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import asyncio |
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import pickle |
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import shelve |
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import logging |
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import collections |
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from datetime import datetime |
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from concurrent.futures import ThreadPoolExecutor |
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from functools import partial |
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from asyncua import ua |
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from .users import User |
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_logger = logging.getLogger(__name__) |
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class AttributeValue(object): |
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def __init__(self, value): |
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self.value = value |
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self.value_callback = None |
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self.datachange_callbacks = {} |
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def __str__(self): |
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return f"AttributeValue({self.value})" |
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__repr__ = __str__ |
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class NodeData: |
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def __init__(self, nodeid): |
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self.nodeid = nodeid |
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self.attributes = {} |
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self.references = [] |
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self.call = None |
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def __str__(self): |
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return f"NodeData(id:{self.nodeid}, attrs:{self.attributes}, refs:{self.references})" |
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__repr__ = __str__ |
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class AttributeService: |
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def __init__(self, aspace: "AddressSpace"): |
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self.logger = logging.getLogger(__name__) |
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self._aspace: "AddressSpace" = aspace |
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49
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def read(self, params): |
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#self.logger.debug("read %s", params) |
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res = [] |
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for readvalue in params.NodesToRead: |
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res.append(self._aspace.read_attribute_value(readvalue.NodeId, readvalue.AttributeId)) |
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54
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return res |
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56
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def write(self, params, user=User.Admin): |
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#self.logger.debug("write %s as user %s", params, user) |
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res = [] |
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for writevalue in params.NodesToWrite: |
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if user != User.Admin: |
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if writevalue.AttributeId != ua.AttributeIds.Value: |
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res.append(ua.StatusCode(ua.StatusCodes.BadUserAccessDenied)) |
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continue |
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al = self._aspace.read_attribute_value(writevalue.NodeId, ua.AttributeIds.AccessLevel) |
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ual = self._aspace.read_attribute_value(writevalue.NodeId, ua.AttributeIds.UserAccessLevel) |
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if not al.StatusCode.is_good() or not ua.ua_binary.test_bit( |
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al.Value.Value, ua.AccessLevel.CurrentWrite) or not ua.ua_binary.test_bit( |
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ual.Value.Value, ua.AccessLevel.CurrentWrite): |
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res.append(ua.StatusCode(ua.StatusCodes.BadUserAccessDenied)) |
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continue |
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res.append(self._aspace.write_attribute_value(writevalue.NodeId, writevalue.AttributeId, writevalue.Value)) |
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return res |
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74
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75
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class ViewService(object): |
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def __init__(self, aspace: "AddressSpace"): |
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self.logger = logging.getLogger(__name__) |
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self._aspace: "AddressSpace" = aspace |
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81
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def browse(self, params): |
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#self.logger.debug("browse %s", params) |
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res = [] |
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84
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for desc in params.NodesToBrowse: |
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res.append(self._browse(desc)) |
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return res |
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def _browse(self, desc): |
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res = ua.BrowseResult() |
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if desc.NodeId not in self._aspace: |
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res.StatusCode = ua.StatusCode(ua.StatusCodes.BadNodeIdInvalid) |
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return res |
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node = self._aspace[desc.NodeId] |
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for ref in node.references: |
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if not self._is_suitable_ref(desc, ref): |
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continue |
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res.References.append(ref) |
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return res |
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100
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def _is_suitable_ref(self, desc, ref): |
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if not self._suitable_direction(desc.BrowseDirection, ref.IsForward): |
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#self.logger.debug("%s is not suitable due to direction", ref) |
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return False |
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if not self._suitable_reftype(desc.ReferenceTypeId, ref.ReferenceTypeId, desc.IncludeSubtypes): |
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#self.logger.debug("%s is not suitable due to type", ref) |
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return False |
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if desc.NodeClassMask and ((desc.NodeClassMask & ref.NodeClass) == 0): |
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#self.logger.debug("%s is not suitable due to class", ref) |
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return False |
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#self.logger.debug("%s is a suitable ref for desc %s", ref, desc) |
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return True |
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113
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def _suitable_reftype(self, ref1, ref2, subtypes): |
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""" |
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115
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""" |
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if ref1 == ua.NodeId(ua.ObjectIds.Null): |
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# If ReferenceTypeId is not specified in the BrowseDescription, |
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# all References are returned and includeSubtypes is ignored. |
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return True |
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120
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if not subtypes and ref2.Identifier == ua.ObjectIds.HasSubtype: |
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return False |
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if ref1.Identifier == ref2.Identifier: |
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return True |
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oktypes = self._get_sub_ref(ref1) |
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if not subtypes and ua.NodeId(ua.ObjectIds.HasSubtype) in oktypes: |
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oktypes.remove(ua.NodeId(ua.ObjectIds.HasSubtype)) |
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return ref2 in oktypes |
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def _get_sub_ref(self, ref): |
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res = [] |
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nodedata = self._aspace[ref] |
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if nodedata is not None: |
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for ref in nodedata.references: |
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if ref.ReferenceTypeId.Identifier == ua.ObjectIds.HasSubtype and ref.IsForward: |
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res.append(ref.NodeId) |
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res += self._get_sub_ref(ref.NodeId) |
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return res |
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def _suitable_direction(self, direction, isforward): |
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if direction == ua.BrowseDirection.Both: |
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return True |
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if direction == ua.BrowseDirection.Forward and isforward: |
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return True |
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if direction == ua.BrowseDirection.Inverse and not isforward: |
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return True |
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return False |
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148
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def translate_browsepaths_to_nodeids(self, browsepaths): |
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#self.logger.debug("translate browsepath: %s", browsepaths) |
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results = [] |
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for path in browsepaths: |
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results.append(self._translate_browsepath_to_nodeid(path)) |
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return results |
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155
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def _translate_browsepath_to_nodeid(self, path): |
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#self.logger.debug("looking at path: %s", path) |
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res = ua.BrowsePathResult() |
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158
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if not path.RelativePath.Elements[-1].TargetName: |
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159
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# OPC UA Part 4: Services, 5.8.4 TranslateBrowsePathsToNodeIds |
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160
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# it's unclear if this the check should also handle empty strings |
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161
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res.StatusCode = ua.StatusCode(ua.StatusCodes.BadBrowseNameInvalid) |
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162
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return res |
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163
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if path.StartingNode not in self._aspace: |
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164
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res.StatusCode = ua.StatusCode(ua.StatusCodes.BadNodeIdInvalid) |
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165
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return res |
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166
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current = path.StartingNode |
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167
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for el in path.RelativePath.Elements: |
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168
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nodeid = self._find_element_in_node(el, current) |
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169
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if not nodeid: |
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170
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res.StatusCode = ua.StatusCode(ua.StatusCodes.BadNoMatch) |
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171
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return res |
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172
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current = nodeid |
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173
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target = ua.BrowsePathTarget() |
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174
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target.TargetId = current |
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175
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target.RemainingPathIndex = 4294967295 |
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176
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res.Targets = [target] |
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177
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return res |
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179
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def _find_element_in_node(self, el, nodeid): |
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180
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nodedata = self._aspace[nodeid] |
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181
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for ref in nodedata.references: |
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182
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if ref.BrowseName != el.TargetName: |
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183
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continue |
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184
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if ref.IsForward == el.IsInverse: |
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185
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continue |
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186
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if not el.IncludeSubtypes and ref.ReferenceTypeId != el.ReferenceTypeId: |
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187
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continue |
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188
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elif el.IncludeSubtypes and ref.ReferenceTypeId != el.ReferenceTypeId: |
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189
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if ref.ReferenceTypeId not in self._get_sub_ref(el.ReferenceTypeId): |
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190
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continue |
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191
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return ref.NodeId |
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192
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self.logger.info("element %s was not found in node %s", el, nodeid) |
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193
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return None |
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194
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195
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196
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class NodeManagementService: |
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197
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198
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def __init__(self, aspace: "AddressSpace"): |
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199
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self.logger = logging.getLogger(__name__) |
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200
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self._aspace: "AddressSpace" = aspace |
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201
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202
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def add_nodes(self, addnodeitems, user=User.Admin): |
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203
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results = [] |
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204
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for item in addnodeitems: |
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205
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results.append(self._add_node(item, user)) |
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206
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return results |
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207
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208
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def try_add_nodes(self, addnodeitems, user=User.Admin, check=True): |
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209
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for item in addnodeitems: |
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210
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ret = self._add_node(item, user, check=check) |
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211
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if not ret.StatusCode.is_good(): |
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212
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yield item |
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213
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214
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def _add_node(self, item, user, check=True): |
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215
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#self.logger.debug("Adding node %s %s", item.RequestedNewNodeId, item.BrowseName) |
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216
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result = ua.AddNodesResult() |
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217
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218
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if not user == User.Admin: |
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219
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result.StatusCode = ua.StatusCode(ua.StatusCodes.BadUserAccessDenied) |
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220
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return result |
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221
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222
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if item.RequestedNewNodeId.has_null_identifier(): |
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223
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# If Identifier of requested NodeId is null we generate a new NodeId using |
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224
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# the namespace of the nodeid, this is an extention of the spec to allow |
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225
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# to requests the server to generate a new nodeid in a specified namespace |
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226
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#self.logger.debug("RequestedNewNodeId has null identifier, generating Identifier") |
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227
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item.RequestedNewNodeId = self._aspace.generate_nodeid(item.RequestedNewNodeId.NamespaceIndex) |
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228
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else: |
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229
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if item.RequestedNewNodeId in self._aspace: |
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230
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self.logger.warning("AddNodesItem: Requested NodeId %s already exists", item.RequestedNewNodeId) |
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231
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result.StatusCode = ua.StatusCode(ua.StatusCodes.BadNodeIdExists) |
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232
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return result |
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233
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234
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if item.ParentNodeId.is_null(): |
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235
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# self.logger.info("add_node: while adding node %s, requested parent node is null %s %s", |
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236
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# item.RequestedNewNodeId, item.ParentNodeId, item.ParentNodeId.is_null()) |
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237
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if check: |
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238
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result.StatusCode = ua.StatusCode(ua.StatusCodes.BadParentNodeIdInvalid) |
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239
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return result |
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240
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241
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parentdata = self._aspace.get(item.ParentNodeId) |
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242
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if parentdata is None and not item.ParentNodeId.is_null(): |
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243
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self.logger.info("add_node: while adding node %s, requested parent node %s does not exists", |
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244
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item.RequestedNewNodeId, item.ParentNodeId) |
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245
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result.StatusCode = ua.StatusCode(ua.StatusCodes.BadParentNodeIdInvalid) |
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246
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return result |
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247
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248
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nodedata = NodeData(item.RequestedNewNodeId) |
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249
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250
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self._add_node_attributes(nodedata, item, add_timestamps=check) |
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251
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252
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# now add our node to db |
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253
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self._aspace[nodedata.nodeid] = nodedata |
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254
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255
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if parentdata is not None: |
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256
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self._add_ref_from_parent(nodedata, item, parentdata) |
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257
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self._add_ref_to_parent(nodedata, item, parentdata) |
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258
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|
259
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# add type definition |
|
260
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if item.TypeDefinition != ua.NodeId(): |
|
261
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self._add_type_definition(nodedata, item) |
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262
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|
263
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result.StatusCode = ua.StatusCode() |
|
264
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result.AddedNodeId = nodedata.nodeid |
|
265
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|
266
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return result |
|
267
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|
268
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def _add_node_attributes(self, nodedata, item, add_timestamps): |
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269
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# add common attrs |
|
270
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|
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nodedata.attributes[ua.AttributeIds.NodeId] = AttributeValue( |
|
271
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ua.DataValue(ua.Variant(nodedata.nodeid, ua.VariantType.NodeId)) |
|
272
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) |
|
273
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nodedata.attributes[ua.AttributeIds.BrowseName] = AttributeValue( |
|
274
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ua.DataValue(ua.Variant(item.BrowseName, ua.VariantType.QualifiedName)) |
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275
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) |
|
276
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nodedata.attributes[ua.AttributeIds.NodeClass] = AttributeValue( |
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277
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ua.DataValue(ua.Variant(item.NodeClass, ua.VariantType.Int32)) |
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278
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) |
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279
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# add requested attrs |
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280
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self._add_nodeattributes(item.NodeAttributes, nodedata, add_timestamps) |
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281
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282
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def _add_unique_reference(self, nodedata, desc): |
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283
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for r in nodedata.references: |
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284
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if r.ReferenceTypeId == desc.ReferenceTypeId and r.NodeId == desc.NodeId: |
|
285
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if r.IsForward != desc.IsForward: |
|
286
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self.logger.error("Cannot add conflicting reference %s ", str(desc)) |
|
287
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return ua.StatusCode(ua.StatusCodes.BadReferenceNotAllowed) |
|
288
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|
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break # ref already exists |
|
289
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|
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else: |
|
290
|
|
|
nodedata.references.append(desc) |
|
291
|
|
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return ua.StatusCode() |
|
292
|
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|
293
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|
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def _add_ref_from_parent(self, nodedata, item, parentdata): |
|
294
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|
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desc = ua.ReferenceDescription() |
|
295
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|
|
desc.ReferenceTypeId = item.ReferenceTypeId |
|
296
|
|
|
desc.NodeId = nodedata.nodeid |
|
297
|
|
|
desc.NodeClass = item.NodeClass |
|
298
|
|
|
desc.BrowseName = item.BrowseName |
|
299
|
|
|
desc.DisplayName = item.NodeAttributes.DisplayName |
|
300
|
|
|
desc.TypeDefinition = item.TypeDefinition |
|
301
|
|
|
desc.IsForward = True |
|
302
|
|
|
self._add_unique_reference(parentdata, desc) |
|
303
|
|
|
|
|
304
|
|
|
def _add_ref_to_parent(self, nodedata, item, parentdata): |
|
305
|
|
|
addref = ua.AddReferencesItem() |
|
306
|
|
|
addref.ReferenceTypeId = item.ReferenceTypeId |
|
307
|
|
|
addref.SourceNodeId = nodedata.nodeid |
|
308
|
|
|
addref.TargetNodeId = item.ParentNodeId |
|
309
|
|
|
addref.TargetNodeClass = parentdata.attributes[ua.AttributeIds.NodeClass].value.Value.Value |
|
310
|
|
|
addref.IsForward = False |
|
311
|
|
|
self._add_reference_no_check(nodedata, addref) |
|
312
|
|
|
|
|
313
|
|
|
def _add_type_definition(self, nodedata, item): |
|
314
|
|
|
addref = ua.AddReferencesItem() |
|
315
|
|
|
addref.SourceNodeId = nodedata.nodeid |
|
316
|
|
|
addref.IsForward = True |
|
317
|
|
|
addref.ReferenceTypeId = ua.NodeId(ua.ObjectIds.HasTypeDefinition) |
|
318
|
|
|
addref.TargetNodeId = item.TypeDefinition |
|
319
|
|
|
addref.TargetNodeClass = ua.NodeClass.DataType |
|
320
|
|
|
self._add_reference_no_check(nodedata, addref) |
|
321
|
|
|
|
|
322
|
|
|
def delete_nodes(self, deletenodeitems, user=User.Admin): |
|
323
|
|
|
results = [] |
|
324
|
|
|
for item in deletenodeitems.NodesToDelete: |
|
325
|
|
|
results.append(self._delete_node(item, user)) |
|
326
|
|
|
return results |
|
327
|
|
|
|
|
328
|
|
|
def _delete_node(self, item, user): |
|
329
|
|
|
if user != User.Admin: |
|
330
|
|
|
return ua.StatusCode(ua.StatusCodes.BadUserAccessDenied) |
|
331
|
|
|
|
|
332
|
|
|
if item.NodeId not in self._aspace: |
|
333
|
|
|
self.logger.warning("DeleteNodesItem: NodeId %s does not exists", item.NodeId) |
|
334
|
|
|
return ua.StatusCode(ua.StatusCodes.BadNodeIdUnknown) |
|
335
|
|
|
|
|
336
|
|
|
if item.DeleteTargetReferences: |
|
337
|
|
|
for elem in self._aspace.keys(): |
|
338
|
|
|
for rdesc in self._aspace[elem].references: |
|
339
|
|
|
if rdesc.NodeId == item.NodeId: |
|
340
|
|
|
self._aspace[elem].references.remove(rdesc) |
|
341
|
|
|
|
|
342
|
|
|
self._delete_node_callbacks(self._aspace[item.NodeId]) |
|
343
|
|
|
|
|
344
|
|
|
del (self._aspace[item.NodeId]) |
|
345
|
|
|
|
|
346
|
|
|
return ua.StatusCode() |
|
347
|
|
|
|
|
348
|
|
|
def _delete_node_callbacks(self, nodedata): |
|
349
|
|
|
if ua.AttributeIds.Value in nodedata.attributes: |
|
350
|
|
|
for handle, callback in list(nodedata.attributes[ua.AttributeIds.Value].datachange_callbacks.items()): |
|
351
|
|
|
try: |
|
352
|
|
|
callback(handle, None, ua.StatusCode(ua.StatusCodes.BadNodeIdUnknown)) |
|
353
|
|
|
self._aspace.delete_datachange_callback(handle) |
|
354
|
|
|
except Exception as ex: |
|
355
|
|
|
self.logger.exception("Error calling delete node callback callback %s, %s, %s", nodedata, |
|
356
|
|
|
ua.AttributeIds.Value, ex) |
|
357
|
|
|
|
|
358
|
|
|
def add_references(self, refs, user=User.Admin): |
|
359
|
|
|
result = [] |
|
360
|
|
|
for ref in refs: |
|
361
|
|
|
result.append(self._add_reference(ref, user)) |
|
362
|
|
|
return result |
|
363
|
|
|
|
|
364
|
|
|
def try_add_references(self, refs, user=User.Admin): |
|
365
|
|
|
for ref in refs: |
|
366
|
|
|
if not self._add_reference(ref, user).is_good(): |
|
367
|
|
|
yield ref |
|
368
|
|
|
|
|
369
|
|
|
def _add_reference(self, addref, user): |
|
370
|
|
|
sourcedata = self._aspace.get(addref.SourceNodeId) |
|
371
|
|
|
if sourcedata is None: |
|
372
|
|
|
return ua.StatusCode(ua.StatusCodes.BadSourceNodeIdInvalid) |
|
373
|
|
|
if addref.TargetNodeId not in self._aspace: |
|
374
|
|
|
return ua.StatusCode(ua.StatusCodes.BadTargetNodeIdInvalid) |
|
375
|
|
|
if user != User.Admin: |
|
376
|
|
|
return ua.StatusCode(ua.StatusCodes.BadUserAccessDenied) |
|
377
|
|
|
return self._add_reference_no_check(sourcedata, addref) |
|
378
|
|
|
|
|
379
|
|
|
def _add_reference_no_check(self, sourcedata, addref): |
|
380
|
|
|
rdesc = ua.ReferenceDescription() |
|
381
|
|
|
rdesc.ReferenceTypeId = addref.ReferenceTypeId |
|
382
|
|
|
rdesc.IsForward = addref.IsForward |
|
383
|
|
|
rdesc.NodeId = addref.TargetNodeId |
|
384
|
|
|
if addref.TargetNodeClass == ua.NodeClass.Unspecified: |
|
385
|
|
|
rdesc.NodeClass = self._aspace.read_attribute_value( |
|
386
|
|
|
addref.TargetNodeId, ua.AttributeIds.NodeClass).Value.Value |
|
387
|
|
|
else: |
|
388
|
|
|
rdesc.NodeClass = addref.TargetNodeClass |
|
389
|
|
|
bname = self._aspace.read_attribute_value(addref.TargetNodeId, ua.AttributeIds.BrowseName).Value.Value |
|
390
|
|
|
if bname: |
|
391
|
|
|
rdesc.BrowseName = bname |
|
392
|
|
|
dname = self._aspace.read_attribute_value(addref.TargetNodeId, ua.AttributeIds.DisplayName).Value.Value |
|
393
|
|
|
if dname: |
|
394
|
|
|
rdesc.DisplayName = dname |
|
395
|
|
|
return self._add_unique_reference(sourcedata, rdesc) |
|
396
|
|
|
|
|
397
|
|
|
def delete_references(self, refs, user=User.Admin): |
|
398
|
|
|
result = [] |
|
399
|
|
|
for ref in refs: |
|
400
|
|
|
result.append(self._delete_reference(ref, user)) |
|
401
|
|
|
return result |
|
402
|
|
|
|
|
403
|
|
|
def _delete_unique_reference(self, item, invert=False): |
|
404
|
|
|
if invert: |
|
405
|
|
|
source, target, forward = item.TargetNodeId, item.SourceNodeId, not item.IsForward |
|
406
|
|
|
else: |
|
407
|
|
|
source, target, forward = item.SourceNodeId, item.TargetNodeId, item.IsForward |
|
408
|
|
|
for rdesc in self._aspace[source].references: |
|
409
|
|
|
if rdesc.NodeId == target and rdesc.ReferenceTypeId == item.ReferenceTypeId: |
|
410
|
|
|
if rdesc.IsForward == forward: |
|
411
|
|
|
self._aspace[source].references.remove(rdesc) |
|
412
|
|
|
return ua.StatusCode() |
|
413
|
|
|
return ua.StatusCode(ua.StatusCodes.BadNotFound) |
|
414
|
|
|
|
|
415
|
|
|
def _delete_reference(self, item, user): |
|
416
|
|
|
if item.SourceNodeId not in self._aspace: |
|
417
|
|
|
return ua.StatusCode(ua.StatusCodes.BadSourceNodeIdInvalid) |
|
418
|
|
|
if item.TargetNodeId not in self._aspace: |
|
419
|
|
|
return ua.StatusCode(ua.StatusCodes.BadTargetNodeIdInvalid) |
|
420
|
|
|
if item.ReferenceTypeId not in self._aspace: |
|
421
|
|
|
return ua.StatusCode(ua.StatusCodes.BadReferenceTypeIdInvalid) |
|
422
|
|
|
if user != User.Admin: |
|
423
|
|
|
return ua.StatusCode(ua.StatusCodes.BadUserAccessDenied) |
|
424
|
|
|
|
|
425
|
|
|
if item.DeleteBidirectional: |
|
426
|
|
|
self._delete_unique_reference(item, True) |
|
427
|
|
|
return self._delete_unique_reference(item) |
|
428
|
|
|
|
|
429
|
|
|
def _add_node_attr(self, item, nodedata, name, vtype=None, add_timestamps=False): |
|
430
|
|
|
if item.SpecifiedAttributes & getattr(ua.NodeAttributesMask, name): |
|
|
|
|
|
|
431
|
|
|
dv = ua.DataValue(ua.Variant(getattr(item, name), vtype)) |
|
432
|
|
|
if add_timestamps: |
|
433
|
|
|
# dv.ServerTimestamp = datetime.utcnow() # Disabled until someone explains us it should be there |
|
434
|
|
|
dv.SourceTimestamp = datetime.utcnow() |
|
435
|
|
|
nodedata.attributes[getattr(ua.AttributeIds, name)] = AttributeValue(dv) |
|
436
|
|
|
|
|
437
|
|
|
def _add_nodeattributes(self, item, nodedata, add_timestamps): |
|
438
|
|
|
self._add_node_attr(item, nodedata, "AccessLevel", ua.VariantType.Byte) |
|
439
|
|
|
self._add_node_attr(item, nodedata, "ArrayDimensions", ua.VariantType.UInt32) |
|
440
|
|
|
self._add_node_attr(item, nodedata, "BrowseName", ua.VariantType.QualifiedName) |
|
441
|
|
|
self._add_node_attr(item, nodedata, "ContainsNoLoops", ua.VariantType.Boolean) |
|
442
|
|
|
self._add_node_attr(item, nodedata, "DataType", ua.VariantType.NodeId) |
|
443
|
|
|
self._add_node_attr(item, nodedata, "Description", ua.VariantType.LocalizedText) |
|
444
|
|
|
self._add_node_attr(item, nodedata, "DisplayName", ua.VariantType.LocalizedText) |
|
445
|
|
|
self._add_node_attr(item, nodedata, "EventNotifier", ua.VariantType.Byte) |
|
446
|
|
|
self._add_node_attr(item, nodedata, "Executable", ua.VariantType.Boolean) |
|
447
|
|
|
self._add_node_attr(item, nodedata, "Historizing", ua.VariantType.Boolean) |
|
448
|
|
|
self._add_node_attr(item, nodedata, "InverseName", ua.VariantType.LocalizedText) |
|
449
|
|
|
self._add_node_attr(item, nodedata, "IsAbstract", ua.VariantType.Boolean) |
|
450
|
|
|
self._add_node_attr(item, nodedata, "MinimumSamplingInterval", ua.VariantType.Double) |
|
451
|
|
|
self._add_node_attr(item, nodedata, "NodeClass", ua.VariantType.Int32) |
|
452
|
|
|
self._add_node_attr(item, nodedata, "NodeId", ua.VariantType.NodeId) |
|
453
|
|
|
self._add_node_attr(item, nodedata, "Symmetric", ua.VariantType.Boolean) |
|
454
|
|
|
self._add_node_attr(item, nodedata, "UserAccessLevel", ua.VariantType.Byte) |
|
455
|
|
|
self._add_node_attr(item, nodedata, "UserExecutable", ua.VariantType.Boolean) |
|
456
|
|
|
self._add_node_attr(item, nodedata, "UserWriteMask", ua.VariantType.Byte) |
|
457
|
|
|
self._add_node_attr(item, nodedata, "ValueRank", ua.VariantType.Int32) |
|
458
|
|
|
self._add_node_attr(item, nodedata, "WriteMask", ua.VariantType.UInt32) |
|
459
|
|
|
self._add_node_attr(item, nodedata, "UserWriteMask", ua.VariantType.UInt32) |
|
460
|
|
|
self._add_node_attr(item, nodedata, "Value", add_timestamps=add_timestamps) |
|
461
|
|
|
|
|
462
|
|
|
|
|
463
|
|
|
class MethodService: |
|
464
|
|
|
|
|
465
|
|
|
def __init__(self, aspace: "AddressSpace"): |
|
466
|
|
|
self.logger = logging.getLogger(__name__) |
|
467
|
|
|
self._aspace: "AddressSpace" = aspace |
|
468
|
|
|
self._pool = ThreadPoolExecutor() |
|
469
|
|
|
|
|
470
|
|
|
def stop(self): |
|
471
|
|
|
self._pool.shutdown() |
|
472
|
|
|
|
|
473
|
|
|
async def call(self, methods): |
|
474
|
|
|
results = [] |
|
475
|
|
|
for method in methods: |
|
476
|
|
|
res = await self._call(method) |
|
477
|
|
|
results.append(res) |
|
478
|
|
|
return results |
|
479
|
|
|
|
|
480
|
|
|
async def _call(self, method): |
|
481
|
|
|
self.logger.info("Calling: %s", method) |
|
482
|
|
|
res = ua.CallMethodResult() |
|
483
|
|
|
if method.ObjectId not in self._aspace or method.MethodId not in self._aspace: |
|
484
|
|
|
res.StatusCode = ua.StatusCode(ua.StatusCodes.BadNodeIdInvalid) |
|
485
|
|
|
else: |
|
486
|
|
|
node = self._aspace[method.MethodId] |
|
487
|
|
|
if node.call is None: |
|
488
|
|
|
res.StatusCode = ua.StatusCode(ua.StatusCodes.BadNothingToDo) |
|
489
|
|
|
else: |
|
490
|
|
|
try: |
|
491
|
|
|
result = await self._run_method(node.call, method.ObjectId, *method.InputArguments) |
|
492
|
|
|
except Exception: |
|
493
|
|
|
self.logger.exception("Error executing method call %s, an exception was raised: ", method) |
|
494
|
|
|
res.StatusCode = ua.StatusCode(ua.StatusCodes.BadUnexpectedError) |
|
495
|
|
|
else: |
|
496
|
|
|
if isinstance(result, ua.CallMethodResult): |
|
497
|
|
|
res = result |
|
498
|
|
|
elif isinstance(result, ua.StatusCode): |
|
499
|
|
|
res.StatusCode = result |
|
500
|
|
|
else: |
|
501
|
|
|
res.OutputArguments = result |
|
502
|
|
|
while len(res.InputArgumentResults) < len(method.InputArguments): |
|
503
|
|
|
res.InputArgumentResults.append(ua.StatusCode()) |
|
504
|
|
|
return res |
|
505
|
|
|
|
|
506
|
|
|
async def _run_method(self, func, parent, *args): |
|
507
|
|
|
if asyncio.iscoroutinefunction(func): |
|
508
|
|
|
return await func(parent, *args) |
|
509
|
|
|
p = partial(func, parent, *args) |
|
510
|
|
|
res = await asyncio.get_event_loop().run_in_executor(self._pool, p) |
|
511
|
|
|
return res |
|
512
|
|
|
|
|
513
|
|
|
|
|
514
|
|
|
class AddressSpace: |
|
515
|
|
|
""" |
|
516
|
|
|
The address space object stores all the nodes of the OPC-UA server and helper methods. |
|
517
|
|
|
The methods are thread safe |
|
518
|
|
|
""" |
|
519
|
|
|
|
|
520
|
|
|
def __init__(self): |
|
521
|
|
|
self.logger = logging.getLogger(__name__) |
|
522
|
|
|
self._nodes = {} |
|
523
|
|
|
self._datachange_callback_counter = 200 |
|
524
|
|
|
self._handle_to_attribute_map = {} |
|
525
|
|
|
self._default_idx = 2 |
|
526
|
|
|
self._nodeid_counter = {0: 20000, 1: 2000} |
|
527
|
|
|
|
|
528
|
|
|
def __getitem__(self, nodeid): |
|
529
|
|
|
return self._nodes.__getitem__(nodeid) |
|
530
|
|
|
|
|
531
|
|
|
def get(self, nodeid): |
|
532
|
|
|
return self._nodes.get(nodeid, None) |
|
533
|
|
|
|
|
534
|
|
|
def __setitem__(self, nodeid, value): |
|
535
|
|
|
return self._nodes.__setitem__(nodeid, value) |
|
536
|
|
|
|
|
537
|
|
|
def __contains__(self, nodeid): |
|
538
|
|
|
return self._nodes.__contains__(nodeid) |
|
539
|
|
|
|
|
540
|
|
|
def __delitem__(self, nodeid): |
|
541
|
|
|
self._nodes.__delitem__(nodeid) |
|
542
|
|
|
|
|
543
|
|
|
def generate_nodeid(self, idx=None): |
|
544
|
|
|
if idx is None: |
|
545
|
|
|
idx = self._default_idx |
|
546
|
|
|
if idx in self._nodeid_counter: |
|
547
|
|
|
self._nodeid_counter[idx] += 1 |
|
548
|
|
|
else: |
|
549
|
|
|
# get the biggest identifier number from the existed nodes in address space |
|
550
|
|
|
identifier_list = sorted([ |
|
551
|
|
|
nodeid.Identifier for nodeid in self._nodes.keys() |
|
552
|
|
|
if nodeid.NamespaceIndex == idx and nodeid.NodeIdType in ( |
|
553
|
|
|
ua.NodeIdType.Numeric, ua.NodeIdType.TwoByte, ua.NodeIdType.FourByte |
|
554
|
|
|
) |
|
555
|
|
|
]) |
|
556
|
|
|
if identifier_list: |
|
557
|
|
|
self._nodeid_counter[idx] = identifier_list[-1] |
|
558
|
|
|
else: |
|
559
|
|
|
self._nodeid_counter[idx] = 1 |
|
560
|
|
|
nodeid = ua.NodeId(self._nodeid_counter[idx], idx) |
|
561
|
|
|
while True: |
|
562
|
|
|
if nodeid in self._nodes: |
|
563
|
|
|
nodeid = self.generate_nodeid(idx) |
|
564
|
|
|
else: |
|
565
|
|
|
return nodeid |
|
566
|
|
|
|
|
567
|
|
|
def keys(self): |
|
568
|
|
|
return self._nodes.keys() |
|
569
|
|
|
|
|
570
|
|
|
def empty(self): |
|
571
|
|
|
"""Delete all nodes in address space""" |
|
572
|
|
|
self._nodes = {} |
|
573
|
|
|
|
|
574
|
|
|
def dump(self, path): |
|
575
|
|
|
""" |
|
576
|
|
|
Dump address space as binary to file; note that server must be stopped for this method to work |
|
577
|
|
|
DO NOT DUMP AN ADDRESS SPACE WHICH IS USING A SHELF (load_aspace_shelf), ONLY CACHED NODES WILL GET DUMPED! |
|
578
|
|
|
""" |
|
579
|
|
|
# prepare nodes in address space for being serialized |
|
580
|
|
|
for nodeid, ndata in self._nodes.items(): |
|
581
|
|
|
# if the node has a reference to a method call, remove it so the object can be serialized |
|
582
|
|
|
if ndata.call is not None: |
|
583
|
|
|
self._nodes[nodeid].call = None |
|
584
|
|
|
|
|
585
|
|
|
with open(path, 'wb') as f: |
|
586
|
|
|
pickle.dump(self._nodes, f, pickle.HIGHEST_PROTOCOL) |
|
587
|
|
|
|
|
588
|
|
|
def load(self, path): |
|
589
|
|
|
""" |
|
590
|
|
|
Load address space from a binary file, overwriting everything in the current address space |
|
591
|
|
|
""" |
|
592
|
|
|
with open(path, 'rb') as f: |
|
593
|
|
|
self._nodes = pickle.load(f) |
|
594
|
|
|
|
|
595
|
|
|
def make_aspace_shelf(self, path): |
|
596
|
|
|
""" |
|
597
|
|
|
Make a shelf for containing the nodes from the standard address space; this is typically only done on first |
|
598
|
|
|
start of the server. Subsequent server starts will load the shelf, nodes are then moved to a cache |
|
599
|
|
|
by the LazyLoadingDict class when they are accessed. Saving data back to the shelf |
|
600
|
|
|
is currently NOT supported, it is only used for the default OPC UA standard address space |
|
601
|
|
|
|
|
602
|
|
|
Note: Intended for slow devices, such as Raspberry Pi, to greatly improve start up time |
|
603
|
|
|
""" |
|
604
|
|
|
with shelve.open(path, 'n', protocol=pickle.HIGHEST_PROTOCOL) as s: |
|
605
|
|
|
for nodeid, ndata in self._nodes.items(): |
|
606
|
|
|
s[nodeid.to_string()] = ndata |
|
607
|
|
|
|
|
608
|
|
|
def load_aspace_shelf(self, path): |
|
609
|
|
|
""" |
|
610
|
|
|
Load the standard address space nodes from a python shelve via LazyLoadingDict as needed. |
|
611
|
|
|
The dump() method can no longer be used if the address space is being loaded from a shelf |
|
612
|
|
|
|
|
613
|
|
|
Note: Intended for slow devices, such as Raspberry Pi, to greatly improve start up time |
|
614
|
|
|
""" |
|
615
|
|
|
raise NotImplementedError |
|
616
|
|
|
|
|
617
|
|
|
# ToDo: async friendly implementation - load all at once? |
|
618
|
|
|
class LazyLoadingDict(collections.MutableMapping): |
|
|
|
|
|
|
619
|
|
|
""" |
|
620
|
|
|
Special dict that only loads nodes as they are accessed. If a node is accessed it gets copied from the |
|
621
|
|
|
shelve to the cache dict. All user nodes are saved in the cache ONLY. Saving data back to the shelf |
|
622
|
|
|
is currently NOT supported |
|
623
|
|
|
""" |
|
624
|
|
|
|
|
625
|
|
|
def __init__(self, source): |
|
626
|
|
|
self.source = source # python shelf |
|
627
|
|
|
self.cache = {} # internal dict |
|
628
|
|
|
|
|
629
|
|
|
def __getitem__(self, key): |
|
630
|
|
|
# try to get the item (node) from the cache, if it isn't there get it from the shelf |
|
631
|
|
|
try: |
|
632
|
|
|
return self.cache[key] |
|
633
|
|
|
except KeyError: |
|
634
|
|
|
node = self.cache[key] = self.source[key.to_string()] |
|
635
|
|
|
return node |
|
636
|
|
|
|
|
637
|
|
|
def __setitem__(self, key, value): |
|
638
|
|
|
# add a new item to the cache; if this item is in the shelf it is not updated |
|
639
|
|
|
self.cache[key] = value |
|
640
|
|
|
|
|
641
|
|
|
def __contains__(self, key): |
|
642
|
|
|
return key in self.cache or key.to_string() in self.source |
|
643
|
|
|
|
|
644
|
|
|
def __delitem__(self, key): |
|
645
|
|
|
# only deleting items from the cache is allowed |
|
646
|
|
|
del self.cache[key] |
|
647
|
|
|
|
|
648
|
|
|
def __iter__(self): |
|
649
|
|
|
# only the cache can be iterated over |
|
650
|
|
|
return iter(self.cache.keys()) |
|
651
|
|
|
|
|
652
|
|
|
def __len__(self): |
|
653
|
|
|
# only returns the length of items in the cache, not unaccessed items in the shelf |
|
654
|
|
|
return len(self.cache) |
|
655
|
|
|
|
|
656
|
|
|
self._nodes = LazyLoadingDict(shelve.open(path, "r")) |
|
657
|
|
|
|
|
658
|
|
|
def read_attribute_value(self, nodeid, attr): |
|
659
|
|
|
# self.logger.debug("get attr val: %s %s", nodeid, attr) |
|
660
|
|
|
if nodeid not in self._nodes: |
|
661
|
|
|
dv = ua.DataValue() |
|
662
|
|
|
dv.StatusCode = ua.StatusCode(ua.StatusCodes.BadNodeIdUnknown) |
|
663
|
|
|
return dv |
|
664
|
|
|
node = self._nodes[nodeid] |
|
665
|
|
|
if attr not in node.attributes: |
|
666
|
|
|
dv = ua.DataValue() |
|
667
|
|
|
dv.StatusCode = ua.StatusCode(ua.StatusCodes.BadAttributeIdInvalid) |
|
668
|
|
|
return dv |
|
669
|
|
|
attval = node.attributes[attr] |
|
670
|
|
|
if attval.value_callback: |
|
671
|
|
|
return attval.value_callback() |
|
672
|
|
|
return attval.value |
|
673
|
|
|
|
|
674
|
|
|
def write_attribute_value(self, nodeid, attr, value): |
|
675
|
|
|
# self.logger.debug("set attr val: %s %s %s", nodeid, attr, value) |
|
676
|
|
|
node = self._nodes.get(nodeid, None) |
|
677
|
|
|
if node is None: |
|
678
|
|
|
return ua.StatusCode(ua.StatusCodes.BadNodeIdUnknown) |
|
679
|
|
|
attval = node.attributes.get(attr, None) |
|
680
|
|
|
if attval is None: |
|
681
|
|
|
return ua.StatusCode(ua.StatusCodes.BadAttributeIdInvalid) |
|
682
|
|
|
|
|
683
|
|
|
old = attval.value |
|
684
|
|
|
attval.value = value |
|
685
|
|
|
cbs = [] |
|
686
|
|
|
if old.Value != value.Value: # only send call callback when a value change has happend |
|
687
|
|
|
cbs = list(attval.datachange_callbacks.items()) |
|
688
|
|
|
|
|
689
|
|
|
for k, v in cbs: |
|
690
|
|
|
try: |
|
691
|
|
|
v(k, value) |
|
692
|
|
|
except Exception as ex: |
|
693
|
|
|
self.logger.exception("Error calling datachange callback %s, %s, %s", k, v, ex) |
|
694
|
|
|
|
|
695
|
|
|
return ua.StatusCode() |
|
696
|
|
|
|
|
697
|
|
|
def add_datachange_callback(self, nodeid, attr, callback): |
|
698
|
|
|
self.logger.debug("set attr callback: %s %s %s", nodeid, attr, callback) |
|
699
|
|
|
if nodeid not in self._nodes: |
|
700
|
|
|
return ua.StatusCode(ua.StatusCodes.BadNodeIdUnknown), 0 |
|
701
|
|
|
node = self._nodes[nodeid] |
|
702
|
|
|
if attr not in node.attributes: |
|
703
|
|
|
return ua.StatusCode(ua.StatusCodes.BadAttributeIdInvalid), 0 |
|
704
|
|
|
attval = node.attributes[attr] |
|
705
|
|
|
self._datachange_callback_counter += 1 |
|
706
|
|
|
handle = self._datachange_callback_counter |
|
707
|
|
|
attval.datachange_callbacks[handle] = callback |
|
708
|
|
|
self._handle_to_attribute_map[handle] = (nodeid, attr) |
|
709
|
|
|
return ua.StatusCode(), handle |
|
710
|
|
|
|
|
711
|
|
|
def delete_datachange_callback(self, handle): |
|
712
|
|
|
if handle in self._handle_to_attribute_map: |
|
713
|
|
|
nodeid, attr = self._handle_to_attribute_map.pop(handle) |
|
714
|
|
|
self._nodes[nodeid].attributes[attr].datachange_callbacks.pop(handle) |
|
715
|
|
|
|
|
716
|
|
|
def add_method_callback(self, methodid, callback): |
|
717
|
|
|
node = self._nodes[methodid] |
|
718
|
|
|
node.call = callback |
|
719
|
|
|
|
FreeOpcUa /
opcua-asyncio
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