FreeOpcUa /
opcua-asyncio
| Total Complexity | 57 |
| Total Lines | 606 |
| Duplicated Lines | 0 % |
| Changes | 0 | ||
Complex classes like asyncua.common.statemachine often do a lot of different things. To break such a class down, we need to identify a cohesive component within that class. A common approach to find such a component is to look for fields/methods that share the same prefixes, or suffixes.
Once you have determined the fields that belong together, you can apply the Extract Class refactoring. If the component makes sense as a sub-class, Extract Subclass is also a candidate, and is often faster.
| 1 | ''' |
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| 2 | https://reference.opcfoundation.org/v104/Core/docs/Part10/ |
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| 3 | https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.1/ |
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| 4 | |||
| 5 | Basic statemachines described in OPC UA Spec.: |
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| 6 | StateMachineType |
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| 7 | FiniteStateMachineType |
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| 8 | ExclusiveLimitStateMachineType |
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| 9 | FileTransferStateMachineType |
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| 10 | ProgramStateMachineType |
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| 11 | ShelvedStateMachineType |
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| 12 | |||
| 13 | Relevant information: |
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| 14 | Overview - https://reference.opcfoundation.org/v104/Core/docs/Part10/5.2.3/#5.2.3.1 |
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| 15 | States - https://reference.opcfoundation.org/v104/Core/docs/Part10/5.2.3/#5.2.3.2 |
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| 16 | Transitions - https://reference.opcfoundation.org/v104/Core/docs/Part10/5.2.3/#5.2.3.3 |
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| 17 | Events - https://reference.opcfoundation.org/v104/Core/docs/Part10/5.2.5/ |
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| 18 | ''' |
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| 19 | import asyncio, logging |
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| 20 | |||
| 21 | #FIXME |
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| 22 | # -change to relativ imports! |
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| 23 | # -remove unused imports |
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| 24 | from asyncua import Server, ua, Node |
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| 25 | from asyncua.common.instantiate_util import instantiate |
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| 26 | from asyncua.common.event_objects import TransitionEvent |
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| 27 | |||
| 28 | _logger = logging.getLogger(__name__) |
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| 29 | |||
| 30 | class StateMachineTypeClass(object): |
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| 31 | ''' |
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| 32 | Implementation of an StateMachineType (most basic type) |
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| 33 | ''' |
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| 34 | def __init__(self, server=None, parent=None, idx=None, name=None): |
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| 35 | if not isinstance(server, Server): |
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| 36 | raise f"server={server} is not a instance of Server" |
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| 37 | if not isinstance(parent, Node): |
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| 38 | raise f"parent={parent} is not a instance of Node" |
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| 39 | if idx == None: |
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| 40 | _logger.warning("StateMachineTypeClass -> idx = None") |
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| 41 | idx = parent.nodeid.NamespaceIndex |
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| 42 | if name == None: |
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| 43 | _logger.warning("StateMachineTypeClass -> Name = None") |
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| 44 | name = "StateMachine" |
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| 45 | self._server = server |
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| 46 | self._parent = parent |
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| 47 | self._state_machine_node = None |
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| 48 | self._state_machine_type = ua.NodeId(2299, 0) |
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| 49 | self._name = name |
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| 50 | self._idx = idx |
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| 51 | self._optionals = False |
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| 52 | self._current_state_node = None |
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| 53 | self._current_state_id_node = None |
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| 54 | self._last_transition_node = None |
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| 55 | self._last_transition_id_node = None |
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| 56 | self._evgen = None |
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| 57 | |||
| 58 | async def install(self, optionals=False): |
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| 59 | ''' |
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| 60 | setup adressspace |
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| 61 | ''' |
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| 62 | self._optionals = optionals |
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| 63 | self._state_machine_node = await self._parent.add_object( |
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| 64 | self._idx, |
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| 65 | self._name, |
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| 66 | objecttype=self._state_machine_type, |
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| 67 | instantiate_optional=optionals |
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| 68 | ) |
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| 69 | await self.init(self._state_machine_node) |
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| 70 | |||
| 71 | async def init(self, statemachine): |
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| 72 | ''' |
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| 73 | initialize subnodes |
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| 74 | ''' |
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| 75 | #FIXME check for childrens typdefinitions which matches statemachine |
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| 76 | self._current_state_node = await statemachine.get_child(["CurrentState"]) |
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| 77 | self._current_state_id_node = await statemachine.get_child(["CurrentState","Id"]) |
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| 78 | if self._optionals: |
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| 79 | self._last_transition_node = await statemachine.get_child(["LastTransition"]) |
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| 80 | self._last_transition_id_node = await statemachine.get_child(["LastTransition","Id"]) |
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| 81 | |||
| 82 | async def change_state(self, state_name, state_node, transition_name=None, transition_node=None): |
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| 83 | ''' |
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| 84 | method to change the state of the statemachine |
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| 85 | state_name: ua.LocalizedText() |
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| 86 | state: ua.NodeId() <- StateType node |
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| 87 | transition_name: ua.LocalizedText() |
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| 88 | transition: ua.NodeId() <- TransitionType node |
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| 89 | ''' |
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| 90 | #FIXME check StateType exist |
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| 91 | #FIXME check TransitionTypeType exist |
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| 92 | await self.write_state(state_name, state_node) |
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| 93 | if self._optionals and transition_name and transition_node: |
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| 94 | await self.write_transition(transition_name, transition_node) |
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| 95 | self._evgen = await self._server.get_event_generator(TransitionEvent(), self._state_machine_node) |
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| 96 | self._evgen.event.Message = ua.LocalizedText(f"{self._name}: statechange to {state_name.Text}", "en-US") |
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| 97 | self._evgen.event.Severity = 500 |
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| 98 | await self._evgen.trigger() |
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| 99 | |||
| 100 | async def write_state(self, state_name, state_node): |
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| 101 | #FIXME check types/class |
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| 102 | await self._current_state_node.write_value(state_name) |
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| 103 | await self._current_state_id_node.write_value(state_node) |
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| 104 | |||
| 105 | async def write_transition(self, transition_name, transition_node): |
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| 106 | #FIXME check types/class |
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| 107 | await self._last_transition_node.write_value(transition_name) |
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| 108 | await self._last_transition_id_node.write_value(transition_node) |
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| 109 | |||
| 110 | async def add_state(self, name, state_type=ua.NodeId(2307, 0), optionals=False): |
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| 111 | ''' |
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| 112 | InitialStateType: ua.NodeId(2309, 0) |
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| 113 | StateType: ua.NodeId(2307, 0) |
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| 114 | ChoiceStateType: ua.NodeId(15109,0) |
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| 115 | ''' |
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| 116 | #FIXME check types/class |
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| 117 | return await self._state_machine_node.add_object( |
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| 118 | self._idx, |
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| 119 | name, |
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| 120 | objecttype=state_type, |
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| 121 | instantiate_optional=optionals |
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| 122 | ) |
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| 123 | |||
| 124 | async def add_transition(self, name, transition_type=ua.NodeId(2310, 0), optionals=False): |
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| 125 | #FIXME check types/class |
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| 126 | return await self._state_machine_node.add_object( |
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| 127 | self._idx, |
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| 128 | name, |
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| 129 | objecttype=transition_type, |
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| 130 | instantiate_optional=optionals |
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| 131 | ) |
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| 132 | |||
| 133 | # async def remove(self): |
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| 134 | # #FIXME |
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| 135 | # raise NotImplementedError |
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| 136 | |||
| 137 | # async def add_substate(self): |
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| 138 | # #FIXME |
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| 139 | # raise NotImplementedError |
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| 140 | |||
| 141 | # async def add_subtransition(self): |
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| 142 | # #FIXME |
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| 143 | # raise NotImplementedError |
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| 144 | |||
| 145 | class FiniteStateMachineTypeClass(StateMachineTypeClass): |
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| 146 | ''' |
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| 147 | Implementation of an FiniteStateMachineType a little more advanced than the basic one |
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| 148 | if you need to know the avalible states and transition from clientside |
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| 149 | ''' |
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| 150 | def __init__(self, server=None, parent=None, idx=None, name=None): |
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| 151 | super().__init__(server, parent, idx, name) |
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| 152 | if name == None: |
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| 153 | name = "FiniteStateMachine" |
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| 154 | self._state_machine_type = ua.NodeId(2771, 0) |
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| 155 | self._avalible_states_node = None |
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| 156 | self._avalible_transitions_node = None |
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| 157 | |||
| 158 | async def install(self, optionals=False): |
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| 159 | ''' |
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| 160 | setup adressspace and initialize |
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| 161 | ''' |
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| 162 | self._optionals = optionals |
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| 163 | self._state_machine_node = await self._parent.add_object( |
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| 164 | self._idx, |
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| 165 | self._name, |
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| 166 | objecttype=self._state_machine_type, |
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| 167 | instantiate_optional=optionals |
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| 168 | ) |
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| 169 | |||
| 170 | async def init(self, avalible_states, avalible_transitions, ): |
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| 171 | #FIXME get children and map children |
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| 172 | #await self.find_all_states() |
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| 173 | await self.set_avalible_states(avalible_states) |
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| 174 | #await self.find_all_transitions() |
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| 175 | await self.set_avalible_transitions(avalible_transitions) |
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| 176 | |||
| 177 | async def set_avalible_states(self, states): |
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| 178 | #check if its list |
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| 179 | await self._avalible_states_node.write_value(states, varianttype=ua.VariantType.NodeId) |
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| 180 | |||
| 181 | async def set_avalible_transitions(self, transitions): |
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| 182 | #check if its list |
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| 183 | await self._avalible_transitions_node.write_value(transitions, varianttype=ua.VariantType.NodeId) |
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| 184 | |||
| 185 | async def find_all_states(self): |
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| 186 | return NotImplementedError |
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| 187 | |||
| 188 | async def find_all_transitions(self): |
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| 189 | return NotImplementedError |
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| 190 | |||
| 191 | class ExclusiveLimitStateMachineTypeClass(FiniteStateMachineTypeClass): |
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| 192 | ''' |
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| 193 | NOT IMPLEMENTED "ExclusiveLimitStateMachineType" |
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| 194 | ''' |
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| 195 | def __init__(self, server=None, parent=None, idx=None, name=None): |
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| 196 | super().__init__(server, parent, idx, name) |
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| 197 | if name == None: |
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| 198 | name = "ExclusiveLimitStateMachine" |
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| 199 | self._state_machine_type = ua.NodeId(9318, 0) |
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| 200 | raise NotImplementedError |
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| 201 | |||
| 202 | class FileTransferStateMachineTypeClass(FiniteStateMachineTypeClass): |
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| 203 | ''' |
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| 204 | NOT IMPLEMENTED "FileTransferStateMachineType" |
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| 205 | ''' |
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| 206 | def __init__(self, server=None, parent=None, idx=None, name=None): |
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| 207 | super().__init__(server, parent, idx, name) |
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| 208 | if name == None: |
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| 209 | name = "FileTransferStateMachine" |
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| 210 | self._state_machine_type = ua.NodeId(15803, 0) |
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| 211 | raise NotImplementedError |
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| 212 | |||
| 213 | class ProgramStateMachineTypeClass(FiniteStateMachineTypeClass): |
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| 214 | ''' |
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| 215 | https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.3/ |
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| 216 | Implementation of an ProgramStateMachine its quite a complex statemachine with the |
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| 217 | optional possibility to make the statchange from clientside via opcua-methods |
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| 218 | ''' |
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| 219 | def __init__(self, server=None, parent=None, idx=None, name=None): |
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| 220 | super().__init__(server, parent, idx, name) |
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| 221 | if name == None: |
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| 222 | name = "ProgramStateMachine" |
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| 223 | self._state_machine_type = ua.NodeId(2391, 0) |
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| 224 | |||
| 225 | # 5.2.3.2 ProgramStateMachineType states |
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| 226 | self._ready_state_node = None #State node |
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| 227 | self._halted_state_node = None #State node |
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| 228 | self._running_state_node = None #State node |
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| 229 | self._suspended_state_node = None #State node |
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| 230 | |||
| 231 | # 5.2.3.3 ProgramStateMachineType transitions |
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| 232 | self._halted_to_ready_node = None #Transition node |
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| 233 | self._ready_to_running_node = None #Transition node |
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| 234 | self._running_to_halted_node = None #Transition node |
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| 235 | self._running_to_ready_node = None #Transition node |
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| 236 | self._running_to_suspended_node = None #Transition node |
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| 237 | self._suspended_to_running_node = None #Transition node |
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| 238 | self._suspended_to_halted_node = None #Transition node |
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| 239 | self._suspended_to_ready_node = None #Transition node |
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| 240 | self._ready_to_halted_node = None #Transition node |
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| 241 | |||
| 242 | # 5.2.3.2 ProgramStateMachineType states |
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| 243 | self._halted_state_id_node = None #State property (StateNumber value 11) |
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| 244 | self._ready_state_id_node = None #State property (StateNumber value 12) |
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| 245 | self._running_state_id_node = None #State property (StateNumber value 13) |
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| 246 | self._suspended_state_id_node = None #State property (StateNumber value 14) |
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| 247 | |||
| 248 | # 5.2.3.3 ProgramStateMachineType transitions |
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| 249 | self._halted_to_ready_id_node = None #Transition property (TransitionNumber value 1) |
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| 250 | self._ready_to_running_id_node = None #Transition property (TransitionNumber value 2) |
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| 251 | self._running_to_halted_id_node = None #Transition property (TransitionNumber value 3) |
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| 252 | self._running_to_ready_id_node = None #Transition property (TransitionNumber value 4) |
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| 253 | self._running_to_suspended_id_node = None #Transition property (TransitionNumber value 5) |
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| 254 | self._suspended_to_running_id_node = None #Transition property (TransitionNumber value 6) |
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| 255 | self._suspended_to_halted_id_node = None #Transition property (TransitionNumber value 7) |
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| 256 | self._suspended_to_ready_id_node = None #Transition property (TransitionNumber value 8) |
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| 257 | self._ready_to_halted_id_node = None #Transition property (TransitionNumber value 9) |
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| 258 | |||
| 259 | # 4.2.7 Program Control Methods (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.7/) |
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| 260 | self._halt_method_node = None #uamethod node |
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| 261 | self._reset_method_node = None #uamethod node |
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| 262 | self._resume_method_node = None #uamethod node |
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| 263 | self._start_method_node = None #uamethod node |
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| 264 | self._suspend_method_node = None #uamethod node |
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| 265 | |||
| 266 | #can be overwritten if you want a different language |
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| 267 | self.localizedtext_ready = ua.LocalizedText("Ready", "en-US") |
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| 268 | self.localizedtext_running = ua.LocalizedText("Running", "en-US") |
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| 269 | self.localizedtext_halted = ua.LocalizedText("Halted", "en-US") |
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| 270 | self.localizedtext_suspended= ua.LocalizedText("Suspended", "en-US") |
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| 271 | self.localizedtext_halted_to_ready = ua.LocalizedText("HaltedToReady", "en-US") |
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| 272 | self.localizedtext_ready_to_running = ua.LocalizedText("ReadyToRunning", "en-US") |
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| 273 | self.localizedtext_running_to_halted = ua.LocalizedText("RunningToHalted", "en-US") |
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| 274 | self.localizedtext_running_to_ready = ua.LocalizedText("RunningToReady", "en-US") |
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| 275 | self.localizedtext_running_to_suspended = ua.LocalizedText("RunningToSuspended", "en-US") |
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| 276 | self.localizedtext_suspended_to_running = ua.LocalizedText("SuspendedToRunning", "en-US") |
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| 277 | self.localizedtext_suspended_to_halted = ua.LocalizedText("SuspendedToHalted", "en-US") |
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| 278 | self.localizedtext_suspended_to_ready = ua.LocalizedText("SuspendedToReady", "en-US") |
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| 279 | self.localizedtext_ready_to_halted = ua.LocalizedText("ReadyToHalted", "en-US") |
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| 280 | |||
| 281 | async def install(self, optionals=False): |
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| 282 | ''' |
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| 283 | setup adressspace and initialize |
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| 284 | ''' |
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| 285 | self._optionals = optionals |
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| 286 | self._state_machine_node = await self._parent.add_object( |
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| 287 | self._idx, |
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| 288 | self._name, |
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| 289 | objecttype=self._state_machine_type, |
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| 290 | instantiate_optional=optionals |
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| 291 | ) |
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| 292 | #FIXME get children and map children |
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| 293 | |||
| 294 | #Transition |
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| 295 | async def HaltedToReady(self): |
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| 296 | await self._current_state.write_value( |
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| 297 | self.localizedtext_ready, |
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| 298 | varianttype=ua.VariantType.LocalizedText |
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| 299 | ) |
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| 300 | await self._current_state_id.write_value( |
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| 301 | self._ready_state.nodeid, |
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| 302 | varianttype=ua.VariantType.NodeId |
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| 303 | ) |
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| 304 | await self._last_transition.write_value( |
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| 305 | self.localizedtext_halted_to_ready, |
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| 306 | varianttype=ua.VariantType.LocalizedText |
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| 307 | ) |
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| 308 | await self._last_transition_id.write_value( |
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| 309 | self._halted_to_ready.nodeid, |
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| 310 | varianttype=ua.VariantType.NodeId |
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| 311 | ) |
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| 312 | #FIXME |
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| 313 | # trigger ProgramTransitionEventType and |
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| 314 | # AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
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| 315 | return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
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| 316 | |||
| 317 | #Transition |
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| 318 | async def ReadyToRunning(self): |
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| 319 | await self._current_state.write_value( |
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| 320 | self.localizedtext_running, |
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| 321 | varianttype=ua.VariantType.LocalizedText |
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| 322 | ) |
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| 323 | await self._current_state_id.write_value( |
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| 324 | self._running_state.nodeid, |
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| 325 | varianttype=ua.VariantType.NodeId |
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| 326 | ) |
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| 327 | await self._last_transition.write_value( |
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| 328 | self.localizedtext_ready_to_running, |
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| 329 | varianttype=ua.VariantType.LocalizedText |
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| 330 | ) |
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| 331 | await self._last_transition_id.write_value( |
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| 332 | self._ready_to_running.nodeid, |
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| 333 | varianttype=ua.VariantType.NodeId |
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| 334 | ) |
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| 335 | #FIXME |
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| 336 | # trigger ProgramTransitionEventType and |
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| 337 | # AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
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| 338 | return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
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| 339 | |||
| 340 | #Transition |
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| 341 | async def RunningToHalted(self): |
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| 342 | await self._current_state.write_value( |
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| 343 | self.localizedtext_halted, |
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| 344 | varianttype=ua.VariantType.LocalizedText |
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| 345 | ) |
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| 346 | await self._current_state_id.write_value( |
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| 347 | self._halted_state.nodeid, |
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| 348 | varianttype=ua.VariantType.NodeId |
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| 349 | ) |
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| 350 | await self._last_transition.write_value( |
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| 351 | self.localizedtext_running_to_halted, |
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| 352 | varianttype=ua.VariantType.LocalizedText |
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| 353 | ) |
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| 354 | await self._last_transition_id.write_value( |
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| 355 | self._running_to_halted.nodeid, |
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| 356 | varianttype=ua.VariantType.NodeId |
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| 357 | ) |
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| 358 | #FIXME |
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| 359 | # trigger ProgramTransitionEventType and |
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| 360 | # AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
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| 361 | return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
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| 362 | |||
| 363 | #Transition |
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| 364 | async def RunningToReady(self): |
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| 365 | await self._current_state.write_value( |
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| 366 | self.localizedtext_ready, |
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| 367 | varianttype=ua.VariantType.LocalizedText |
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| 368 | ) |
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| 369 | await self._current_state_id.write_value( |
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| 370 | self._ready_state.nodeid, |
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| 371 | varianttype=ua.VariantType.NodeId |
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| 372 | ) |
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| 373 | await self._last_transition.write_value( |
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| 374 | self.localizedtext_running_to_ready, |
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| 375 | varianttype=ua.VariantType.LocalizedText |
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| 376 | ) |
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| 377 | await self._last_transition_id.write_value( |
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| 378 | self._running_to_ready.nodeid, |
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| 379 | varianttype=ua.VariantType.NodeId |
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| 380 | ) |
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| 381 | #FIXME |
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| 382 | # trigger ProgramTransitionEventType and |
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| 383 | # AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
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| 384 | return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
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| 385 | |||
| 386 | #Transition |
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| 387 | async def RunningToSuspended(self): |
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| 388 | await self._current_state.write_value( |
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| 389 | self.localizedtext_suspended, |
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| 390 | varianttype=ua.VariantType.LocalizedText |
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| 391 | ) |
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| 392 | await self._current_state_id.write_value( |
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| 393 | self._suspended_state.nodeid, |
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| 394 | varianttype=ua.VariantType.NodeId |
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| 395 | ) |
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| 396 | await self._last_transition.write_value( |
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| 397 | self.localizedtext_running_to_suspended, |
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| 398 | varianttype=ua.VariantType.LocalizedText |
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| 399 | ) |
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| 400 | await self._last_transition_id.write_value( |
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| 401 | self._running_to_suspended.nodeid, |
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| 402 | varianttype=ua.VariantType.NodeId |
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| 403 | ) |
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| 404 | #FIXME |
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| 405 | # trigger ProgramTransitionEventType and |
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| 406 | # AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
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| 407 | return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
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| 408 | |||
| 409 | #Transition |
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| 410 | async def SuspendedToRunning(self): |
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| 411 | await self._current_state.write_value( |
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| 412 | self.localizedtext_running, |
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| 413 | varianttype=ua.VariantType.LocalizedText |
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| 414 | ) |
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| 415 | await self._current_state_id.write_value( |
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| 416 | self._running_state.nodeid, |
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| 417 | varianttype=ua.VariantType.NodeId |
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| 418 | ) |
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| 419 | await self._last_transition.write_value( |
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| 420 | self.localizedtext_suspended_to_running, |
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| 421 | varianttype=ua.VariantType.LocalizedText |
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| 422 | ) |
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| 423 | await self._last_transition_id.write_value( |
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| 424 | self._suspended_to_running.nodeid, |
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| 425 | varianttype=ua.VariantType.NodeId |
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| 426 | ) |
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| 427 | #FIXME |
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| 428 | # trigger ProgramTransitionEventType and |
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| 429 | # AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
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| 430 | return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
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| 431 | |||
| 432 | #Transition |
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| 433 | async def SuspendedToHalted(self): |
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| 434 | await self._current_state.write_value( |
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| 435 | self.localizedtext_halted, |
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| 436 | varianttype=ua.VariantType.LocalizedText |
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| 437 | ) |
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| 438 | await self._current_state_id.write_value( |
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| 439 | self._halted_state.nodeid, |
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| 440 | varianttype=ua.VariantType.NodeId |
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| 441 | ) |
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| 442 | await self._last_transition.write_value( |
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| 443 | self.localizedtext_suspended_to_halted, |
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| 444 | varianttype=ua.VariantType.LocalizedText |
||
| 445 | ) |
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| 446 | await self._last_transition_id.write_value( |
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| 447 | self._suspended_to_halted.nodeid, |
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| 448 | varianttype=ua.VariantType.NodeId |
||
| 449 | ) |
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| 450 | #FIXME |
||
| 451 | # trigger ProgramTransitionEventType and |
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| 452 | # AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
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| 453 | return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
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| 454 | |||
| 455 | #Transition |
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| 456 | async def SuspendedToReady(self): |
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| 457 | await self._current_state.write_value( |
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| 458 | self.localizedtext_ready, |
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| 459 | varianttype=ua.VariantType.LocalizedText |
||
| 460 | ) |
||
| 461 | await self._current_state_id.write_value( |
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| 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() |
||
|
Comprehensibility
Best Practice
introduced
by
|
|||
| 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 |
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