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''' |
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https://reference.opcfoundation.org/v104/Core/docs/Part10/ |
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https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.1/ |
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Basic statemachines described in OPC UA Spec.: |
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StateMachineType |
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FiniteStateMachineType |
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ExclusiveLimitStateMachineType |
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FileTransferStateMachineType |
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ProgramStateMachineType |
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ShelvedStateMachineType |
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Relevant information: |
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Overview - https://reference.opcfoundation.org/v104/Core/docs/Part10/5.2.3/#5.2.3.1 |
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States - https://reference.opcfoundation.org/v104/Core/docs/Part10/5.2.3/#5.2.3.2 |
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Transitions - https://reference.opcfoundation.org/v104/Core/docs/Part10/5.2.3/#5.2.3.3 |
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Events - https://reference.opcfoundation.org/v104/Core/docs/Part10/5.2.5/ |
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''' |
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import asyncio, logging |
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#FIXME |
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# -change to relativ imports! |
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# -remove unused imports |
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from asyncua import Server, ua, Node |
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from asyncua.common.instantiate_util import instantiate |
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from asyncua.common.event_objects import TransitionEvent |
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_logger = logging.getLogger(__name__) |
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class StateMachineTypeClass(object): |
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''' |
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Implementation of an StateMachineType (most basic type) |
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''' |
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def __init__(self, server=None, parent=None, idx=None, name=None): |
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if not isinstance(server, Server): |
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raise f"server={server} is not a instance of Server" |
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if not isinstance(parent, Node): |
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raise f"parent={parent} is not a instance of Node" |
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if idx == None: |
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_logger.warning("StateMachineTypeClass -> idx = None") |
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idx = parent.nodeid.NamespaceIndex |
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if name == None: |
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_logger.warning("StateMachineTypeClass -> Name = None") |
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name = "StateMachine" |
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self._server = server |
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self._parent = parent |
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self._state_machine_node = None |
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self._state_machine_type = ua.NodeId(2299, 0) |
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self._name = name |
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self._idx = idx |
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self._optionals = False |
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self._current_state_node = None |
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self._current_state_id_node = None |
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self._last_transition_node = None |
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self._last_transition_id_node = None |
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self._evgen = None |
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async def install(self, optionals=False): |
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''' |
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setup adressspace |
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''' |
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self._optionals = optionals |
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self._state_machine_node = await self._parent.add_object( |
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self._idx, |
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self._name, |
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objecttype=self._state_machine_type, |
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instantiate_optional=optionals |
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) |
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await self.init(self._state_machine_node) |
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async def init(self, statemachine): |
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''' |
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initialize subnodes |
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''' |
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#FIXME check for childrens typdefinitions which matches statemachine |
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self._current_state_node = await statemachine.get_child(["CurrentState"]) |
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self._current_state_id_node = await statemachine.get_child(["CurrentState","Id"]) |
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if self._optionals: |
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self._last_transition_node = await statemachine.get_child(["LastTransition"]) |
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self._last_transition_id_node = await statemachine.get_child(["LastTransition","Id"]) |
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async def change_state(self, state_name, state_node, transition_name=None, transition_node=None): |
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''' |
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method to change the state of the statemachine |
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state_name: ua.LocalizedText() |
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state: ua.NodeId() <- StateType node |
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transition_name: ua.LocalizedText() |
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transition: ua.NodeId() <- TransitionType node |
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''' |
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#FIXME check StateType exist |
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#FIXME check TransitionTypeType exist |
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await self.write_state(state_name, state_node) |
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if self._optionals and transition_name and transition_node: |
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await self.write_transition(transition_name, transition_node) |
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self._evgen = await self._server.get_event_generator(TransitionEvent(), self._state_machine_node) |
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self._evgen.event.Message = ua.LocalizedText(f"{self._name}: statechange to {state_name.Text}", "en-US") |
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self._evgen.event.Severity = 500 |
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await self._evgen.trigger() |
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async def write_state(self, state_name, state_node): |
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#FIXME check types/class |
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await self._current_state_node.write_value(state_name) |
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await self._current_state_id_node.write_value(state_node) |
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async def write_transition(self, transition_name, transition_node): |
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#FIXME check types/class |
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await self._last_transition_node.write_value(transition_name) |
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await self._last_transition_id_node.write_value(transition_node) |
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async def add_state(self, name, state_type=ua.NodeId(2307, 0), optionals=False): |
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''' |
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InitialStateType: ua.NodeId(2309, 0) |
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StateType: ua.NodeId(2307, 0) |
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ChoiceStateType: ua.NodeId(15109,0) |
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''' |
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#FIXME check types/class |
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return await self._state_machine_node.add_object( |
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self._idx, |
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name, |
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objecttype=state_type, |
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instantiate_optional=optionals |
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) |
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async def add_transition(self, name, transition_type=ua.NodeId(2310, 0), optionals=False): |
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#FIXME check types/class |
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return await self._state_machine_node.add_object( |
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self._idx, |
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name, |
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objecttype=transition_type, |
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instantiate_optional=optionals |
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) |
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# async def remove(self): |
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# #FIXME |
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# raise NotImplementedError |
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# async def add_substate(self): |
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# #FIXME |
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# raise NotImplementedError |
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# async def add_subtransition(self): |
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# #FIXME |
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# raise NotImplementedError |
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class FiniteStateMachineTypeClass(StateMachineTypeClass): |
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''' |
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Implementation of an FiniteStateMachineType a little more advanced than the basic one |
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if you need to know the avalible states and transition from clientside |
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''' |
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def __init__(self, server=None, parent=None, idx=None, name=None): |
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super().__init__(server, parent, idx, name) |
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if name == None: |
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name = "FiniteStateMachine" |
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self._state_machine_type = ua.NodeId(2771, 0) |
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self._avalible_states_node = None |
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self._avalible_transitions_node = None |
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async def install(self, optionals=False): |
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''' |
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setup adressspace and initialize |
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''' |
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self._optionals = optionals |
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self._state_machine_node = await self._parent.add_object( |
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self._idx, |
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self._name, |
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objecttype=self._state_machine_type, |
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instantiate_optional=optionals |
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) |
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async def init(self, avalible_states, avalible_transitions, ): |
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#FIXME get children and map children |
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#await self.find_all_states() |
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await self.set_avalible_states(avalible_states) |
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#await self.find_all_transitions() |
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await self.set_avalible_transitions(avalible_transitions) |
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async def set_avalible_states(self, states): |
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#check if its list |
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await self._avalible_states_node.write_value(states, varianttype=ua.VariantType.NodeId) |
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async def set_avalible_transitions(self, transitions): |
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#check if its list |
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await self._avalible_transitions_node.write_value(transitions, varianttype=ua.VariantType.NodeId) |
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async def find_all_states(self): |
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return NotImplementedError |
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async def find_all_transitions(self): |
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return NotImplementedError |
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class ExclusiveLimitStateMachineTypeClass(FiniteStateMachineTypeClass): |
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''' |
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NOT IMPLEMENTED "ExclusiveLimitStateMachineType" |
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''' |
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def __init__(self, server=None, parent=None, idx=None, name=None): |
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super().__init__(server, parent, idx, name) |
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if name == None: |
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name = "ExclusiveLimitStateMachine" |
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self._state_machine_type = ua.NodeId(9318, 0) |
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raise NotImplementedError |
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class FileTransferStateMachineTypeClass(FiniteStateMachineTypeClass): |
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''' |
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NOT IMPLEMENTED "FileTransferStateMachineType" |
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''' |
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def __init__(self, server=None, parent=None, idx=None, name=None): |
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super().__init__(server, parent, idx, name) |
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if name == None: |
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name = "FileTransferStateMachine" |
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self._state_machine_type = ua.NodeId(15803, 0) |
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raise NotImplementedError |
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class ProgramStateMachineTypeClass(FiniteStateMachineTypeClass): |
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''' |
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https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.3/ |
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Implementation of an ProgramStateMachine its quite a complex statemachine with the |
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optional possibility to make the statchange from clientside via opcua-methods |
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''' |
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def __init__(self, server=None, parent=None, idx=None, name=None): |
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super().__init__(server, parent, idx, name) |
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if name == None: |
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name = "ProgramStateMachine" |
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self._state_machine_type = ua.NodeId(2391, 0) |
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# 5.2.3.2 ProgramStateMachineType states |
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self._ready_state_node = None #State node |
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self._halted_state_node = None #State node |
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self._running_state_node = None #State node |
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self._suspended_state_node = None #State node |
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231
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# 5.2.3.3 ProgramStateMachineType transitions |
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self._halted_to_ready_node = None #Transition node |
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self._ready_to_running_node = None #Transition node |
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self._running_to_halted_node = None #Transition node |
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self._running_to_ready_node = None #Transition node |
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self._running_to_suspended_node = None #Transition node |
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self._suspended_to_running_node = None #Transition node |
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self._suspended_to_halted_node = None #Transition node |
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self._suspended_to_ready_node = None #Transition node |
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self._ready_to_halted_node = None #Transition node |
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242
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# 5.2.3.2 ProgramStateMachineType states |
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self._halted_state_id_node = None #State property (StateNumber value 11) |
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self._ready_state_id_node = None #State property (StateNumber value 12) |
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self._running_state_id_node = None #State property (StateNumber value 13) |
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self._suspended_state_id_node = None #State property (StateNumber value 14) |
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248
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# 5.2.3.3 ProgramStateMachineType transitions |
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249
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self._halted_to_ready_id_node = None #Transition property (TransitionNumber value 1) |
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250
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self._ready_to_running_id_node = None #Transition property (TransitionNumber value 2) |
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251
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self._running_to_halted_id_node = None #Transition property (TransitionNumber value 3) |
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self._running_to_ready_id_node = None #Transition property (TransitionNumber value 4) |
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self._running_to_suspended_id_node = None #Transition property (TransitionNumber value 5) |
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254
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self._suspended_to_running_id_node = None #Transition property (TransitionNumber value 6) |
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255
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self._suspended_to_halted_id_node = None #Transition property (TransitionNumber value 7) |
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256
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self._suspended_to_ready_id_node = None #Transition property (TransitionNumber value 8) |
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257
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self._ready_to_halted_id_node = None #Transition property (TransitionNumber value 9) |
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258
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259
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# 4.2.7 Program Control Methods (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.7/) |
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260
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self._halt_method_node = None #uamethod node |
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261
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self._reset_method_node = None #uamethod node |
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262
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self._resume_method_node = None #uamethod node |
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263
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self._start_method_node = None #uamethod node |
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264
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self._suspend_method_node = None #uamethod node |
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265
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266
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#can be overwritten if you want a different language |
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267
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self.localizedtext_ready = ua.LocalizedText("Ready", "en-US") |
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268
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self.localizedtext_running = ua.LocalizedText("Running", "en-US") |
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269
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self.localizedtext_halted = ua.LocalizedText("Halted", "en-US") |
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270
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self.localizedtext_suspended= ua.LocalizedText("Suspended", "en-US") |
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271
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self.localizedtext_halted_to_ready = ua.LocalizedText("HaltedToReady", "en-US") |
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272
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self.localizedtext_ready_to_running = ua.LocalizedText("ReadyToRunning", "en-US") |
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273
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self.localizedtext_running_to_halted = ua.LocalizedText("RunningToHalted", "en-US") |
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274
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self.localizedtext_running_to_ready = ua.LocalizedText("RunningToReady", "en-US") |
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275
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self.localizedtext_running_to_suspended = ua.LocalizedText("RunningToSuspended", "en-US") |
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276
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self.localizedtext_suspended_to_running = ua.LocalizedText("SuspendedToRunning", "en-US") |
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277
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self.localizedtext_suspended_to_halted = ua.LocalizedText("SuspendedToHalted", "en-US") |
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278
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self.localizedtext_suspended_to_ready = ua.LocalizedText("SuspendedToReady", "en-US") |
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279
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self.localizedtext_ready_to_halted = ua.LocalizedText("ReadyToHalted", "en-US") |
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280
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|
281
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|
async def install(self, optionals=False): |
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282
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''' |
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283
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setup adressspace and initialize |
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284
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''' |
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285
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self._optionals = optionals |
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286
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self._state_machine_node = await self._parent.add_object( |
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287
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self._idx, |
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288
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self._name, |
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289
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objecttype=self._state_machine_type, |
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290
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instantiate_optional=optionals |
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291
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) |
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292
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#FIXME get children and map children |
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293
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294
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#Transition |
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295
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async def HaltedToReady(self): |
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296
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await self._current_state.write_value( |
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297
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self.localizedtext_ready, |
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298
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varianttype=ua.VariantType.LocalizedText |
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299
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) |
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300
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await self._current_state_id.write_value( |
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301
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self._ready_state.nodeid, |
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302
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varianttype=ua.VariantType.NodeId |
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303
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) |
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304
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await self._last_transition.write_value( |
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305
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self.localizedtext_halted_to_ready, |
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306
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varianttype=ua.VariantType.LocalizedText |
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307
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) |
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308
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await self._last_transition_id.write_value( |
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309
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self._halted_to_ready.nodeid, |
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310
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varianttype=ua.VariantType.NodeId |
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311
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) |
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312
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|
#FIXME |
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313
|
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|
# trigger ProgramTransitionEventType and |
|
314
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
315
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return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
316
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317
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|
#Transition |
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318
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async def ReadyToRunning(self): |
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319
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await self._current_state.write_value( |
|
320
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self.localizedtext_running, |
|
321
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varianttype=ua.VariantType.LocalizedText |
|
322
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) |
|
323
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await self._current_state_id.write_value( |
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324
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self._running_state.nodeid, |
|
325
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|
varianttype=ua.VariantType.NodeId |
|
326
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|
) |
|
327
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|
await self._last_transition.write_value( |
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328
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|
self.localizedtext_ready_to_running, |
|
329
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|
varianttype=ua.VariantType.LocalizedText |
|
330
|
|
|
) |
|
331
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|
|
await self._last_transition_id.write_value( |
|
332
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|
|
self._ready_to_running.nodeid, |
|
333
|
|
|
varianttype=ua.VariantType.NodeId |
|
334
|
|
|
) |
|
335
|
|
|
#FIXME |
|
336
|
|
|
# trigger ProgramTransitionEventType and |
|
337
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
338
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
339
|
|
|
|
|
340
|
|
|
#Transition |
|
341
|
|
|
async def RunningToHalted(self): |
|
342
|
|
|
await self._current_state.write_value( |
|
343
|
|
|
self.localizedtext_halted, |
|
344
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
345
|
|
|
) |
|
346
|
|
|
await self._current_state_id.write_value( |
|
347
|
|
|
self._halted_state.nodeid, |
|
348
|
|
|
varianttype=ua.VariantType.NodeId |
|
349
|
|
|
) |
|
350
|
|
|
await self._last_transition.write_value( |
|
351
|
|
|
self.localizedtext_running_to_halted, |
|
352
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
353
|
|
|
) |
|
354
|
|
|
await self._last_transition_id.write_value( |
|
355
|
|
|
self._running_to_halted.nodeid, |
|
356
|
|
|
varianttype=ua.VariantType.NodeId |
|
357
|
|
|
) |
|
358
|
|
|
#FIXME |
|
359
|
|
|
# trigger ProgramTransitionEventType and |
|
360
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
361
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
362
|
|
|
|
|
363
|
|
|
#Transition |
|
364
|
|
|
async def RunningToReady(self): |
|
365
|
|
|
await self._current_state.write_value( |
|
366
|
|
|
self.localizedtext_ready, |
|
367
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
368
|
|
|
) |
|
369
|
|
|
await self._current_state_id.write_value( |
|
370
|
|
|
self._ready_state.nodeid, |
|
371
|
|
|
varianttype=ua.VariantType.NodeId |
|
372
|
|
|
) |
|
373
|
|
|
await self._last_transition.write_value( |
|
374
|
|
|
self.localizedtext_running_to_ready, |
|
375
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
376
|
|
|
) |
|
377
|
|
|
await self._last_transition_id.write_value( |
|
378
|
|
|
self._running_to_ready.nodeid, |
|
379
|
|
|
varianttype=ua.VariantType.NodeId |
|
380
|
|
|
) |
|
381
|
|
|
#FIXME |
|
382
|
|
|
# trigger ProgramTransitionEventType and |
|
383
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
384
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
385
|
|
|
|
|
386
|
|
|
#Transition |
|
387
|
|
|
async def RunningToSuspended(self): |
|
388
|
|
|
await self._current_state.write_value( |
|
389
|
|
|
self.localizedtext_suspended, |
|
390
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
391
|
|
|
) |
|
392
|
|
|
await self._current_state_id.write_value( |
|
393
|
|
|
self._suspended_state.nodeid, |
|
394
|
|
|
varianttype=ua.VariantType.NodeId |
|
395
|
|
|
) |
|
396
|
|
|
await self._last_transition.write_value( |
|
397
|
|
|
self.localizedtext_running_to_suspended, |
|
398
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
399
|
|
|
) |
|
400
|
|
|
await self._last_transition_id.write_value( |
|
401
|
|
|
self._running_to_suspended.nodeid, |
|
402
|
|
|
varianttype=ua.VariantType.NodeId |
|
403
|
|
|
) |
|
404
|
|
|
#FIXME |
|
405
|
|
|
# trigger ProgramTransitionEventType and |
|
406
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
407
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
408
|
|
|
|
|
409
|
|
|
#Transition |
|
410
|
|
|
async def SuspendedToRunning(self): |
|
411
|
|
|
await self._current_state.write_value( |
|
412
|
|
|
self.localizedtext_running, |
|
413
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
414
|
|
|
) |
|
415
|
|
|
await self._current_state_id.write_value( |
|
416
|
|
|
self._running_state.nodeid, |
|
417
|
|
|
varianttype=ua.VariantType.NodeId |
|
418
|
|
|
) |
|
419
|
|
|
await self._last_transition.write_value( |
|
420
|
|
|
self.localizedtext_suspended_to_running, |
|
421
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
422
|
|
|
) |
|
423
|
|
|
await self._last_transition_id.write_value( |
|
424
|
|
|
self._suspended_to_running.nodeid, |
|
425
|
|
|
varianttype=ua.VariantType.NodeId |
|
426
|
|
|
) |
|
427
|
|
|
#FIXME |
|
428
|
|
|
# trigger ProgramTransitionEventType and |
|
429
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
430
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
431
|
|
|
|
|
432
|
|
|
#Transition |
|
433
|
|
|
async def SuspendedToHalted(self): |
|
434
|
|
|
await self._current_state.write_value( |
|
435
|
|
|
self.localizedtext_halted, |
|
436
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
437
|
|
|
) |
|
438
|
|
|
await self._current_state_id.write_value( |
|
439
|
|
|
self._halted_state.nodeid, |
|
440
|
|
|
varianttype=ua.VariantType.NodeId |
|
441
|
|
|
) |
|
442
|
|
|
await self._last_transition.write_value( |
|
443
|
|
|
self.localizedtext_suspended_to_halted, |
|
444
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
445
|
|
|
) |
|
446
|
|
|
await self._last_transition_id.write_value( |
|
447
|
|
|
self._suspended_to_halted.nodeid, |
|
448
|
|
|
varianttype=ua.VariantType.NodeId |
|
449
|
|
|
) |
|
450
|
|
|
#FIXME |
|
451
|
|
|
# trigger ProgramTransitionEventType and |
|
452
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
453
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
454
|
|
|
|
|
455
|
|
|
#Transition |
|
456
|
|
|
async def SuspendedToReady(self): |
|
457
|
|
|
await self._current_state.write_value( |
|
458
|
|
|
self.localizedtext_ready, |
|
459
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
460
|
|
|
) |
|
461
|
|
|
await self._current_state_id.write_value( |
|
462
|
|
|
self._ready_state.nodeid, |
|
463
|
|
|
varianttype=ua.VariantType.NodeId |
|
464
|
|
|
) |
|
465
|
|
|
await self._last_transition.write_value( |
|
466
|
|
|
self.localizedtext_suspended_to_ready, |
|
467
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
468
|
|
|
) |
|
469
|
|
|
await self._last_transition_id.write_value( |
|
470
|
|
|
self._suspended_to_ready.nodeid, |
|
471
|
|
|
varianttype=ua.VariantType.NodeId |
|
472
|
|
|
) |
|
473
|
|
|
#FIXME |
|
474
|
|
|
# trigger ProgramTransitionEventType and |
|
475
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
476
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
477
|
|
|
|
|
478
|
|
|
#Transition |
|
479
|
|
|
async def ReadyToHalted(self): |
|
480
|
|
|
await self._current_state.write_value( |
|
481
|
|
|
self.localizedtext_halted, |
|
482
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
483
|
|
|
) |
|
484
|
|
|
await self._current_state_id.write_value( |
|
485
|
|
|
self._halted_state.nodeid, |
|
486
|
|
|
varianttype=ua.VariantType.NodeId |
|
487
|
|
|
) |
|
488
|
|
|
await self._last_transition.write_value( |
|
489
|
|
|
self.localizedtext_ready_to_halted, |
|
490
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
491
|
|
|
) |
|
492
|
|
|
await self._last_transition_id.write_value( |
|
493
|
|
|
self._ready_to_halted.nodeid, |
|
494
|
|
|
varianttype=ua.VariantType.NodeId |
|
495
|
|
|
) |
|
496
|
|
|
#FIXME |
|
497
|
|
|
# trigger ProgramTransitionEventType and |
|
498
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
499
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
500
|
|
|
|
|
501
|
|
|
#method to be linked to uamethod |
|
502
|
|
|
async def Start(self): |
|
503
|
|
|
if await self._current_state.read_value() == self.localizedtext_ready: |
|
504
|
|
|
return await ReadyToRunning() |
|
|
|
|
|
|
505
|
|
|
else: |
|
506
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.BadNotExecutable) |
|
507
|
|
|
|
|
508
|
|
|
#method to be linked to uamethod |
|
509
|
|
|
async def Suspend(self): |
|
510
|
|
|
if await self._current_state.read_value() == self.localizedtext_running: |
|
511
|
|
|
return await RunningToSuspended() |
|
|
|
|
|
|
512
|
|
|
else: |
|
513
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.BadNotExecutable) |
|
514
|
|
|
|
|
515
|
|
|
#method to be linked to uamethod |
|
516
|
|
|
async def Resume(self): |
|
517
|
|
|
if await self._current_state.read_value() == self.localizedtext_suspended: |
|
518
|
|
|
return await SuspendedToRunning() |
|
|
|
|
|
|
519
|
|
|
else: |
|
520
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.BadNotExecutable) |
|
521
|
|
|
|
|
522
|
|
|
#method to be linked to uamethod |
|
523
|
|
|
async def Halt(self): |
|
524
|
|
|
if await self._current_state.read_value() == self.localizedtext_ready: |
|
525
|
|
|
return await ReadyToHalted() |
|
|
|
|
|
|
526
|
|
|
elif await self._current_state.read_value() == self.localizedtext_running: |
|
527
|
|
|
return await RunningToHalted() |
|
|
|
|
|
|
528
|
|
|
elif await self._current_state.read_value() == self.localizedtext_suspended: |
|
529
|
|
|
return await SuspendedToHalted() |
|
|
|
|
|
|
530
|
|
|
else: |
|
531
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.BadNotExecutable) |
|
532
|
|
|
|
|
533
|
|
|
#method to be linked to uamethod |
|
534
|
|
|
async def Reset(self): |
|
535
|
|
|
if await self._current_state.read_value() == self.localizedtext_halted: |
|
536
|
|
|
return await HaltedToReady() |
|
|
|
|
|
|
537
|
|
|
else: |
|
538
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.BadNotExecutable) |
|
539
|
|
|
|
|
540
|
|
|
class ShelvedStateMachineTypeClass(FiniteStateMachineTypeClass): |
|
541
|
|
|
''' |
|
542
|
|
|
NOT IMPLEMENTED "ShelvedStateMachineType" |
|
543
|
|
|
''' |
|
544
|
|
|
def __init__(self, server=None, parent=None, idx=None, name=None): |
|
545
|
|
|
super().__init__(server, parent, idx, name) |
|
546
|
|
|
if name == None: |
|
547
|
|
|
name = "ShelvedStateMachine" |
|
548
|
|
|
self._state_machine_type = ua.NodeId(2929, 0) |
|
549
|
|
|
raise NotImplementedError |
|
550
|
|
|
|
|
551
|
|
|
|
|
552
|
|
|
|
|
553
|
|
|
#FIXME REMOVE BEFOR MERGE |
|
554
|
|
|
#Devtest / Workbench |
|
555
|
|
|
if __name__ == "__main__": |
|
556
|
|
|
async def main(): |
|
557
|
|
|
logging.basicConfig(level=logging.INFO) |
|
558
|
|
|
_logger = logging.getLogger('asyncua') |
|
559
|
|
|
|
|
560
|
|
|
server = Server() |
|
561
|
|
|
await server.init() |
|
562
|
|
|
|
|
563
|
|
|
sm = StateMachineTypeClass(server, server.nodes.objects, 0, "StateMachine") |
|
564
|
|
|
await sm.install(True) |
|
565
|
|
|
init = await sm.add_state("Initstate", ua.NodeId(2309, 0)) |
|
566
|
|
|
st1 = await sm.add_state("State1") |
|
567
|
|
|
st2 = await sm.add_state("State2") |
|
568
|
|
|
st3 = await sm.add_state("State3") |
|
569
|
|
|
st4 = await sm.add_state("State4") |
|
570
|
|
|
tr1 = await sm.add_transition("Transition1") |
|
571
|
|
|
tr2 = await sm.add_transition("Transition2") |
|
572
|
|
|
tr3 = await sm.add_transition("Transition3") |
|
573
|
|
|
tr4 = await sm.add_transition("Transition4") |
|
574
|
|
|
tr5 = await sm.add_transition("Transition5") |
|
575
|
|
|
|
|
576
|
|
|
await sm.change_state( |
|
577
|
|
|
ua.LocalizedText("Initstate", "en-US"), |
|
578
|
|
|
init.nodeid, |
|
579
|
|
|
ua.LocalizedText("Transition1", "en-US"), |
|
580
|
|
|
tr1.nodeid |
|
581
|
|
|
) |
|
582
|
|
|
|
|
583
|
|
|
# fsm = FiniteStateMachineTypeClass(server, server.nodes.objects, 0, "FiniteStateMachine") |
|
584
|
|
|
# await fsm.install(True) |
|
585
|
|
|
# pfsm = ProgramStateMachineTypeClass(server, server.nodes.objects, 0, "ProgramStateMachine") |
|
586
|
|
|
# await pfsm.install(True) |
|
587
|
|
|
|
|
588
|
|
|
async with server: |
|
589
|
|
|
while 1: |
|
590
|
|
|
await asyncio.sleep(10) |
|
591
|
|
|
await sm.change_state( |
|
592
|
|
|
ua.LocalizedText("State2", "en-US"), |
|
593
|
|
|
st1.nodeid, |
|
594
|
|
|
ua.LocalizedText("Transition2", "en-US"), |
|
595
|
|
|
tr2.nodeid |
|
596
|
|
|
) |
|
597
|
|
|
await asyncio.sleep(10) |
|
598
|
|
|
await sm.change_state( |
|
599
|
|
|
ua.LocalizedText("State3", "en-US"), |
|
600
|
|
|
st2.nodeid, |
|
601
|
|
|
ua.LocalizedText("Transition3", "en-US"), |
|
602
|
|
|
tr3.nodeid |
|
603
|
|
|
) |
|
604
|
|
|
|
|
605
|
|
|
asyncio.run(main()) |
|
606
|
|
|
|
FreeOpcUa /
opcua-asyncio
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