FreeOpcUa /
opcua-asyncio
| Total Complexity | 64 |
| Total Lines | 633 |
| 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.event_objects import TransitionEvent |
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| 26 | |||
| 27 | _logger = logging.getLogger(__name__) |
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| 28 | |||
| 29 | class StateTypeClass(object): |
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| 30 | _count = 0 |
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| 31 | def __init__(self, name, node=None): |
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| 32 | self.name = name |
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| 33 | self.node = node |
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| 34 | self._id = type(self)._count + 1 #according to the specs a unique number for each state |
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| 35 | type(self)._count = self._id |
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| 36 | |||
| 37 | class TransitionTypeClass(object): |
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| 38 | _count = 0 |
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| 39 | def __init__(self, name, node=None): |
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| 40 | self.name = name |
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| 41 | self.node = node |
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| 42 | self._id = type(self)._count + 1 #according to the specs a unique number for each transition |
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| 43 | type(self)._count = self._id |
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| 44 | |||
| 45 | class StateMachineTypeClass(object): |
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| 46 | ''' |
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| 47 | Implementation of an StateMachineType (most basic type) |
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| 48 | ''' |
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| 49 | def __init__(self, server=None, parent=None, idx=None, name=None): |
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| 50 | if not isinstance(server, Server): |
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| 51 | raise ValueError |
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| 52 | if not isinstance(parent, Node): |
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| 53 | raise ValueError |
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| 54 | if idx == None: |
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| 55 | idx = parent.nodeid.NamespaceIndex |
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| 56 | if name == None: |
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| 57 | name = "StateMachine" |
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| 58 | self.locale = "en-US" |
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| 59 | self._server = server |
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| 60 | self._parent = parent |
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| 61 | self._state_machine_node = None |
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| 62 | self._state_machine_type = ua.NodeId(2299, 0) #StateMachineType |
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| 63 | self._name = name |
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| 64 | self._idx = idx |
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| 65 | self._optionals = False |
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| 66 | self._current_state_node = None |
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| 67 | self._current_state_id_node = None |
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| 68 | self._last_transition_node = None |
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| 69 | self._last_transition_id_node = None |
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| 70 | self._evgen = None |
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| 71 | |||
| 72 | async def install(self, optionals=False): |
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| 73 | ''' |
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| 74 | setup adressspace |
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| 75 | ''' |
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| 76 | self._optionals = optionals |
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| 77 | self._state_machine_node = await self._parent.add_object( |
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| 78 | self._idx, |
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| 79 | self._name, |
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| 80 | objecttype=self._state_machine_type, |
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| 81 | instantiate_optional=optionals |
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| 82 | ) |
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| 83 | await self.init(self._state_machine_node) |
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| 84 | |||
| 85 | async def init(self, statemachine): |
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| 86 | ''' |
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| 87 | initialize subnodes |
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| 88 | ''' |
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| 89 | #FIXME check for childrens typdefinitions which matches statemachine |
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| 90 | self._current_state_node = await statemachine.get_child(["CurrentState"]) |
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| 91 | self._current_state_id_node = await statemachine.get_child(["CurrentState","Id"]) |
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| 92 | if self._optionals: |
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| 93 | self._last_transition_node = await statemachine.get_child(["LastTransition"]) |
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| 94 | self._last_transition_id_node = await statemachine.get_child(["LastTransition","Id"]) |
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| 95 | self._evgen = await self._server.get_event_generator(TransitionEvent(), self._state_machine_node) |
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| 96 | |||
| 97 | async def change_state( |
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| 98 | self, |
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| 99 | state, |
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| 100 | transition=None, |
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| 101 | event_msg=None, |
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| 102 | severity=500 |
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| 103 | ): |
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| 104 | ''' |
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| 105 | method to change the state of the statemachine |
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| 106 | state (type StateTypeClass mandatory) |
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| 107 | transition (type TransitionTypeClass optional) |
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| 108 | event_msg (type string optional) |
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| 109 | severity (type Int optional) |
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| 110 | ''' |
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| 111 | #FIXME check StateType exist |
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| 112 | #FIXME check TransitionTypeType exist |
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| 113 | await self._write_state(state) |
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| 114 | if transition: |
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| 115 | await self._write_transition(transition) |
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| 116 | if event_msg: |
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| 117 | if isinstance(event_msg, (type(""))): |
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| 118 | event_msg = ua.LocalizedText(event_msg, self.locale) |
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| 119 | self._evgen.event.Message = event_msg |
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| 120 | self._evgen.event.Severity = severity |
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| 121 | await self._evgen.trigger() |
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| 122 | |||
| 123 | async def _write_state(self, state): |
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| 124 | await self._current_state_node.write_value(ua.LocalizedText(state.name, self.locale)) |
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| 125 | if state.node: |
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| 126 | await self._current_state_id_node.write_value(state.node.nodeid) |
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| 127 | |||
| 128 | async def _write_transition(self, transition): |
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| 129 | await self._last_transition_node.write_value(ua.LocalizedText(transition.name, self.locale)) |
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| 130 | if transition.node: |
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| 131 | await self._last_transition_id_node.write_value(transition.node.nodeid) |
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| 132 | |||
| 133 | async def add_state(self, state, state_type=ua.NodeId(2307, 0), optionals=False): |
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| 134 | ''' |
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| 135 | state: StateTypeClass |
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| 136 | InitialStateType: ua.NodeId(2309, 0) |
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| 137 | StateType: ua.NodeId(2307, 0) |
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| 138 | ChoiceStateType: ua.NodeId(15109,0) |
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| 139 | ''' |
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| 140 | if not isinstance(state, StateTypeClass): |
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| 141 | raise ValueError |
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| 142 | state.node = await self._state_machine_node.add_object( |
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| 143 | self._idx, |
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| 144 | state.name, |
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| 145 | objecttype=state_type, |
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| 146 | instantiate_optional=optionals |
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| 147 | ) |
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| 148 | state_number = await state.node.get_child(["StateNumber"]) |
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| 149 | await state_number.write_value(state._id, ua.VariantType.UInt32) |
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| 150 | return state.node |
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| 151 | |||
| 152 | async def add_transition(self, transition, transition_type=ua.NodeId(2310, 0), optionals=False): |
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| 153 | ''' |
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| 154 | transition: TransitionTypeClass |
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| 155 | transition_type: ua.NodeId(2310, 0) |
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| 156 | ''' |
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| 157 | if not isinstance(transition, TransitionTypeClass): |
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| 158 | raise ValueError |
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| 159 | transition.node = await self._state_machine_node.add_object( |
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| 160 | self._idx, |
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| 161 | transition.name, |
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| 162 | objecttype=transition_type, |
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| 163 | instantiate_optional=optionals |
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| 164 | ) |
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| 165 | transition_number = await transition.node.get_child(["TransitionNumber"]) |
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| 166 | await transition_number.write_value(transition._id, ua.VariantType.UInt32) |
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| 167 | return transition.node |
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| 168 | |||
| 169 | async def remove(self, nodes): |
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| 170 | #FIXME |
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| 171 | raise NotImplementedError |
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| 172 | |||
| 173 | class FiniteStateMachineTypeClass(StateMachineTypeClass): |
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| 174 | ''' |
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| 175 | Implementation of an FiniteStateMachineType a little more advanced than the basic one |
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| 176 | if you need to know the avalible states and transition from clientside |
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| 177 | ''' |
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| 178 | def __init__(self, server=None, parent=None, idx=None, name=None): |
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| 179 | super().__init__(server, parent, idx, name) |
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| 180 | if name == None: |
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| 181 | name = "FiniteStateMachine" |
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| 182 | self._state_machine_type = ua.NodeId(2771, 0) |
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| 183 | self._avalible_states_node = None |
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| 184 | self._avalible_transitions_node = None |
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| 185 | |||
| 186 | async def install(self, optionals=False): |
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| 187 | ''' |
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| 188 | setup adressspace and initialize |
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| 189 | ''' |
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| 190 | self._optionals = optionals |
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| 191 | self._state_machine_node = await self._parent.add_object( |
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| 192 | self._idx, |
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| 193 | self._name, |
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| 194 | objecttype=self._state_machine_type, |
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| 195 | instantiate_optional=optionals |
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| 196 | ) |
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| 197 | |||
| 198 | async def init(self, avalible_states, avalible_transitions, ): |
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| 199 | #FIXME get children and map children |
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| 200 | #await self.find_all_states() |
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| 201 | await self.set_avalible_states(avalible_states) |
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| 202 | #await self.find_all_transitions() |
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| 203 | await self.set_avalible_transitions(avalible_transitions) |
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| 204 | |||
| 205 | async def set_avalible_states(self, states): |
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| 206 | #check if its list |
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| 207 | await self._avalible_states_node.write_value(states, varianttype=ua.VariantType.NodeId) |
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| 208 | |||
| 209 | async def set_avalible_transitions(self, transitions): |
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| 210 | #check if its list |
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| 211 | await self._avalible_transitions_node.write_value(transitions, varianttype=ua.VariantType.NodeId) |
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| 212 | |||
| 213 | async def find_all_states(self): |
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| 214 | return NotImplementedError |
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| 215 | |||
| 216 | async def find_all_transitions(self): |
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| 217 | return NotImplementedError |
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| 218 | |||
| 219 | class ExclusiveLimitStateMachineTypeClass(FiniteStateMachineTypeClass): |
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| 220 | ''' |
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| 221 | NOT IMPLEMENTED "ExclusiveLimitStateMachineType" |
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| 222 | ''' |
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| 223 | def __init__(self, server=None, parent=None, idx=None, name=None): |
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| 224 | super().__init__(server, parent, idx, name) |
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| 225 | if name == None: |
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| 226 | name = "ExclusiveLimitStateMachine" |
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| 227 | self._state_machine_type = ua.NodeId(9318, 0) |
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| 228 | raise NotImplementedError |
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| 229 | |||
| 230 | class FileTransferStateMachineTypeClass(FiniteStateMachineTypeClass): |
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| 231 | ''' |
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| 232 | NOT IMPLEMENTED "FileTransferStateMachineType" |
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| 233 | ''' |
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| 234 | def __init__(self, server=None, parent=None, idx=None, name=None): |
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| 235 | super().__init__(server, parent, idx, name) |
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| 236 | if name == None: |
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| 237 | name = "FileTransferStateMachine" |
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| 238 | self._state_machine_type = ua.NodeId(15803, 0) |
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| 239 | raise NotImplementedError |
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| 240 | |||
| 241 | class ProgramStateMachineTypeClass(FiniteStateMachineTypeClass): |
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| 242 | ''' |
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| 243 | https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.3/ |
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| 244 | Implementation of an ProgramStateMachine its quite a complex statemachine with the |
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| 245 | optional possibility to make the statchange from clientside via opcua-methods |
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| 246 | ''' |
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| 247 | def __init__(self, server=None, parent=None, idx=None, name=None): |
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| 248 | super().__init__(server, parent, idx, name) |
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| 249 | if name == None: |
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| 250 | name = "ProgramStateMachine" |
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| 251 | self._state_machine_type = ua.NodeId(2391, 0) |
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| 252 | |||
| 253 | # 5.2.3.2 ProgramStateMachineType states |
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| 254 | self._ready_state_node = None #State node |
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| 255 | self._halted_state_node = None #State node |
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| 256 | self._running_state_node = None #State node |
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| 257 | self._suspended_state_node = None #State node |
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| 258 | |||
| 259 | # 5.2.3.3 ProgramStateMachineType transitions |
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| 260 | self._halted_to_ready_node = None #Transition node |
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| 261 | self._ready_to_running_node = None #Transition node |
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| 262 | self._running_to_halted_node = None #Transition node |
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| 263 | self._running_to_ready_node = None #Transition node |
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| 264 | self._running_to_suspended_node = None #Transition node |
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| 265 | self._suspended_to_running_node = None #Transition node |
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| 266 | self._suspended_to_halted_node = None #Transition node |
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| 267 | self._suspended_to_ready_node = None #Transition node |
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| 268 | self._ready_to_halted_node = None #Transition node |
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| 269 | |||
| 270 | # 5.2.3.2 ProgramStateMachineType states |
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| 271 | self._halted_state_id_node = None #State property (StateNumber value 11) |
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| 272 | self._ready_state_id_node = None #State property (StateNumber value 12) |
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| 273 | self._running_state_id_node = None #State property (StateNumber value 13) |
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| 274 | self._suspended_state_id_node = None #State property (StateNumber value 14) |
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| 275 | |||
| 276 | # 5.2.3.3 ProgramStateMachineType transitions |
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| 277 | self._halted_to_ready_id_node = None #Transition property (TransitionNumber value 1) |
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| 278 | self._ready_to_running_id_node = None #Transition property (TransitionNumber value 2) |
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| 279 | self._running_to_halted_id_node = None #Transition property (TransitionNumber value 3) |
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| 280 | self._running_to_ready_id_node = None #Transition property (TransitionNumber value 4) |
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| 281 | self._running_to_suspended_id_node = None #Transition property (TransitionNumber value 5) |
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| 282 | self._suspended_to_running_id_node = None #Transition property (TransitionNumber value 6) |
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| 283 | self._suspended_to_halted_id_node = None #Transition property (TransitionNumber value 7) |
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| 284 | self._suspended_to_ready_id_node = None #Transition property (TransitionNumber value 8) |
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| 285 | self._ready_to_halted_id_node = None #Transition property (TransitionNumber value 9) |
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| 286 | |||
| 287 | # 4.2.7 Program Control Methods (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.7/) |
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| 288 | self._halt_method_node = None #uamethod node |
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| 289 | self._reset_method_node = None #uamethod node |
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| 290 | self._resume_method_node = None #uamethod node |
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| 291 | self._start_method_node = None #uamethod node |
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| 292 | self._suspend_method_node = None #uamethod node |
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| 293 | |||
| 294 | #can be overwritten if you want a different language |
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| 295 | self.localizedtext_ready = ua.LocalizedText("Ready", "en-US") |
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| 296 | self.localizedtext_running = ua.LocalizedText("Running", "en-US") |
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| 297 | self.localizedtext_halted = ua.LocalizedText("Halted", "en-US") |
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| 298 | self.localizedtext_suspended= ua.LocalizedText("Suspended", "en-US") |
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| 299 | self.localizedtext_halted_to_ready = ua.LocalizedText("HaltedToReady", "en-US") |
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| 300 | self.localizedtext_ready_to_running = ua.LocalizedText("ReadyToRunning", "en-US") |
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| 301 | self.localizedtext_running_to_halted = ua.LocalizedText("RunningToHalted", "en-US") |
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| 302 | self.localizedtext_running_to_ready = ua.LocalizedText("RunningToReady", "en-US") |
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| 303 | self.localizedtext_running_to_suspended = ua.LocalizedText("RunningToSuspended", "en-US") |
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| 304 | self.localizedtext_suspended_to_running = ua.LocalizedText("SuspendedToRunning", "en-US") |
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| 305 | self.localizedtext_suspended_to_halted = ua.LocalizedText("SuspendedToHalted", "en-US") |
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| 306 | self.localizedtext_suspended_to_ready = ua.LocalizedText("SuspendedToReady", "en-US") |
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| 307 | self.localizedtext_ready_to_halted = ua.LocalizedText("ReadyToHalted", "en-US") |
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| 308 | |||
| 309 | async def install(self, optionals=False): |
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| 310 | ''' |
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| 311 | setup adressspace and initialize |
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| 312 | ''' |
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| 313 | self._optionals = optionals |
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| 314 | self._state_machine_node = await self._parent.add_object( |
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| 315 | self._idx, |
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| 316 | self._name, |
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| 317 | objecttype=self._state_machine_type, |
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| 318 | instantiate_optional=optionals |
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| 319 | ) |
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| 320 | #FIXME get children and map children |
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| 321 | |||
| 322 | #Transition |
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| 323 | async def HaltedToReady(self): |
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| 324 | await self._current_state.write_value( |
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| 325 | self.localizedtext_ready, |
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| 326 | varianttype=ua.VariantType.LocalizedText |
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| 327 | ) |
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| 328 | await self._current_state_id.write_value( |
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| 329 | self._ready_state.nodeid, |
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| 330 | varianttype=ua.VariantType.NodeId |
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| 331 | ) |
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| 332 | await self._last_transition.write_value( |
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| 333 | self.localizedtext_halted_to_ready, |
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| 334 | varianttype=ua.VariantType.LocalizedText |
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| 335 | ) |
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| 336 | await self._last_transition_id.write_value( |
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| 337 | self._halted_to_ready.nodeid, |
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| 338 | varianttype=ua.VariantType.NodeId |
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| 339 | ) |
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| 340 | #FIXME |
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| 341 | # trigger ProgramTransitionEventType and |
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| 342 | # AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
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| 343 | return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
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| 344 | |||
| 345 | #Transition |
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| 346 | async def ReadyToRunning(self): |
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| 347 | await self._current_state.write_value( |
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| 348 | self.localizedtext_running, |
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| 349 | varianttype=ua.VariantType.LocalizedText |
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| 350 | ) |
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| 351 | await self._current_state_id.write_value( |
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| 352 | self._running_state.nodeid, |
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| 353 | varianttype=ua.VariantType.NodeId |
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| 354 | ) |
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| 355 | await self._last_transition.write_value( |
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| 356 | self.localizedtext_ready_to_running, |
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| 357 | varianttype=ua.VariantType.LocalizedText |
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| 358 | ) |
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| 359 | await self._last_transition_id.write_value( |
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| 360 | self._ready_to_running.nodeid, |
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| 361 | varianttype=ua.VariantType.NodeId |
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| 362 | ) |
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| 363 | #FIXME |
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| 364 | # trigger ProgramTransitionEventType and |
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| 365 | # AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
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| 366 | return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
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| 367 | |||
| 368 | #Transition |
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| 369 | async def RunningToHalted(self): |
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| 370 | await self._current_state.write_value( |
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| 371 | self.localizedtext_halted, |
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| 372 | varianttype=ua.VariantType.LocalizedText |
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| 373 | ) |
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| 374 | await self._current_state_id.write_value( |
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| 375 | self._halted_state.nodeid, |
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| 376 | varianttype=ua.VariantType.NodeId |
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| 377 | ) |
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| 378 | await self._last_transition.write_value( |
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| 379 | self.localizedtext_running_to_halted, |
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| 380 | varianttype=ua.VariantType.LocalizedText |
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| 381 | ) |
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| 382 | await self._last_transition_id.write_value( |
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| 383 | self._running_to_halted.nodeid, |
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| 384 | varianttype=ua.VariantType.NodeId |
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| 385 | ) |
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| 386 | #FIXME |
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| 387 | # trigger ProgramTransitionEventType and |
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| 388 | # AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
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| 389 | return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
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| 390 | |||
| 391 | #Transition |
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| 392 | async def RunningToReady(self): |
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| 393 | await self._current_state.write_value( |
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| 394 | self.localizedtext_ready, |
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| 395 | varianttype=ua.VariantType.LocalizedText |
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| 396 | ) |
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| 397 | await self._current_state_id.write_value( |
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| 398 | self._ready_state.nodeid, |
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| 399 | varianttype=ua.VariantType.NodeId |
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| 400 | ) |
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| 401 | await self._last_transition.write_value( |
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| 402 | self.localizedtext_running_to_ready, |
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| 403 | varianttype=ua.VariantType.LocalizedText |
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| 404 | ) |
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| 405 | await self._last_transition_id.write_value( |
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| 406 | self._running_to_ready.nodeid, |
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| 407 | varianttype=ua.VariantType.NodeId |
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| 408 | ) |
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| 409 | #FIXME |
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| 410 | # trigger ProgramTransitionEventType and |
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| 411 | # AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
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| 412 | return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
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| 413 | |||
| 414 | #Transition |
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| 415 | async def RunningToSuspended(self): |
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| 416 | await self._current_state.write_value( |
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| 417 | self.localizedtext_suspended, |
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| 418 | varianttype=ua.VariantType.LocalizedText |
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| 419 | ) |
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| 420 | await self._current_state_id.write_value( |
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| 421 | self._suspended_state.nodeid, |
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| 422 | varianttype=ua.VariantType.NodeId |
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| 423 | ) |
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| 424 | await self._last_transition.write_value( |
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| 425 | self.localizedtext_running_to_suspended, |
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| 426 | varianttype=ua.VariantType.LocalizedText |
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| 427 | ) |
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| 428 | await self._last_transition_id.write_value( |
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| 429 | self._running_to_suspended.nodeid, |
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| 430 | varianttype=ua.VariantType.NodeId |
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| 431 | ) |
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| 432 | #FIXME |
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| 433 | # trigger ProgramTransitionEventType and |
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| 434 | # AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
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| 435 | return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
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| 436 | |||
| 437 | #Transition |
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| 438 | async def SuspendedToRunning(self): |
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| 439 | await self._current_state.write_value( |
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| 440 | self.localizedtext_running, |
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| 441 | varianttype=ua.VariantType.LocalizedText |
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| 442 | ) |
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| 443 | await self._current_state_id.write_value( |
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| 444 | self._running_state.nodeid, |
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| 445 | varianttype=ua.VariantType.NodeId |
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| 446 | ) |
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| 447 | await self._last_transition.write_value( |
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| 448 | self.localizedtext_suspended_to_running, |
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| 449 | varianttype=ua.VariantType.LocalizedText |
||
| 450 | ) |
||
| 451 | await self._last_transition_id.write_value( |
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| 452 | self._suspended_to_running.nodeid, |
||
| 453 | varianttype=ua.VariantType.NodeId |
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| 454 | ) |
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| 455 | #FIXME |
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| 456 | # trigger ProgramTransitionEventType and |
||
| 457 | # AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
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| 458 | return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
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| 459 | |||
| 460 | #Transition |
||
| 461 | async def SuspendedToHalted(self): |
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| 462 | await self._current_state.write_value( |
||
| 463 | self.localizedtext_halted, |
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| 464 | varianttype=ua.VariantType.LocalizedText |
||
| 465 | ) |
||
| 466 | await self._current_state_id.write_value( |
||
| 467 | self._halted_state.nodeid, |
||
| 468 | varianttype=ua.VariantType.NodeId |
||
| 469 | ) |
||
| 470 | await self._last_transition.write_value( |
||
| 471 | self.localizedtext_suspended_to_halted, |
||
| 472 | varianttype=ua.VariantType.LocalizedText |
||
| 473 | ) |
||
| 474 | await self._last_transition_id.write_value( |
||
| 475 | self._suspended_to_halted.nodeid, |
||
| 476 | varianttype=ua.VariantType.NodeId |
||
| 477 | ) |
||
| 478 | #FIXME |
||
| 479 | # trigger ProgramTransitionEventType and |
||
| 480 | # AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
||
| 481 | return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
||
| 482 | |||
| 483 | #Transition |
||
| 484 | async def SuspendedToReady(self): |
||
| 485 | await self._current_state.write_value( |
||
| 486 | self.localizedtext_ready, |
||
| 487 | varianttype=ua.VariantType.LocalizedText |
||
| 488 | ) |
||
| 489 | await self._current_state_id.write_value( |
||
| 490 | self._ready_state.nodeid, |
||
| 491 | varianttype=ua.VariantType.NodeId |
||
| 492 | ) |
||
| 493 | await self._last_transition.write_value( |
||
| 494 | self.localizedtext_suspended_to_ready, |
||
| 495 | varianttype=ua.VariantType.LocalizedText |
||
| 496 | ) |
||
| 497 | await self._last_transition_id.write_value( |
||
| 498 | self._suspended_to_ready.nodeid, |
||
| 499 | varianttype=ua.VariantType.NodeId |
||
| 500 | ) |
||
| 501 | #FIXME |
||
| 502 | # trigger ProgramTransitionEventType and |
||
| 503 | # AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
||
| 504 | return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
||
| 505 | |||
| 506 | #Transition |
||
| 507 | async def ReadyToHalted(self): |
||
| 508 | await self._current_state.write_value( |
||
| 509 | self.localizedtext_halted, |
||
| 510 | varianttype=ua.VariantType.LocalizedText |
||
| 511 | ) |
||
| 512 | await self._current_state_id.write_value( |
||
| 513 | self._halted_state.nodeid, |
||
| 514 | varianttype=ua.VariantType.NodeId |
||
| 515 | ) |
||
| 516 | await self._last_transition.write_value( |
||
| 517 | self.localizedtext_ready_to_halted, |
||
| 518 | varianttype=ua.VariantType.LocalizedText |
||
| 519 | ) |
||
| 520 | await self._last_transition_id.write_value( |
||
| 521 | self._ready_to_halted.nodeid, |
||
| 522 | varianttype=ua.VariantType.NodeId |
||
| 523 | ) |
||
| 524 | #FIXME |
||
| 525 | # trigger ProgramTransitionEventType and |
||
| 526 | # AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
||
| 527 | return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
||
| 528 | |||
| 529 | #method to be linked to uamethod |
||
| 530 | async def Start(self): |
||
| 531 | if await self._current_state.read_value() == self.localizedtext_ready: |
||
| 532 | return await ReadyToRunning() |
||
|
Comprehensibility
Best Practice
introduced
by
|
|||
| 533 | else: |
||
| 534 | return ua.StatusCode(ua.status_codes.StatusCodes.BadNotExecutable) |
||
| 535 | |||
| 536 | #method to be linked to uamethod |
||
| 537 | async def Suspend(self): |
||
| 538 | if await self._current_state.read_value() == self.localizedtext_running: |
||
| 539 | return await RunningToSuspended() |
||
| 540 | else: |
||
| 541 | return ua.StatusCode(ua.status_codes.StatusCodes.BadNotExecutable) |
||
| 542 | |||
| 543 | #method to be linked to uamethod |
||
| 544 | async def Resume(self): |
||
| 545 | if await self._current_state.read_value() == self.localizedtext_suspended: |
||
| 546 | return await SuspendedToRunning() |
||
| 547 | else: |
||
| 548 | return ua.StatusCode(ua.status_codes.StatusCodes.BadNotExecutable) |
||
| 549 | |||
| 550 | #method to be linked to uamethod |
||
| 551 | async def Halt(self): |
||
| 552 | if await self._current_state.read_value() == self.localizedtext_ready: |
||
| 553 | return await ReadyToHalted() |
||
| 554 | elif await self._current_state.read_value() == self.localizedtext_running: |
||
| 555 | return await RunningToHalted() |
||
| 556 | elif await self._current_state.read_value() == self.localizedtext_suspended: |
||
| 557 | return await SuspendedToHalted() |
||
| 558 | else: |
||
| 559 | return ua.StatusCode(ua.status_codes.StatusCodes.BadNotExecutable) |
||
| 560 | |||
| 561 | #method to be linked to uamethod |
||
| 562 | async def Reset(self): |
||
| 563 | if await self._current_state.read_value() == self.localizedtext_halted: |
||
| 564 | return await HaltedToReady() |
||
| 565 | else: |
||
| 566 | return ua.StatusCode(ua.status_codes.StatusCodes.BadNotExecutable) |
||
| 567 | |||
| 568 | class ShelvedStateMachineTypeClass(FiniteStateMachineTypeClass): |
||
| 569 | ''' |
||
| 570 | NOT IMPLEMENTED "ShelvedStateMachineType" |
||
| 571 | ''' |
||
| 572 | def __init__(self, server=None, parent=None, idx=None, name=None): |
||
| 573 | super().__init__(server, parent, idx, name) |
||
| 574 | if name == None: |
||
| 575 | name = "ShelvedStateMachine" |
||
| 576 | self._state_machine_type = ua.NodeId(2929, 0) |
||
| 577 | raise NotImplementedError |
||
| 578 | |||
| 579 | |||
| 580 | |||
| 581 | #FIXME REMOVE BEFOR MERGE |
||
| 582 | #Devtest / Workbench |
||
| 583 | if __name__ == "__main__": |
||
| 584 | async def main(): |
||
| 585 | logging.basicConfig(level=logging.INFO) |
||
| 586 | _logger = logging.getLogger('asyncua') |
||
| 587 | |||
| 588 | server = Server() |
||
| 589 | await server.init() |
||
| 590 | |||
| 591 | sm = StateMachineTypeClass(server, server.nodes.objects, 0, "StateMachine") |
||
| 592 | await sm.install(optionals=True) |
||
| 593 | |||
| 594 | state1_class = StateTypeClass("State1") |
||
| 595 | state1_node = await sm.add_state(state1_class) |
||
| 596 | state2_class = StateTypeClass("State2") |
||
| 597 | state2_node = await sm.add_state(state2_class) |
||
| 598 | state3_class = StateTypeClass("State3") |
||
| 599 | state3_node = await sm.add_state(state3_class) |
||
| 600 | state4_class = StateTypeClass("State4") |
||
| 601 | state4_node = await sm.add_state(state4_class) |
||
| 602 | state5_class = StateTypeClass("State5") |
||
| 603 | state5_node = await sm.add_state(state5_class) |
||
| 604 | |||
| 605 | trans1_class = TransitionTypeClass("Trans1") |
||
| 606 | trans1_node = await sm.add_transition(trans1_class) |
||
| 607 | trans2_class = TransitionTypeClass("Trans2") |
||
| 608 | trans2_node = await sm.add_transition(trans2_class) |
||
| 609 | trans3_class = TransitionTypeClass("Trans3") |
||
| 610 | trans3_node = await sm.add_transition(trans3_class) |
||
| 611 | trans4_class = TransitionTypeClass("Trans4") |
||
| 612 | trans4_node = await sm.add_transition(trans4_class) |
||
| 613 | trans5_class = TransitionTypeClass("Trans5") |
||
| 614 | trans5_node = await sm.add_transition(trans5_class) |
||
| 615 | |||
| 616 | await sm.change_state(state1_class, trans1_class, f"{sm._name}: Idle", 800) |
||
| 617 | |||
| 618 | |||
| 619 | async with server: |
||
| 620 | while 1: |
||
| 621 | await asyncio.sleep(2) |
||
| 622 | await sm.change_state(state2_class, trans2_class, f"{sm._name}: Loading", 800) |
||
| 623 | await asyncio.sleep(2) |
||
| 624 | await sm.change_state(state3_class, trans3_class, f"{sm._name}: Initializing", 800) |
||
| 625 | await asyncio.sleep(2) |
||
| 626 | await sm.change_state(state4_class, trans4_class, f"{sm._name}: Processing", 800) |
||
| 627 | await asyncio.sleep(2) |
||
| 628 | await sm.change_state(state5_class, trans5_class, f"{sm._name}: Finished", 800) |
||
| 629 | await asyncio.sleep(2) |
||
| 630 | await sm.change_state(state1_class, trans1_class, f"{sm._name}: Restarting", 800) |
||
| 631 | |||
| 632 | asyncio.run(main()) |
||
| 633 |
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