws.service.PilotageEquipementService$$FastClassBySpringCGLIB$$50a3fe5d.invoke(<generated>)
    at org.springframework.cglib.proxy.MethodProxy.invoke(MethodProxy.java:204)
    at org.springframework.aop.framework.CglibAopProxy$CglibMethodInvocation.invokeJoinpoint(CglibAopProxy.java:738)
    at org.springframework.aop.framework.ReflectiveMethodInvocation.proceed(ReflectiveMethodInvocation.java:157)
    at org.springframework.transaction.interceptor.TransactionInterceptor$1.proceedWithInvocation(TransactionInterceptor.java:99)
    at org.springframework.transaction.interceptor.TransactionAspectSupport.invokeWithinTransaction(TransactionAspectSupport.java:282)
    at org.springframework.transaction.interceptor.TransactionInterceptor.invoke(TransactionInterceptor.java:96)
    at org.springframework.aop.framework.ReflectiveMethodInvocation.proceed(ReflectiveMethodInvocation.java:179)
    at org.springframework.aop.framework.CglibAopProxy$DynamicAdvisedInterceptor.intercept(CglibAopProxy.java:673)
    at com.sup.ws.service.PilotageEquipementService$$EnhancerBySpringCGLIB$$8a9d258.execute(<generated>)
    at com.sup.ws.controller.CommandeController.execute(CommandeController.java:36)
    at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
    at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
    at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
    at java.lang.reflect.Method.invoke(Method.java:498)
    at org.springframework.web.method.support.InvocableHandlerMethod.doInvoke(InvocableHandlerMethod.java:205)
    at org.springframework.web.method.support.InvocableHandlerMethod.invokeForRequest(InvocableHandlerMethod.java:133)
    at org.springframework.web.servlet.mvc.method.annotation.ServletInvocableHandlerMethod.invokeAndHandle(ServletInvocableHandlerMethod.java:97)
    at org.springframework.web.servlet.mvc.method.annotation.RequestMappingHandlerAdapter.invokeHandlerMethod(RequestMappingHandlerAdapter.java:827)
    at org.springframework.web.servlet.mvc.method.annotation.RequestMappingHandlerAdapter.handleInternal(RequestMappingHandlerAdapter.java:738)
    at org.springframework.web.servlet.mvc.method.AbstractHandlerMethodAdapter.handle(AbstractHandlerMethodAdapter.java:85)
    at org.springframework.web.servlet.DispatcherServlet.doDispatch(DispatcherServlet.java:967)
    at org.springframework.web.servlet.DispatcherServlet.doService(DispatcherServlet.java:901)
    at org.springframework.web.servlet.FrameworkServlet.processRequest(FrameworkServlet.java:970)
    at org.springframework.web.servlet.FrameworkServlet.doPost(FrameworkServlet.java:872)
    at javax.servlet.http.HttpServlet.service(HttpServlet.java:707)
    at org.springframework.web.servlet.FrameworkServlet.service(FrameworkServlet.java:846)
    at javax.servlet.http.HttpServlet.service(HttpServlet.java:790)
    at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:231)
    at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:166)
    at org.apache.tomcat.websocket.server.WsFilter.doFilter(WsFilter.java:52)
    at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:193)
    at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:166)
    at org.springframework.boot.web.filter.ApplicationContextHeaderFilter.doFilterInternal(ApplicationContextHeaderFilter.java:55)
    at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:107)
    at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:193)
    at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:166)
    at org.springframework.boot.actuate.trace.WebRequestTraceFilter.doFilterInternal(WebRequestTraceFilter.java:105)
    at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:107)
    at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:193)
    at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:166)
    at org.springframework.web.filter.RequestContextFilter.doFilterInternal(RequestContextFilter.java:99)
    at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:107)
    at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:193)
    at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:166)
    at org.springframework.web.filter.HttpPutFormContentFilter.doFilterInternal(HttpPutFormContentFilter.java:105)
    at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:107)
    at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:193)
    at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:166)
    at org.springframework.web.filter.HiddenHttpMethodFilter.doFilterInternal(HiddenHttpMethodFilter.java:81)
    at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:107)
    at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:193)
    at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:166)
    at org.springframework.web.filter.CharacterEncodingFilter.doFilterInternal(CharacterEncodingFilter.java:197)
    at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:107)
    at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:193)
    at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:166)
    at org.springframework.boot.actuate.autoconfigure.MetricsFilter.doFilterInternal(MetricsFilter.java:106)
    at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:107)
    at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:193)
    at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:166)
    at org.apache.catalina.core.StandardWrapperValve.invoke(StandardWrapperValve.java:198)
    at org.apache.catalina.core.StandardContextValve.invoke(StandardContextValve.java:96)
    at org.apache.catalina.authenticator.AuthenticatorBase.invoke(AuthenticatorBase.java:478)
    at org.apache.catalina.core.StandardHostValve.invoke(StandardHostValve.java:140)
    at org.apache.catalina.valves.ErrorReportValve.invoke(ErrorReportValve.java:80)
    at org.apache.catalina.core.StandardEngineValve.invoke(StandardEngineValve.java:87)
    at org.apache.catalina.connector.CoyoteAdapter.service(CoyoteAdapter.java:342)
    at org.apache.coyote.http11.Http11Processor.service(Http11Processor.java:799)
    at org.apache.coyote.AbstractProcessorLight.process(AbstractProcessorLight.java:66)
    at org.apache.coyote.AbstractProtocol$ConnectionHandler.process(AbstractProtocol.java:861)
    at org.apache.tomcat.util.net.NioEndpoint$SocketProcessor.doRun(NioEndpoint.java:1455)
    at org.apache.tomcat.util.net.SocketProcessorBase.run(SocketProcessorBase.java:49)
    at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
    at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
    at org.apache.tomcat.util.threads.TaskThread$WrappingRunnable.run(TaskThread.java:61)
    at java.lang.Thread.run(Thread.java:750)
Caused by: org.eclipse.milo.opcua.stack.core.UaException: status=Bad_NodeIdUnknown, description=The node id refers to a node that does not exist in the server address space.
    at org.eclipse.milo.opcua.stack.core.util.FutureUtils.failedUaFuture(FutureUtils.java:100)
    at org.eclipse.milo.opcua.sdk.client.nodes.UaNode.lambda$getAttributeOrFail$12(UaNode.java:203)
    at java.util.concurrent.CompletableFuture.uniCompose(CompletableFuture.java:966)
    at java.util.concurrent.CompletableFuture$UniCompose.tryFire(CompletableFuture.java:940)
    at java.util.concurrent.CompletableFuture.postComplete(CompletableFuture.java:488)
    at java.util.concurrent.CompletableFuture.complete(CompletableFuture.java:1975)
    at org.eclipse.milo.opcua.stack.client.UaTcpStackClient.lambda$receiveResponse$16(UaTcpStackClient.java:352)
    at org.eclipse.milo.opcua.stack.core.util.ExecutionQueue$PollAndExecute.run(ExecutionQueue.java:107)
    at java.util.concurrent.Executors$RunnableAdapter.call(Executors.java:511)
    at java.util.concurrent.FutureTask.run(FutureTask.java:266)
    at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
    at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
    ... 1 common frames omitted

相关代码 

@Override
public boolean writeItems(Map<ItemId, Object> itemsValues) {
    ItemId itemId = null;

    for(Entry<ItemId, Object> entry : itemsValues.entrySet()) {
        itemId = entry.getKey();
        DataValue dataValue = new DataValue(new Variant(entry.getValue()), null, null);

        NodeId id = newNodeId(itemId.getTag());
        try {
            VariableNode variableNode = autoReconnectController.getClient().getAddressSpace().getVariableNode(id).get();
            StatusCode code = variableNode.writeValue(dataValue).get();
            logger.info("Result code {} in the variable {} : {}", entry.getValue(), itemId.getTag(), code.getValue());
        } catch (Exception e) {
            logger.error("Ecriture de la commande {} impossible : {}", id.toParseableString(), e);
            return false;
        }
    }

    return true;
}

public NodeId newNodeId(String id) {
    return new NodeId(config.getNamespace(), id);
}

已尝试的解决方案

  • 移除节点ID中的.Value后缀
  • 检查服务器配置（UaExpert中3秒可读取20个变量，排除服务器问题）
  • 修改节点ID

求助需求

以上方案均未解决问题，希望找到消除Bad_NodeIdUnknown异常的方法，确保使用getVariableNode时能正常访问目标节点。

内容的提问来源于stack exchange，提问作者Corentin

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最近更新时间：2026.07.24 07:54:56