|
1
|
|
|
import asyncio |
|
2
|
|
|
import pickle |
|
3
|
|
|
import shelve |
|
4
|
|
|
import logging |
|
5
|
|
|
import collections |
|
6
|
|
|
from datetime import datetime |
|
7
|
|
|
from concurrent.futures import ThreadPoolExecutor |
|
8
|
|
|
from functools import partial |
|
9
|
|
|
|
|
10
|
|
|
from asyncua import ua |
|
11
|
|
|
from .users import User, UserRole |
|
12
|
|
|
|
|
13
|
|
|
_logger = logging.getLogger(__name__) |
|
14
|
|
|
|
|
15
|
|
|
|
|
16
|
|
|
class AttributeValue(object): |
|
17
|
|
|
|
|
18
|
|
|
def __init__(self, value): |
|
19
|
|
|
self.value = value |
|
20
|
|
|
self.value_callback = None |
|
21
|
|
|
self.datachange_callbacks = {} |
|
22
|
|
|
|
|
23
|
|
|
def __str__(self): |
|
24
|
|
|
return f"AttributeValue({self.value})" |
|
25
|
|
|
|
|
26
|
|
|
__repr__ = __str__ |
|
27
|
|
|
|
|
28
|
|
|
|
|
29
|
|
|
class NodeData: |
|
30
|
|
|
|
|
31
|
|
|
def __init__(self, nodeid): |
|
32
|
|
|
self.nodeid = nodeid |
|
33
|
|
|
self.attributes = {} |
|
34
|
|
|
self.references = [] |
|
35
|
|
|
self.call = None |
|
36
|
|
|
|
|
37
|
|
|
def __str__(self): |
|
38
|
|
|
return f"NodeData(id:{self.nodeid}, attrs:{self.attributes}, refs:{self.references})" |
|
39
|
|
|
|
|
40
|
|
|
__repr__ = __str__ |
|
41
|
|
|
|
|
42
|
|
|
|
|
43
|
|
|
class AttributeService: |
|
44
|
|
|
|
|
45
|
|
|
def __init__(self, aspace: "AddressSpace"): |
|
46
|
|
|
self.logger = logging.getLogger(__name__) |
|
47
|
|
|
self._aspace: "AddressSpace" = aspace |
|
48
|
|
|
|
|
49
|
|
|
def read(self, params): |
|
50
|
|
|
# self.logger.debug("read %s", params) |
|
51
|
|
|
res = [] |
|
52
|
|
|
for readvalue in params.NodesToRead: |
|
53
|
|
|
res.append(self._aspace.read_attribute_value(readvalue.NodeId, readvalue.AttributeId)) |
|
54
|
|
|
return res |
|
55
|
|
|
|
|
56
|
|
|
async def write(self, params, user=User(role=UserRole.Admin)): |
|
57
|
|
|
# self.logger.debug("write %s as user %s", params, user) |
|
58
|
|
|
res = [] |
|
59
|
|
|
for writevalue in params.NodesToWrite: |
|
60
|
|
|
if user.role != UserRole.Admin: |
|
61
|
|
|
if writevalue.AttributeId != ua.AttributeIds.Value: |
|
62
|
|
|
res.append(ua.StatusCode(ua.StatusCodes.BadUserAccessDenied)) |
|
63
|
|
|
continue |
|
64
|
|
|
al = self._aspace.read_attribute_value(writevalue.NodeId, ua.AttributeIds.AccessLevel) |
|
65
|
|
|
ual = self._aspace.read_attribute_value(writevalue.NodeId, ua.AttributeIds.UserAccessLevel) |
|
66
|
|
|
if not al.StatusCode.is_good() or not ua.ua_binary.test_bit( |
|
67
|
|
|
al.Value.Value, ua.AccessLevel.CurrentWrite) or not \ |
|
68
|
|
|
ua.ua_binary.test_bit(ual.Value.Value, ua.AccessLevel.CurrentWrite): |
|
69
|
|
|
res.append(ua.StatusCode(ua.StatusCodes.BadUserAccessDenied)) |
|
70
|
|
|
continue |
|
71
|
|
|
res.append( |
|
72
|
|
|
await self._aspace.write_attribute_value(writevalue.NodeId, writevalue.AttributeId, writevalue.Value)) |
|
73
|
|
|
return res |
|
74
|
|
|
|
|
75
|
|
|
|
|
76
|
|
|
class ViewService(object): |
|
77
|
|
|
|
|
78
|
|
|
def __init__(self, aspace: "AddressSpace"): |
|
79
|
|
|
self.logger = logging.getLogger(__name__) |
|
80
|
|
|
self._aspace: "AddressSpace" = aspace |
|
81
|
|
|
|
|
82
|
|
|
def browse(self, params): |
|
83
|
|
|
# self.logger.debug("browse %s", params) |
|
84
|
|
|
res = [] |
|
85
|
|
|
for desc in params.NodesToBrowse: |
|
86
|
|
|
res.append(self._browse(desc)) |
|
87
|
|
|
return res |
|
88
|
|
|
|
|
89
|
|
|
def _browse(self, desc): |
|
90
|
|
|
res = ua.BrowseResult() |
|
91
|
|
|
if desc.NodeId not in self._aspace: |
|
92
|
|
|
res.StatusCode = ua.StatusCode(ua.StatusCodes.BadNodeIdInvalid) |
|
93
|
|
|
return res |
|
94
|
|
|
node = self._aspace[desc.NodeId] |
|
95
|
|
|
for ref in node.references: |
|
96
|
|
|
if not self._is_suitable_ref(desc, ref): |
|
97
|
|
|
continue |
|
98
|
|
|
res.References.append(ref) |
|
99
|
|
|
return res |
|
100
|
|
|
|
|
101
|
|
|
def _is_suitable_ref(self, desc, ref): |
|
102
|
|
|
if not self._suitable_direction(desc.BrowseDirection, ref.IsForward): |
|
103
|
|
|
# self.logger.debug("%s is not suitable due to direction", ref) |
|
104
|
|
|
return False |
|
105
|
|
|
if not self._suitable_reftype(desc.ReferenceTypeId, ref.ReferenceTypeId, desc.IncludeSubtypes): |
|
106
|
|
|
# self.logger.debug("%s is not suitable due to type", ref) |
|
107
|
|
|
return False |
|
108
|
|
|
if desc.NodeClassMask and ((desc.NodeClassMask & ref.NodeClass) == 0): |
|
109
|
|
|
# self.logger.debug("%s is not suitable due to class", ref) |
|
110
|
|
|
return False |
|
111
|
|
|
# self.logger.debug("%s is a suitable ref for desc %s", ref, desc) |
|
112
|
|
|
return True |
|
113
|
|
|
|
|
114
|
|
|
def _suitable_reftype(self, ref1, ref2, subtypes): |
|
115
|
|
|
""" |
|
116
|
|
|
""" |
|
117
|
|
|
if ref1 == ua.NodeId(ua.ObjectIds.Null): |
|
118
|
|
|
# If ReferenceTypeId is not specified in the BrowseDescription, |
|
119
|
|
|
# all References are returned and includeSubtypes is ignored. |
|
120
|
|
|
return True |
|
121
|
|
|
if not subtypes and ref2.Identifier == ua.ObjectIds.HasSubtype: |
|
122
|
|
|
return False |
|
123
|
|
|
if ref1.Identifier == ref2.Identifier: |
|
124
|
|
|
return True |
|
125
|
|
|
oktypes = self._get_sub_ref(ref1) |
|
126
|
|
|
if not subtypes and ua.NodeId(ua.ObjectIds.HasSubtype) in oktypes: |
|
127
|
|
|
oktypes.remove(ua.NodeId(ua.ObjectIds.HasSubtype)) |
|
128
|
|
|
return ref2 in oktypes |
|
129
|
|
|
|
|
130
|
|
|
def _get_sub_ref(self, ref): |
|
131
|
|
|
res = [] |
|
132
|
|
|
nodedata = self._aspace[ref] |
|
133
|
|
|
if nodedata is not None: |
|
134
|
|
|
for ref in nodedata.references: |
|
135
|
|
|
if ref.ReferenceTypeId.Identifier == ua.ObjectIds.HasSubtype and ref.IsForward: |
|
136
|
|
|
res.append(ref.NodeId) |
|
137
|
|
|
res += self._get_sub_ref(ref.NodeId) |
|
138
|
|
|
return res |
|
139
|
|
|
|
|
140
|
|
|
def _suitable_direction(self, direction, isforward): |
|
141
|
|
|
if direction == ua.BrowseDirection.Both: |
|
142
|
|
|
return True |
|
143
|
|
|
if direction == ua.BrowseDirection.Forward and isforward: |
|
144
|
|
|
return True |
|
145
|
|
|
if direction == ua.BrowseDirection.Inverse and not isforward: |
|
146
|
|
|
return True |
|
147
|
|
|
return False |
|
148
|
|
|
|
|
149
|
|
|
def translate_browsepaths_to_nodeids(self, browsepaths): |
|
150
|
|
|
# self.logger.debug("translate browsepath: %s", browsepaths) |
|
151
|
|
|
results = [] |
|
152
|
|
|
for path in browsepaths: |
|
153
|
|
|
results.append(self._translate_browsepath_to_nodeid(path)) |
|
154
|
|
|
return results |
|
155
|
|
|
|
|
156
|
|
|
def _translate_browsepath_to_nodeid(self, path): |
|
157
|
|
|
# self.logger.debug("looking at path: %s", path) |
|
158
|
|
|
res = ua.BrowsePathResult() |
|
159
|
|
|
if not path.RelativePath.Elements[-1].TargetName: |
|
160
|
|
|
# OPC UA Part 4: Services, 5.8.4 TranslateBrowsePathsToNodeIds |
|
161
|
|
|
# it's unclear if this the check should also handle empty strings |
|
162
|
|
|
res.StatusCode = ua.StatusCode(ua.StatusCodes.BadBrowseNameInvalid) |
|
163
|
|
|
return res |
|
164
|
|
|
if path.StartingNode not in self._aspace: |
|
165
|
|
|
res.StatusCode = ua.StatusCode(ua.StatusCodes.BadNodeIdInvalid) |
|
166
|
|
|
return res |
|
167
|
|
|
current = path.StartingNode |
|
168
|
|
|
for el in path.RelativePath.Elements: |
|
169
|
|
|
nodeid = self._find_element_in_node(el, current) |
|
170
|
|
|
if not nodeid: |
|
171
|
|
|
res.StatusCode = ua.StatusCode(ua.StatusCodes.BadNoMatch) |
|
172
|
|
|
return res |
|
173
|
|
|
current = nodeid |
|
174
|
|
|
target = ua.BrowsePathTarget() |
|
175
|
|
|
target.TargetId = current |
|
176
|
|
|
target.RemainingPathIndex = 4294967295 |
|
177
|
|
|
res.Targets = [target] |
|
178
|
|
|
return res |
|
179
|
|
|
|
|
180
|
|
|
def _find_element_in_node(self, el, nodeid): |
|
181
|
|
|
nodedata = self._aspace[nodeid] |
|
182
|
|
|
for ref in nodedata.references: |
|
183
|
|
|
if ref.BrowseName != el.TargetName: |
|
184
|
|
|
continue |
|
185
|
|
|
if ref.IsForward == el.IsInverse: |
|
186
|
|
|
continue |
|
187
|
|
|
if not el.IncludeSubtypes and ref.ReferenceTypeId != el.ReferenceTypeId: |
|
188
|
|
|
continue |
|
189
|
|
|
elif el.IncludeSubtypes and ref.ReferenceTypeId != el.ReferenceTypeId: |
|
190
|
|
|
if ref.ReferenceTypeId not in self._get_sub_ref(el.ReferenceTypeId): |
|
191
|
|
|
continue |
|
192
|
|
|
return ref.NodeId |
|
193
|
|
|
self.logger.info("element %s was not found in node %s", el, nodeid) |
|
194
|
|
|
return None |
|
195
|
|
|
|
|
196
|
|
|
|
|
197
|
|
|
class NodeManagementService: |
|
198
|
|
|
|
|
199
|
|
|
def __init__(self, aspace: "AddressSpace"): |
|
200
|
|
|
self.logger = logging.getLogger(__name__) |
|
201
|
|
|
self._aspace: "AddressSpace" = aspace |
|
202
|
|
|
|
|
203
|
|
|
def add_nodes(self, addnodeitems, user=User(role=UserRole.Admin)): |
|
204
|
|
|
results = [] |
|
205
|
|
|
for item in addnodeitems: |
|
206
|
|
|
results.append(self._add_node(item, user)) |
|
207
|
|
|
return results |
|
208
|
|
|
|
|
209
|
|
|
def try_add_nodes(self, addnodeitems, user=User(role=UserRole.Admin), check=True): |
|
210
|
|
|
for item in addnodeitems: |
|
211
|
|
|
ret = self._add_node(item, user, check=check) |
|
212
|
|
|
if not ret.StatusCode.is_good(): |
|
213
|
|
|
yield item |
|
214
|
|
|
|
|
215
|
|
|
def _add_node(self, item, user, check=True): |
|
216
|
|
|
# self.logger.debug("Adding node %s %s", item.RequestedNewNodeId, item.BrowseName) |
|
217
|
|
|
result = ua.AddNodesResult() |
|
218
|
|
|
|
|
219
|
|
|
if not user.role == UserRole.Admin: |
|
220
|
|
|
result.StatusCode = ua.StatusCode(ua.StatusCodes.BadUserAccessDenied) |
|
221
|
|
|
return result |
|
222
|
|
|
|
|
223
|
|
|
if item.RequestedNewNodeId.has_null_identifier(): |
|
224
|
|
|
# If Identifier of requested NodeId is null we generate a new NodeId using |
|
225
|
|
|
# the namespace of the nodeid, this is an extention of the spec to allow |
|
226
|
|
|
# to requests the server to generate a new nodeid in a specified namespace |
|
227
|
|
|
# self.logger.debug("RequestedNewNodeId has null identifier, generating Identifier") |
|
228
|
|
|
item.RequestedNewNodeId = self._aspace.generate_nodeid(item.RequestedNewNodeId.NamespaceIndex) |
|
229
|
|
|
else: |
|
230
|
|
|
if item.RequestedNewNodeId in self._aspace: |
|
231
|
|
|
self.logger.warning("AddNodesItem: Requested NodeId %s already exists", item.RequestedNewNodeId) |
|
232
|
|
|
result.StatusCode = ua.StatusCode(ua.StatusCodes.BadNodeIdExists) |
|
233
|
|
|
return result |
|
234
|
|
|
|
|
235
|
|
|
if item.ParentNodeId.is_null(): |
|
236
|
|
|
# self.logger.info("add_node: while adding node %s, requested parent node is null %s %s", |
|
237
|
|
|
# item.RequestedNewNodeId, item.ParentNodeId, item.ParentNodeId.is_null()) |
|
238
|
|
|
if check: |
|
239
|
|
|
result.StatusCode = ua.StatusCode(ua.StatusCodes.BadParentNodeIdInvalid) |
|
240
|
|
|
return result |
|
241
|
|
|
|
|
242
|
|
|
parentdata = self._aspace.get(item.ParentNodeId) |
|
243
|
|
|
if parentdata is None and not item.ParentNodeId.is_null(): |
|
244
|
|
|
self.logger.info("add_node: while adding node %s, requested parent node %s does not exists", |
|
245
|
|
|
item.RequestedNewNodeId, item.ParentNodeId) |
|
246
|
|
|
result.StatusCode = ua.StatusCode(ua.StatusCodes.BadParentNodeIdInvalid) |
|
247
|
|
|
return result |
|
248
|
|
|
|
|
249
|
|
|
if type(item.ParentNodeId) == ua.NodeId or ua.NodeId in type(item.ParentNodeId).__bases__: |
|
250
|
|
|
try: |
|
251
|
|
|
for ref in self._aspace._nodes[item.ParentNodeId].references: |
|
252
|
|
|
# Check if the Parent has a "HasChild" Reference (or subtype of it) with the Node |
|
253
|
|
|
if ref.ReferenceTypeId.Identifier in [ua.ObjectIds.HasChild, ua.ObjectIds.HasComponent, |
|
254
|
|
|
ua.ObjectIds.HasProperty, ua.ObjectIds.HasSubtype, |
|
255
|
|
|
ua.ObjectIds.HasOrderedComponent] and \ |
|
256
|
|
|
item.BrowseName.Name == ref.BrowseName.Name: |
|
257
|
|
|
self.logger.warning("AddNodesItem: Requested Browsename %s already exists in Parent Node", |
|
258
|
|
|
item.BrowseName.Name) |
|
259
|
|
|
result.StatusCode = ua.StatusCode(ua.StatusCodes.BadBrowseNameDuplicated) |
|
260
|
|
|
return result |
|
261
|
|
|
except KeyError as e: |
|
262
|
|
|
self.logger.warning(f"{e} - NodeParent does not exist in Server") |
|
263
|
|
|
except BaseException as e: |
|
264
|
|
|
self.logger.warning(f"Unknown Exception thrown: {e}") |
|
265
|
|
|
pass |
|
266
|
|
|
|
|
267
|
|
|
|
|
268
|
|
|
nodedata = NodeData(item.RequestedNewNodeId) |
|
269
|
|
|
|
|
270
|
|
|
self._add_node_attributes(nodedata, item, add_timestamps=check) |
|
271
|
|
|
|
|
272
|
|
|
# now add our node to db |
|
273
|
|
|
self._aspace[nodedata.nodeid] = nodedata |
|
274
|
|
|
|
|
275
|
|
|
if parentdata is not None: |
|
276
|
|
|
self._add_ref_from_parent(nodedata, item, parentdata) |
|
277
|
|
|
self._add_ref_to_parent(nodedata, item, parentdata) |
|
278
|
|
|
|
|
279
|
|
|
# add type definition |
|
280
|
|
|
if item.TypeDefinition != ua.NodeId(): |
|
281
|
|
|
self._add_type_definition(nodedata, item) |
|
282
|
|
|
|
|
283
|
|
|
result.StatusCode = ua.StatusCode() |
|
284
|
|
|
result.AddedNodeId = nodedata.nodeid |
|
285
|
|
|
|
|
286
|
|
|
return result |
|
287
|
|
|
|
|
288
|
|
|
def _add_node_attributes(self, nodedata, item, add_timestamps): |
|
289
|
|
|
# add common attrs |
|
290
|
|
|
nodedata.attributes[ua.AttributeIds.NodeId] = AttributeValue( |
|
291
|
|
|
ua.DataValue(ua.Variant(nodedata.nodeid, ua.VariantType.NodeId)) |
|
292
|
|
|
) |
|
293
|
|
|
nodedata.attributes[ua.AttributeIds.BrowseName] = AttributeValue( |
|
294
|
|
|
ua.DataValue(ua.Variant(item.BrowseName, ua.VariantType.QualifiedName)) |
|
295
|
|
|
) |
|
296
|
|
|
nodedata.attributes[ua.AttributeIds.NodeClass] = AttributeValue( |
|
297
|
|
|
ua.DataValue(ua.Variant(item.NodeClass, ua.VariantType.Int32)) |
|
298
|
|
|
) |
|
299
|
|
|
# add requested attrs |
|
300
|
|
|
self._add_nodeattributes(item.NodeAttributes, nodedata, add_timestamps) |
|
301
|
|
|
|
|
302
|
|
|
def _add_unique_reference(self, nodedata, desc): |
|
303
|
|
|
for r in nodedata.references: |
|
304
|
|
|
if r.ReferenceTypeId == desc.ReferenceTypeId and r.NodeId == desc.NodeId: |
|
305
|
|
|
if r.IsForward != desc.IsForward: |
|
306
|
|
|
self.logger.error("Cannot add conflicting reference %s ", str(desc)) |
|
307
|
|
|
return ua.StatusCode(ua.StatusCodes.BadReferenceNotAllowed) |
|
308
|
|
|
break # ref already exists |
|
309
|
|
|
else: |
|
310
|
|
|
nodedata.references.append(desc) |
|
311
|
|
|
return ua.StatusCode() |
|
312
|
|
|
|
|
313
|
|
|
def _add_ref_from_parent(self, nodedata, item, parentdata): |
|
314
|
|
|
desc = ua.ReferenceDescription() |
|
315
|
|
|
desc.ReferenceTypeId = item.ReferenceTypeId |
|
316
|
|
|
desc.NodeId = nodedata.nodeid |
|
317
|
|
|
desc.NodeClass = item.NodeClass |
|
318
|
|
|
desc.BrowseName = item.BrowseName |
|
319
|
|
|
desc.DisplayName = item.NodeAttributes.DisplayName |
|
320
|
|
|
desc.TypeDefinition = item.TypeDefinition |
|
321
|
|
|
desc.IsForward = True |
|
322
|
|
|
self._add_unique_reference(parentdata, desc) |
|
323
|
|
|
|
|
324
|
|
|
def _add_ref_to_parent(self, nodedata, item, parentdata): |
|
325
|
|
|
addref = ua.AddReferencesItem() |
|
326
|
|
|
addref.ReferenceTypeId = item.ReferenceTypeId |
|
327
|
|
|
addref.SourceNodeId = nodedata.nodeid |
|
328
|
|
|
addref.TargetNodeId = item.ParentNodeId |
|
329
|
|
|
addref.TargetNodeClass = parentdata.attributes[ua.AttributeIds.NodeClass].value.Value.Value |
|
330
|
|
|
addref.IsForward = False |
|
331
|
|
|
self._add_reference_no_check(nodedata, addref) |
|
332
|
|
|
|
|
333
|
|
|
def _add_type_definition(self, nodedata, item): |
|
334
|
|
|
addref = ua.AddReferencesItem() |
|
335
|
|
|
addref.SourceNodeId = nodedata.nodeid |
|
336
|
|
|
addref.IsForward = True |
|
337
|
|
|
addref.ReferenceTypeId = ua.NodeId(ua.ObjectIds.HasTypeDefinition) |
|
338
|
|
|
addref.TargetNodeId = item.TypeDefinition |
|
339
|
|
|
addref.TargetNodeClass = ua.NodeClass.DataType |
|
340
|
|
|
self._add_reference_no_check(nodedata, addref) |
|
341
|
|
|
|
|
342
|
|
|
def delete_nodes(self, deletenodeitems, user=User(role=UserRole.Admin)): |
|
343
|
|
|
results = [] |
|
344
|
|
|
for item in deletenodeitems.NodesToDelete: |
|
345
|
|
|
results.append(self._delete_node(item, user)) |
|
346
|
|
|
return results |
|
347
|
|
|
|
|
348
|
|
|
def _delete_node(self, item, user): |
|
349
|
|
|
if user.role != UserRole.Admin: |
|
350
|
|
|
return ua.StatusCode(ua.StatusCodes.BadUserAccessDenied) |
|
351
|
|
|
|
|
352
|
|
|
if item.NodeId not in self._aspace: |
|
353
|
|
|
self.logger.warning("DeleteNodesItem: NodeId %s does not exists", item.NodeId) |
|
354
|
|
|
return ua.StatusCode(ua.StatusCodes.BadNodeIdUnknown) |
|
355
|
|
|
|
|
356
|
|
|
if item.DeleteTargetReferences: |
|
357
|
|
|
for elem in self._aspace.keys(): |
|
358
|
|
|
for rdesc in self._aspace[elem].references[:]: |
|
359
|
|
|
if rdesc.NodeId == item.NodeId: |
|
360
|
|
|
self._aspace[elem].references.remove(rdesc) |
|
361
|
|
|
|
|
362
|
|
|
self._delete_node_callbacks(self._aspace[item.NodeId]) |
|
363
|
|
|
|
|
364
|
|
|
del (self._aspace[item.NodeId]) |
|
365
|
|
|
|
|
366
|
|
|
return ua.StatusCode() |
|
367
|
|
|
|
|
368
|
|
|
def _delete_node_callbacks(self, nodedata): |
|
369
|
|
|
if ua.AttributeIds.Value in nodedata.attributes: |
|
370
|
|
|
for handle, callback in list(nodedata.attributes[ua.AttributeIds.Value].datachange_callbacks.items()): |
|
371
|
|
|
try: |
|
372
|
|
|
callback(handle, None, ua.StatusCode(ua.StatusCodes.BadNodeIdUnknown)) |
|
373
|
|
|
self._aspace.delete_datachange_callback(handle) |
|
374
|
|
|
except Exception as ex: |
|
375
|
|
|
self.logger.exception("Error calling delete node callback callback %s, %s, %s", nodedata, |
|
376
|
|
|
ua.AttributeIds.Value, ex) |
|
377
|
|
|
|
|
378
|
|
|
def add_references(self, refs, user=User(role=UserRole.Admin)): |
|
379
|
|
|
result = [] |
|
380
|
|
|
for ref in refs: |
|
381
|
|
|
result.append(self._add_reference(ref, user)) |
|
382
|
|
|
return result |
|
383
|
|
|
|
|
384
|
|
|
def try_add_references(self, refs, user=User(role=UserRole.Admin)): |
|
385
|
|
|
for ref in refs: |
|
386
|
|
|
if not self._add_reference(ref, user).is_good(): |
|
387
|
|
|
yield ref |
|
388
|
|
|
|
|
389
|
|
|
def _add_reference(self, addref, user): |
|
390
|
|
|
sourcedata = self._aspace.get(addref.SourceNodeId) |
|
391
|
|
|
if sourcedata is None: |
|
392
|
|
|
return ua.StatusCode(ua.StatusCodes.BadSourceNodeIdInvalid) |
|
393
|
|
|
if addref.TargetNodeId not in self._aspace: |
|
394
|
|
|
return ua.StatusCode(ua.StatusCodes.BadTargetNodeIdInvalid) |
|
395
|
|
|
if user.role != UserRole.Admin: |
|
396
|
|
|
return ua.StatusCode(ua.StatusCodes.BadUserAccessDenied) |
|
397
|
|
|
return self._add_reference_no_check(sourcedata, addref) |
|
398
|
|
|
|
|
399
|
|
|
def _add_reference_no_check(self, sourcedata, addref): |
|
400
|
|
|
rdesc = ua.ReferenceDescription() |
|
401
|
|
|
rdesc.ReferenceTypeId = addref.ReferenceTypeId |
|
402
|
|
|
rdesc.IsForward = addref.IsForward |
|
403
|
|
|
rdesc.NodeId = addref.TargetNodeId |
|
404
|
|
|
if addref.TargetNodeClass == ua.NodeClass.Unspecified: |
|
405
|
|
|
rdesc.NodeClass = self._aspace.read_attribute_value( |
|
406
|
|
|
addref.TargetNodeId, ua.AttributeIds.NodeClass).Value.Value |
|
407
|
|
|
else: |
|
408
|
|
|
rdesc.NodeClass = addref.TargetNodeClass |
|
409
|
|
|
bname = self._aspace.read_attribute_value(addref.TargetNodeId, ua.AttributeIds.BrowseName).Value.Value |
|
410
|
|
|
if bname: |
|
411
|
|
|
rdesc.BrowseName = bname |
|
412
|
|
|
dname = self._aspace.read_attribute_value(addref.TargetNodeId, ua.AttributeIds.DisplayName).Value.Value |
|
413
|
|
|
if dname: |
|
414
|
|
|
rdesc.DisplayName = dname |
|
415
|
|
|
return self._add_unique_reference(sourcedata, rdesc) |
|
416
|
|
|
|
|
417
|
|
|
def delete_references(self, refs, user=User(role=UserRole.Admin)): |
|
418
|
|
|
result = [] |
|
419
|
|
|
for ref in refs: |
|
420
|
|
|
result.append(self._delete_reference(ref, user)) |
|
421
|
|
|
return result |
|
422
|
|
|
|
|
423
|
|
|
def _delete_unique_reference(self, item, invert=False): |
|
424
|
|
|
if invert: |
|
425
|
|
|
source, target, forward = item.TargetNodeId, item.SourceNodeId, not item.IsForward |
|
426
|
|
|
else: |
|
427
|
|
|
source, target, forward = item.SourceNodeId, item.TargetNodeId, item.IsForward |
|
428
|
|
|
for rdesc in self._aspace[source].references: |
|
429
|
|
|
if rdesc.NodeId == target and rdesc.ReferenceTypeId == item.ReferenceTypeId: |
|
430
|
|
|
if rdesc.IsForward == forward: |
|
431
|
|
|
self._aspace[source].references.remove(rdesc) |
|
432
|
|
|
return ua.StatusCode() |
|
433
|
|
|
return ua.StatusCode(ua.StatusCodes.BadNotFound) |
|
434
|
|
|
|
|
435
|
|
|
def _delete_reference(self, item, user): |
|
436
|
|
|
if item.SourceNodeId not in self._aspace: |
|
437
|
|
|
return ua.StatusCode(ua.StatusCodes.BadSourceNodeIdInvalid) |
|
438
|
|
|
if item.TargetNodeId not in self._aspace: |
|
439
|
|
|
return ua.StatusCode(ua.StatusCodes.BadTargetNodeIdInvalid) |
|
440
|
|
|
if item.ReferenceTypeId not in self._aspace: |
|
441
|
|
|
return ua.StatusCode(ua.StatusCodes.BadReferenceTypeIdInvalid) |
|
442
|
|
|
if user.role != UserRole.Admin: |
|
443
|
|
|
return ua.StatusCode(ua.StatusCodes.BadUserAccessDenied) |
|
444
|
|
|
|
|
445
|
|
|
if item.DeleteBidirectional: |
|
446
|
|
|
self._delete_unique_reference(item, True) |
|
447
|
|
|
return self._delete_unique_reference(item) |
|
448
|
|
|
|
|
449
|
|
|
def _add_node_attr(self, item, nodedata, name, vtype=None, add_timestamps=False): |
|
450
|
|
|
if item.SpecifiedAttributes & getattr(ua.NodeAttributesMask, name): |
|
|
|
|
|
|
451
|
|
|
dv = ua.DataValue(ua.Variant(getattr(item, name), vtype)) |
|
452
|
|
|
if add_timestamps: |
|
453
|
|
|
# dv.ServerTimestamp = datetime.utcnow() # Disabled until someone explains us it should be there |
|
454
|
|
|
dv.SourceTimestamp = datetime.utcnow() |
|
455
|
|
|
nodedata.attributes[getattr(ua.AttributeIds, name)] = AttributeValue(dv) |
|
456
|
|
|
|
|
457
|
|
|
def _add_nodeattributes(self, item, nodedata, add_timestamps): |
|
458
|
|
|
self._add_node_attr(item, nodedata, "AccessLevel", ua.VariantType.Byte) |
|
459
|
|
|
self._add_node_attr(item, nodedata, "ArrayDimensions", ua.VariantType.UInt32) |
|
460
|
|
|
self._add_node_attr(item, nodedata, "BrowseName", ua.VariantType.QualifiedName) |
|
461
|
|
|
self._add_node_attr(item, nodedata, "ContainsNoLoops", ua.VariantType.Boolean) |
|
462
|
|
|
self._add_node_attr(item, nodedata, "DataType", ua.VariantType.NodeId) |
|
463
|
|
|
self._add_node_attr(item, nodedata, "Description", ua.VariantType.LocalizedText) |
|
464
|
|
|
self._add_node_attr(item, nodedata, "DisplayName", ua.VariantType.LocalizedText) |
|
465
|
|
|
self._add_node_attr(item, nodedata, "EventNotifier", ua.VariantType.Byte) |
|
466
|
|
|
self._add_node_attr(item, nodedata, "Executable", ua.VariantType.Boolean) |
|
467
|
|
|
self._add_node_attr(item, nodedata, "Historizing", ua.VariantType.Boolean) |
|
468
|
|
|
self._add_node_attr(item, nodedata, "InverseName", ua.VariantType.LocalizedText) |
|
469
|
|
|
self._add_node_attr(item, nodedata, "IsAbstract", ua.VariantType.Boolean) |
|
470
|
|
|
self._add_node_attr(item, nodedata, "MinimumSamplingInterval", ua.VariantType.Double) |
|
471
|
|
|
self._add_node_attr(item, nodedata, "NodeClass", ua.VariantType.Int32) |
|
472
|
|
|
self._add_node_attr(item, nodedata, "NodeId", ua.VariantType.NodeId) |
|
473
|
|
|
self._add_node_attr(item, nodedata, "Symmetric", ua.VariantType.Boolean) |
|
474
|
|
|
self._add_node_attr(item, nodedata, "UserAccessLevel", ua.VariantType.Byte) |
|
475
|
|
|
self._add_node_attr(item, nodedata, "UserExecutable", ua.VariantType.Boolean) |
|
476
|
|
|
self._add_node_attr(item, nodedata, "UserWriteMask", ua.VariantType.Byte) |
|
477
|
|
|
self._add_node_attr(item, nodedata, "ValueRank", ua.VariantType.Int32) |
|
478
|
|
|
self._add_node_attr(item, nodedata, "WriteMask", ua.VariantType.UInt32) |
|
479
|
|
|
self._add_node_attr(item, nodedata, "UserWriteMask", ua.VariantType.UInt32) |
|
480
|
|
|
self._add_node_attr(item, nodedata, "DataTypeDefinition", ua.VariantType.ExtensionObject) |
|
481
|
|
|
self._add_node_attr(item, nodedata, "Value", add_timestamps=add_timestamps) |
|
482
|
|
|
|
|
483
|
|
|
|
|
484
|
|
|
class MethodService: |
|
485
|
|
|
|
|
486
|
|
|
def __init__(self, aspace: "AddressSpace"): |
|
487
|
|
|
self.logger = logging.getLogger(__name__) |
|
488
|
|
|
self._aspace: "AddressSpace" = aspace |
|
489
|
|
|
self._pool = ThreadPoolExecutor() |
|
490
|
|
|
|
|
491
|
|
|
def stop(self): |
|
492
|
|
|
self._pool.shutdown() |
|
493
|
|
|
|
|
494
|
|
|
async def call(self, methods): |
|
495
|
|
|
results = [] |
|
496
|
|
|
for method in methods: |
|
497
|
|
|
res = await self._call(method) |
|
498
|
|
|
results.append(res) |
|
499
|
|
|
return results |
|
500
|
|
|
|
|
501
|
|
|
async def _call(self, method): |
|
502
|
|
|
self.logger.info("Calling: %s", method) |
|
503
|
|
|
res = ua.CallMethodResult() |
|
504
|
|
|
if method.ObjectId not in self._aspace or method.MethodId not in self._aspace: |
|
505
|
|
|
res.StatusCode = ua.StatusCode(ua.StatusCodes.BadNodeIdInvalid) |
|
506
|
|
|
else: |
|
507
|
|
|
node = self._aspace[method.MethodId] |
|
508
|
|
|
if node.call is None: |
|
509
|
|
|
res.StatusCode = ua.StatusCode(ua.StatusCodes.BadNothingToDo) |
|
510
|
|
|
else: |
|
511
|
|
|
try: |
|
512
|
|
|
result = await self._run_method(node.call, method.ObjectId, *method.InputArguments) |
|
513
|
|
|
except Exception: |
|
514
|
|
|
self.logger.exception("Error executing method call %s, an exception was raised: ", method) |
|
515
|
|
|
res.StatusCode = ua.StatusCode(ua.StatusCodes.BadUnexpectedError) |
|
516
|
|
|
else: |
|
517
|
|
|
if isinstance(result, ua.CallMethodResult): |
|
518
|
|
|
res = result |
|
519
|
|
|
elif isinstance(result, ua.StatusCode): |
|
520
|
|
|
res.StatusCode = result |
|
521
|
|
|
else: |
|
522
|
|
|
res.OutputArguments = result |
|
523
|
|
|
while len(res.InputArgumentResults) < len(method.InputArguments): |
|
524
|
|
|
res.InputArgumentResults.append(ua.StatusCode()) |
|
525
|
|
|
return res |
|
526
|
|
|
|
|
527
|
|
|
async def _run_method(self, func, parent, *args): |
|
528
|
|
|
if asyncio.iscoroutinefunction(func): |
|
529
|
|
|
return await func(parent, *args) |
|
530
|
|
|
p = partial(func, parent, *args) |
|
531
|
|
|
res = await asyncio.get_event_loop().run_in_executor(self._pool, p) |
|
532
|
|
|
return res |
|
533
|
|
|
|
|
534
|
|
|
|
|
535
|
|
|
class AddressSpace: |
|
536
|
|
|
""" |
|
537
|
|
|
The address space object stores all the nodes of the OPC-UA server and helper methods. |
|
538
|
|
|
The methods are thread safe |
|
539
|
|
|
""" |
|
540
|
|
|
|
|
541
|
|
|
def __init__(self): |
|
542
|
|
|
self.logger = logging.getLogger(__name__) |
|
543
|
|
|
self._nodes = {} |
|
544
|
|
|
self._datachange_callback_counter = 200 |
|
545
|
|
|
self._handle_to_attribute_map = {} |
|
546
|
|
|
self._default_idx = 2 |
|
547
|
|
|
self._nodeid_counter = {0: 20000, 1: 2000} |
|
548
|
|
|
|
|
549
|
|
|
def __getitem__(self, nodeid): |
|
550
|
|
|
return self._nodes.__getitem__(nodeid) |
|
551
|
|
|
|
|
552
|
|
|
def get(self, nodeid): |
|
553
|
|
|
return self._nodes.get(nodeid, None) |
|
554
|
|
|
|
|
555
|
|
|
def __setitem__(self, nodeid, value): |
|
556
|
|
|
return self._nodes.__setitem__(nodeid, value) |
|
557
|
|
|
|
|
558
|
|
|
def __contains__(self, nodeid): |
|
559
|
|
|
return self._nodes.__contains__(nodeid) |
|
560
|
|
|
|
|
561
|
|
|
def __delitem__(self, nodeid): |
|
562
|
|
|
self._nodes.__delitem__(nodeid) |
|
563
|
|
|
|
|
564
|
|
|
def generate_nodeid(self, idx=None): |
|
565
|
|
|
if idx is None: |
|
566
|
|
|
idx = self._default_idx |
|
567
|
|
|
if idx in self._nodeid_counter: |
|
568
|
|
|
self._nodeid_counter[idx] += 1 |
|
569
|
|
|
else: |
|
570
|
|
|
# get the biggest identifier number from the existed nodes in address space |
|
571
|
|
|
identifier_list = sorted([ |
|
572
|
|
|
nodeid.Identifier for nodeid in self._nodes.keys() |
|
573
|
|
|
if nodeid.NamespaceIndex == idx and nodeid.NodeIdType in ( |
|
574
|
|
|
ua.NodeIdType.Numeric, ua.NodeIdType.TwoByte, ua.NodeIdType.FourByte |
|
575
|
|
|
) |
|
576
|
|
|
]) |
|
577
|
|
|
if identifier_list: |
|
578
|
|
|
self._nodeid_counter[idx] = identifier_list[-1] |
|
579
|
|
|
else: |
|
580
|
|
|
self._nodeid_counter[idx] = 1 |
|
581
|
|
|
nodeid = ua.NodeId(self._nodeid_counter[idx], idx) |
|
582
|
|
|
while True: |
|
583
|
|
|
if nodeid in self._nodes: |
|
584
|
|
|
nodeid = self.generate_nodeid(idx) |
|
585
|
|
|
else: |
|
586
|
|
|
return nodeid |
|
587
|
|
|
|
|
588
|
|
|
def keys(self): |
|
589
|
|
|
return self._nodes.keys() |
|
590
|
|
|
|
|
591
|
|
|
def empty(self): |
|
592
|
|
|
"""Delete all nodes in address space""" |
|
593
|
|
|
self._nodes = {} |
|
594
|
|
|
|
|
595
|
|
|
def dump(self, path): |
|
596
|
|
|
""" |
|
597
|
|
|
Dump address space as binary to file; note that server must be stopped for this method to work |
|
598
|
|
|
DO NOT DUMP AN ADDRESS SPACE WHICH IS USING A SHELF (load_aspace_shelf), ONLY CACHED NODES WILL GET DUMPED! |
|
599
|
|
|
""" |
|
600
|
|
|
# prepare nodes in address space for being serialized |
|
601
|
|
|
for nodeid, ndata in self._nodes.items(): |
|
602
|
|
|
# if the node has a reference to a method call, remove it so the object can be serialized |
|
603
|
|
|
if ndata.call is not None: |
|
604
|
|
|
self._nodes[nodeid].call = None |
|
605
|
|
|
|
|
606
|
|
|
with open(path, 'wb') as f: |
|
607
|
|
|
pickle.dump(self._nodes, f, pickle.HIGHEST_PROTOCOL) |
|
608
|
|
|
|
|
609
|
|
|
def load(self, path): |
|
610
|
|
|
""" |
|
611
|
|
|
Load address space from a binary file, overwriting everything in the current address space |
|
612
|
|
|
""" |
|
613
|
|
|
with open(path, 'rb') as f: |
|
614
|
|
|
self._nodes = pickle.load(f) |
|
615
|
|
|
|
|
616
|
|
|
def make_aspace_shelf(self, path): |
|
617
|
|
|
""" |
|
618
|
|
|
Make a shelf for containing the nodes from the standard address space; this is typically only done on first |
|
619
|
|
|
start of the server. Subsequent server starts will load the shelf, nodes are then moved to a cache |
|
620
|
|
|
by the LazyLoadingDict class when they are accessed. Saving data back to the shelf |
|
621
|
|
|
is currently NOT supported, it is only used for the default OPC UA standard address space |
|
622
|
|
|
|
|
623
|
|
|
Note: Intended for slow devices, such as Raspberry Pi, to greatly improve start up time |
|
624
|
|
|
""" |
|
625
|
|
|
with shelve.open(path, 'n', protocol=pickle.HIGHEST_PROTOCOL) as s: |
|
626
|
|
|
for nodeid, ndata in self._nodes.items(): |
|
627
|
|
|
s[nodeid.to_string()] = ndata |
|
628
|
|
|
|
|
629
|
|
|
def load_aspace_shelf(self, path): |
|
630
|
|
|
""" |
|
631
|
|
|
Load the standard address space nodes from a python shelve via LazyLoadingDict as needed. |
|
632
|
|
|
The dump() method can no longer be used if the address space is being loaded from a shelf |
|
633
|
|
|
|
|
634
|
|
|
Note: Intended for slow devices, such as Raspberry Pi, to greatly improve start up time |
|
635
|
|
|
""" |
|
636
|
|
|
raise NotImplementedError |
|
637
|
|
|
|
|
638
|
|
|
# ToDo: async friendly implementation - load all at once? |
|
639
|
|
|
class LazyLoadingDict(collections.MutableMapping): |
|
|
|
|
|
|
640
|
|
|
""" |
|
641
|
|
|
Special dict that only loads nodes as they are accessed. If a node is accessed it gets copied from the |
|
642
|
|
|
shelve to the cache dict. All user nodes are saved in the cache ONLY. Saving data back to the shelf |
|
643
|
|
|
is currently NOT supported |
|
644
|
|
|
""" |
|
645
|
|
|
|
|
646
|
|
|
def __init__(self, source): |
|
647
|
|
|
self.source = source # python shelf |
|
648
|
|
|
self.cache = {} # internal dict |
|
649
|
|
|
|
|
650
|
|
|
def __getitem__(self, key): |
|
651
|
|
|
# try to get the item (node) from the cache, if it isn't there get it from the shelf |
|
652
|
|
|
try: |
|
653
|
|
|
return self.cache[key] |
|
654
|
|
|
except KeyError: |
|
655
|
|
|
node = self.cache[key] = self.source[key.to_string()] |
|
656
|
|
|
return node |
|
657
|
|
|
|
|
658
|
|
|
def __setitem__(self, key, value): |
|
659
|
|
|
# add a new item to the cache; if this item is in the shelf it is not updated |
|
660
|
|
|
self.cache[key] = value |
|
661
|
|
|
|
|
662
|
|
|
def __contains__(self, key): |
|
663
|
|
|
return key in self.cache or key.to_string() in self.source |
|
664
|
|
|
|
|
665
|
|
|
def __delitem__(self, key): |
|
666
|
|
|
# only deleting items from the cache is allowed |
|
667
|
|
|
del self.cache[key] |
|
668
|
|
|
|
|
669
|
|
|
def __iter__(self): |
|
670
|
|
|
# only the cache can be iterated over |
|
671
|
|
|
return iter(self.cache.keys()) |
|
672
|
|
|
|
|
673
|
|
|
def __len__(self): |
|
674
|
|
|
# only returns the length of items in the cache, not unaccessed items in the shelf |
|
675
|
|
|
return len(self.cache) |
|
676
|
|
|
|
|
677
|
|
|
self._nodes = LazyLoadingDict(shelve.open(path, "r")) |
|
678
|
|
|
|
|
679
|
|
|
def read_attribute_value(self, nodeid, attr): |
|
680
|
|
|
# self.logger.debug("get attr val: %s %s", nodeid, attr) |
|
681
|
|
|
if nodeid not in self._nodes: |
|
682
|
|
|
dv = ua.DataValue() |
|
683
|
|
|
dv.StatusCode = ua.StatusCode(ua.StatusCodes.BadNodeIdUnknown) |
|
684
|
|
|
return dv |
|
685
|
|
|
node = self._nodes[nodeid] |
|
686
|
|
|
if attr not in node.attributes: |
|
687
|
|
|
dv = ua.DataValue() |
|
688
|
|
|
dv.StatusCode = ua.StatusCode(ua.StatusCodes.BadAttributeIdInvalid) |
|
689
|
|
|
return dv |
|
690
|
|
|
attval = node.attributes[attr] |
|
691
|
|
|
if attval.value_callback: |
|
692
|
|
|
return attval.value_callback() |
|
693
|
|
|
return attval.value |
|
694
|
|
|
|
|
695
|
|
|
async def write_attribute_value(self, nodeid, attr, value): |
|
696
|
|
|
# self.logger.debug("set attr val: %s %s %s", nodeid, attr, value) |
|
697
|
|
|
node = self._nodes.get(nodeid, None) |
|
698
|
|
|
if node is None: |
|
699
|
|
|
return ua.StatusCode(ua.StatusCodes.BadNodeIdUnknown) |
|
700
|
|
|
attval = node.attributes.get(attr, None) |
|
701
|
|
|
if attval is None: |
|
702
|
|
|
return ua.StatusCode(ua.StatusCodes.BadAttributeIdInvalid) |
|
703
|
|
|
|
|
704
|
|
|
old = attval.value |
|
705
|
|
|
attval.value = value |
|
706
|
|
|
cbs = [] |
|
707
|
|
|
if old.Value != value.Value: # only send call callback when a value change has happend |
|
708
|
|
|
cbs = list(attval.datachange_callbacks.items()) |
|
709
|
|
|
|
|
710
|
|
|
for k, v in cbs: |
|
711
|
|
|
try: |
|
712
|
|
|
await v(k, value) |
|
713
|
|
|
except Exception as ex: |
|
714
|
|
|
self.logger.exception("Error calling datachange callback %s, %s, %s", k, v, ex) |
|
715
|
|
|
|
|
716
|
|
|
return ua.StatusCode() |
|
717
|
|
|
|
|
718
|
|
|
def add_datachange_callback(self, nodeid, attr, callback): |
|
719
|
|
|
self.logger.debug("set attr callback: %s %s %s", nodeid, attr, callback) |
|
720
|
|
|
if nodeid not in self._nodes: |
|
721
|
|
|
return ua.StatusCode(ua.StatusCodes.BadNodeIdUnknown), 0 |
|
722
|
|
|
node = self._nodes[nodeid] |
|
723
|
|
|
if attr not in node.attributes: |
|
724
|
|
|
return ua.StatusCode(ua.StatusCodes.BadAttributeIdInvalid), 0 |
|
725
|
|
|
attval = node.attributes[attr] |
|
726
|
|
|
self._datachange_callback_counter += 1 |
|
727
|
|
|
handle = self._datachange_callback_counter |
|
728
|
|
|
attval.datachange_callbacks[handle] = callback |
|
729
|
|
|
self._handle_to_attribute_map[handle] = (nodeid, attr) |
|
730
|
|
|
return ua.StatusCode(), handle |
|
731
|
|
|
|
|
732
|
|
|
def delete_datachange_callback(self, handle): |
|
733
|
|
|
if handle in self._handle_to_attribute_map: |
|
734
|
|
|
nodeid, attr = self._handle_to_attribute_map.pop(handle) |
|
735
|
|
|
self._nodes[nodeid].attributes[attr].datachange_callbacks.pop(handle) |
|
736
|
|
|
|
|
737
|
|
|
def add_method_callback(self, methodid, callback): |
|
738
|
|
|
node = self._nodes[methodid] |
|
739
|
|
|
node.call = callback |
|
740
|
|
|
|
FreeOpcUa /
opcua-asyncio
Loading history...
