|
1
|
|
|
''' |
|
2
|
|
|
https://reference.opcfoundation.org/v104/Core/docs/Part10/ |
|
3
|
|
|
https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.1/ |
|
4
|
|
|
Basic statemachines described in OPC UA Spec.: |
|
5
|
|
|
StateMachineType |
|
6
|
|
|
FiniteStateMachineType |
|
7
|
|
|
ExclusiveLimitStateMachineType |
|
8
|
|
|
FileTransferStateMachineType |
|
9
|
|
|
ProgramStateMachineType |
|
10
|
|
|
ShelvedStateMachineType |
|
11
|
|
|
Relevant information: |
|
12
|
|
|
Overview - https://reference.opcfoundation.org/v104/Core/docs/Part10/5.2.3/#5.2.3.1 |
|
13
|
|
|
States - https://reference.opcfoundation.org/v104/Core/docs/Part10/5.2.3/#5.2.3.2 |
|
14
|
|
|
Transitions - https://reference.opcfoundation.org/v104/Core/docs/Part10/5.2.3/#5.2.3.3 |
|
15
|
|
|
Events - https://reference.opcfoundation.org/v104/Core/docs/Part10/5.2.5/ |
|
16
|
|
|
''' |
|
17
|
|
|
import asyncio, logging, datetime |
|
18
|
|
|
|
|
19
|
|
|
#FIXME |
|
20
|
|
|
# -change to relativ imports! |
|
21
|
|
|
# -remove unused imports |
|
22
|
|
|
from asyncua import Server, ua, Node |
|
23
|
|
|
from asyncua.common.event_objects import TransitionEvent, ProgramTransitionEvent |
|
24
|
|
|
|
|
25
|
|
|
_logger = logging.getLogger(__name__) |
|
26
|
|
|
|
|
27
|
|
|
class StateMachine(object): |
|
28
|
|
|
''' |
|
29
|
|
|
Implementation of an StateMachineType (most basic type) |
|
30
|
|
|
CurrentState: Mandatory "StateVariableType" |
|
31
|
|
|
LastTransition: Optional "TransitionVariableType" |
|
32
|
|
|
Generates TransitionEvent's |
|
33
|
|
|
''' |
|
34
|
|
|
def __init__(self, server=None, parent=None, idx=None, name=None): |
|
35
|
|
|
if not isinstance(server, Server): |
|
36
|
|
|
raise ValueError |
|
37
|
|
|
if not isinstance(parent, Node): |
|
38
|
|
|
raise ValueError |
|
39
|
|
|
if idx == None: |
|
40
|
|
|
idx = parent.nodeid.NamespaceIndex |
|
41
|
|
|
if name == None: |
|
42
|
|
|
name = "StateMachine" |
|
43
|
|
|
self.locale = "en-US" |
|
44
|
|
|
self._server = server |
|
45
|
|
|
self._parent = parent |
|
46
|
|
|
self._state_machine_node = None |
|
47
|
|
|
self._state_machine_type = ua.NodeId(2299, 0) #StateMachineType |
|
48
|
|
|
self._name = name |
|
49
|
|
|
self._idx = idx |
|
50
|
|
|
self._optionals = False |
|
51
|
|
|
self._current_state_node = None |
|
52
|
|
|
self._current_state_id_node = None |
|
53
|
|
|
self._current_state_name_node = None |
|
54
|
|
|
self._current_state_number_node = None |
|
55
|
|
|
self._last_transition_node = None |
|
56
|
|
|
self._last_transition_id_node = None |
|
57
|
|
|
self._last_transition_name_node = None |
|
58
|
|
|
self._last_transition_number_node = None |
|
59
|
|
|
self._last_transition_transitiontime_node = None |
|
60
|
|
|
self._last_transition_effectivetransitiontime_node = None |
|
61
|
|
|
self._evgen = None |
|
62
|
|
|
self.evtype = TransitionEvent() |
|
63
|
|
|
|
|
64
|
|
|
class State(object): |
|
65
|
|
|
''' |
|
66
|
|
|
Helperclass for States (StateVariableType) |
|
67
|
|
|
https://reference.opcfoundation.org/v104/Core/docs/Part5/B.4.3/ |
|
68
|
|
|
name: type string will be converted automatically to qualifiedname |
|
69
|
|
|
-> Name is a QualifiedName which uniquely identifies the current state within the StateMachineType. |
|
70
|
|
|
id: Id is a name which uniquely identifies the current state within the StateMachineType. A subtype may restrict the DataType. |
|
71
|
|
|
number: Number is an integer which uniquely identifies the current state within the StateMachineType. |
|
72
|
|
|
''' |
|
73
|
|
|
def __init__(self, name, id=0, node=None, issub=False): |
|
74
|
|
|
self.name = name |
|
75
|
|
|
self.id = str(id) |
|
76
|
|
|
self.number = id |
|
77
|
|
|
self.node = node #will be written from statemachine.add_state() or you need to overwrite it if the state is part of xml |
|
78
|
|
|
self.issub = issub #true if it is a substate |
|
79
|
|
|
|
|
80
|
|
|
class Transition(object): |
|
81
|
|
|
''' |
|
82
|
|
|
Helperclass for Transitions (TransitionVariableType) |
|
83
|
|
|
https://reference.opcfoundation.org/v104/Core/docs/Part5/B.4.4/ |
|
84
|
|
|
name: type string will be converted automatically to qualifiedname |
|
85
|
|
|
-> Name is a QualifiedName which uniquely identifies a transition within the StateMachineType. |
|
86
|
|
|
id: Id is a name which uniquely identifies a Transition within the StateMachineType. A subtype may restrict the DataType. |
|
87
|
|
|
number: Number is an integer which uniquely identifies the current state within the StateMachineType. |
|
88
|
|
|
transitiontime: TransitionTime specifies when the transition occurred. |
|
89
|
|
|
effectivetransitiontime: EffectiveTransitionTime specifies the time when the current state or one of its substates was entered. |
|
90
|
|
|
If, for example, a StateA is active and – while active – switches several times between its substates SubA and SubB, |
|
91
|
|
|
then the TransitionTime stays at the point in time where StateA became active whereas the EffectiveTransitionTime changes |
|
92
|
|
|
with each change of a substate. |
|
93
|
|
|
''' |
|
94
|
|
|
def __init__(self, name, id=0, node=None): |
|
95
|
|
|
self.name = name |
|
96
|
|
|
self.id = str(id) |
|
97
|
|
|
self.number = id |
|
98
|
|
|
self._transitiontime = datetime.datetime.utcnow() #will be overwritten from _write_transition() |
|
99
|
|
|
self._effectivetransitiontime = datetime.datetime.utcnow() #will be overwritten from _write_transition() |
|
100
|
|
|
self.node = node #will be written from statemachine.add_state() or you need to overwrite it if the state is part of xml |
|
101
|
|
|
|
|
102
|
|
|
async def install(self, optionals=False): |
|
103
|
|
|
''' |
|
104
|
|
|
setup adressspace |
|
105
|
|
|
''' |
|
106
|
|
|
self._optionals = optionals |
|
107
|
|
|
self._state_machine_node = await self._parent.add_object( |
|
108
|
|
|
self._idx, |
|
109
|
|
|
self._name, |
|
110
|
|
|
objecttype=self._state_machine_type, |
|
111
|
|
|
instantiate_optional=optionals |
|
112
|
|
|
) |
|
113
|
|
|
if self._optionals: |
|
114
|
|
|
#FIXME somehow propertys dont get added if i instantiate with optionals |
|
115
|
|
|
self._last_transition_node = await self._state_machine_node.get_child(["LastTransition"]) |
|
116
|
|
|
self._last_transition_transitiontime_node = await self._last_transition_node.add_property( |
|
117
|
|
|
0, |
|
118
|
|
|
"TransitionTime", |
|
119
|
|
|
ua.Variant(datetime.datetime.utcnow(), varianttype=ua.VariantType.DateTime) |
|
120
|
|
|
) |
|
121
|
|
|
self._last_transition_effectivetransitiontime_node = await self._last_transition_node.add_property( |
|
122
|
|
|
0, |
|
123
|
|
|
"EffectiveTransitionTime", |
|
124
|
|
|
ua.Variant(datetime.datetime.utcnow(), varianttype=ua.VariantType.DateTime) |
|
125
|
|
|
) |
|
126
|
|
|
await self.init(self._state_machine_node) |
|
127
|
|
|
|
|
128
|
|
|
async def init(self, statemachine): |
|
129
|
|
|
''' |
|
130
|
|
|
initialize and get subnodes |
|
131
|
|
|
''' |
|
132
|
|
|
self._current_state_node = await statemachine.get_child(["CurrentState"]) |
|
133
|
|
|
current_state_props = await self._current_state_node.get_properties() |
|
134
|
|
|
for prop in current_state_props: |
|
135
|
|
|
dn = await prop.read_display_name() |
|
136
|
|
|
if dn.Text == "Id": |
|
137
|
|
|
self._current_state_id_node = await self._current_state_node.get_child(["Id"]) |
|
138
|
|
|
elif dn.Text == "Name": |
|
139
|
|
|
self._current_state_name_node = await self._current_state_node.get_child(["Name"]) |
|
140
|
|
|
elif dn.Text == "Number": |
|
141
|
|
|
self._current_state_number_node = await self._current_state_node.get_child(["Number"]) |
|
142
|
|
|
else: |
|
143
|
|
|
_logger.warning(f"{await statemachine.read_browse_name()} CurrentState Unknown propertie: {dn.Text}") |
|
144
|
|
|
if self._optionals: |
|
145
|
|
|
self._last_transition_node = await statemachine.get_child(["LastTransition"]) |
|
146
|
|
|
last_transition_props = await self._last_transition_node.get_properties() |
|
147
|
|
|
for prop in last_transition_props: |
|
148
|
|
|
dn = await prop.read_display_name() |
|
149
|
|
|
if dn.Text == "Id": |
|
150
|
|
|
self._last_transition_id_node = await self._last_transition_node.get_child(["Id"]) |
|
151
|
|
|
elif dn.Text == "Name": |
|
152
|
|
|
self._last_transition_name_node = await self._last_transition_node.get_child(["Name"]) |
|
153
|
|
|
elif dn.Text == "Number": |
|
154
|
|
|
self._last_transition_number_node = await self._last_transition_node.get_child(["Number"]) |
|
155
|
|
|
elif dn.Text == "TransitionTime": |
|
156
|
|
|
self._last_transition_transitiontime_node = await self._last_transition_node.get_child(["TransitionTime"]) |
|
157
|
|
|
elif dn.Text == "EffectiveTransitionTime": |
|
158
|
|
|
self._last_transition_effectivetransitiontime_node = await self._last_transition_node.get_child(["EffectiveTransitionTime"]) |
|
159
|
|
|
else: |
|
160
|
|
|
_logger.warning(f"{await statemachine.read_browse_name()} LastTransition Unknown propertie: {dn.Text}") |
|
161
|
|
|
self._evgen = await self._server.get_event_generator(self.evtype, self._state_machine_node) |
|
162
|
|
|
|
|
163
|
|
|
async def change_state(self, state, transition=None, event_msg=None, severity=500): |
|
164
|
|
|
''' |
|
165
|
|
|
method to change the state of the statemachine |
|
166
|
|
|
state: "self.State" mandatory |
|
167
|
|
|
transition: "self.Transition" optional |
|
168
|
|
|
event_msg: "string/LocalizedText" optional |
|
169
|
|
|
severity: "Int" optional |
|
170
|
|
|
''' |
|
171
|
|
|
await self._write_state(state) |
|
172
|
|
|
if transition: |
|
173
|
|
|
await self._write_transition(transition, state.issub) |
|
174
|
|
|
if event_msg: |
|
175
|
|
|
if isinstance(event_msg, str): |
|
176
|
|
|
event_msg = ua.LocalizedText(event_msg, self.locale) |
|
177
|
|
|
self._evgen.event.Message = event_msg |
|
178
|
|
|
self._evgen.event.Severity = severity |
|
179
|
|
|
await self._evgen.trigger() |
|
180
|
|
|
|
|
181
|
|
|
async def _write_state(self, state): |
|
182
|
|
|
if not isinstance(state, self.State): |
|
183
|
|
|
raise ValueError |
|
184
|
|
|
await self._current_state_node.write_value(ua.LocalizedText(state.name, self.locale), ua.VariantType.LocalizedText) |
|
185
|
|
|
if state.node: |
|
186
|
|
|
if self._current_state_id_node: |
|
187
|
|
|
await self._current_state_id_node.write_value(state.node.nodeid, ua.VariantType.NodeId) |
|
188
|
|
|
if self._current_state_name_node: |
|
189
|
|
|
await self._current_state_name_node.write_value(state.name, ua.VariantType.QualifiedName) |
|
190
|
|
|
if self._current_state_number_node: |
|
191
|
|
|
await self._current_state_number_node.write_value(state.number, ua.VariantType.UInt32) |
|
192
|
|
|
|
|
193
|
|
|
async def _write_transition(self, transition, issub=False): |
|
194
|
|
|
''' |
|
195
|
|
|
transition: self.Transition |
|
196
|
|
|
issub: boolean (true if it is a transition between substates) |
|
197
|
|
|
''' |
|
198
|
|
|
if not isinstance(transition, self.Transition): |
|
199
|
|
|
raise ValueError |
|
200
|
|
|
if issub == False: |
|
201
|
|
|
transition._transitiontime = datetime.datetime.utcnow() |
|
202
|
|
|
transition._effectivetransitiontime = datetime.datetime.utcnow() |
|
203
|
|
|
await self._last_transition_node.write_value(ua.LocalizedText(transition.name, self.locale), ua.VariantType.LocalizedText) |
|
204
|
|
|
if self._optionals: |
|
205
|
|
|
if self._last_transition_id_node: |
|
206
|
|
|
await self._last_transition_id_node.write_value(transition.node.nodeid, ua.VariantType.NodeId) |
|
207
|
|
|
if self._last_transition_name_node: |
|
208
|
|
|
await self._last_transition_name_node.write_value(ua.QualifiedName(transition.name, self._idx), ua.VariantType.QualifiedName) |
|
209
|
|
|
if self._last_transition_number_node: |
|
210
|
|
|
await self._last_transition_number_node.write_value(transition.number, ua.VariantType.UInt32) |
|
211
|
|
|
if self._last_transition_transitiontime_node: |
|
212
|
|
|
await self._last_transition_transitiontime_node.write_value(transition._transitiontime, ua.VariantType.DateTime) |
|
213
|
|
|
if self._last_transition_effectivetransitiontime_node: |
|
214
|
|
|
await self._last_transition_effectivetransitiontime_node.write_value(transition._effectivetransitiontime, ua.VariantType.DateTime) |
|
215
|
|
|
|
|
216
|
|
|
async def add_state(self, state, state_type=ua.NodeId(2307, 0), optionals=False): |
|
217
|
|
|
''' |
|
218
|
|
|
this method adds a state object to the statemachines address space |
|
219
|
|
|
state: self.State, |
|
220
|
|
|
InitialStateType: ua.NodeId(2309, 0), |
|
221
|
|
|
StateType: ua.NodeId(2307, 0), |
|
222
|
|
|
ChoiceStateType: ua.NodeId(15109,0), |
|
223
|
|
|
''' |
|
224
|
|
|
if not isinstance(state, self.State): |
|
225
|
|
|
raise ValueError |
|
226
|
|
|
if not state_type in [ua.NodeId(2309, 0),ua.NodeId(2307, 0),ua.NodeId(15109,0)]: |
|
227
|
|
|
# unknown state type! |
|
228
|
|
|
raise ValueError |
|
229
|
|
|
state.node = await self._state_machine_node.add_object( |
|
230
|
|
|
self._idx, |
|
231
|
|
|
state.name, |
|
232
|
|
|
objecttype=state_type, |
|
233
|
|
|
instantiate_optional=optionals |
|
234
|
|
|
) |
|
235
|
|
|
state_number = await state.node.get_child(["StateNumber"]) |
|
236
|
|
|
await state_number.write_value(state.number, ua.VariantType.UInt32) |
|
237
|
|
|
return state.node |
|
238
|
|
|
|
|
239
|
|
|
async def add_transition(self, transition, transition_type=ua.NodeId(2310, 0), optionals=False): |
|
240
|
|
|
''' |
|
241
|
|
|
this method adds a transition object to the statemachines address space |
|
242
|
|
|
transition: self.Transition, |
|
243
|
|
|
transition_type: ua.NodeId(2310, 0), |
|
244
|
|
|
''' |
|
245
|
|
|
if not isinstance(transition, self.Transition): |
|
246
|
|
|
raise ValueError |
|
247
|
|
|
transition.node = await self._state_machine_node.add_object( |
|
248
|
|
|
self._idx, |
|
249
|
|
|
transition.name, |
|
250
|
|
|
objecttype=transition_type, |
|
251
|
|
|
instantiate_optional=optionals |
|
252
|
|
|
) |
|
253
|
|
|
transition_number = await transition.node.get_child(["TransitionNumber"]) |
|
254
|
|
|
await transition_number.write_value(transition.number, ua.VariantType.UInt32) |
|
255
|
|
|
return transition.node |
|
256
|
|
|
|
|
257
|
|
|
async def remove(self, nodes): |
|
258
|
|
|
#FIXME Is it wise to remove a part of a program/statemachine dynamically? at this point i am not sure |
|
259
|
|
|
raise NotImplementedError |
|
260
|
|
|
|
|
261
|
|
|
class FiniteStateMachine(StateMachine): |
|
262
|
|
|
''' |
|
263
|
|
|
Implementation of an FiniteStateMachineType a little more advanced than the basic one |
|
264
|
|
|
if you need to know the available states and transition from clientside |
|
265
|
|
|
''' |
|
266
|
|
|
def __init__(self, server=None, parent=None, idx=None, name=None): |
|
267
|
|
|
super().__init__(server, parent, idx, name) |
|
268
|
|
|
if name == None: |
|
269
|
|
|
name = "FiniteStateMachine" |
|
270
|
|
|
self._state_machine_type = ua.NodeId(2771, 0) |
|
271
|
|
|
self._available_states_node = None |
|
272
|
|
|
self._available_transitions_node = None |
|
273
|
|
|
|
|
274
|
|
|
async def set_available_states(self, states): |
|
275
|
|
|
if not self._available_states_node: |
|
276
|
|
|
self._available_states_node = await self._state_machine_node.get_child(["AvailableStates"]) |
|
277
|
|
|
if isinstance(states, list): |
|
278
|
|
|
return await self._available_states_node.write_value(states, varianttype=ua.VariantType.NodeId) |
|
279
|
|
|
return ValueError |
|
280
|
|
|
|
|
281
|
|
|
async def set_available_transitions(self, transitions): |
|
282
|
|
|
if self._optionals: |
|
283
|
|
|
if not self._available_transitions_node: |
|
284
|
|
|
self._available_transitions_node = await self._state_machine_node.get_child(["AvailableTransitions"]) |
|
285
|
|
|
if isinstance(transitions, list): |
|
286
|
|
|
await self._available_transitions_node.write_value(transitions, varianttype=ua.VariantType.NodeId) |
|
287
|
|
|
return ValueError |
|
288
|
|
|
|
|
289
|
|
|
async def find_all_states(self): |
|
290
|
|
|
return NotImplementedError |
|
291
|
|
|
|
|
292
|
|
|
async def find_all_transitions(self): |
|
293
|
|
|
return NotImplementedError |
|
294
|
|
|
|
|
295
|
|
|
class ExclusiveLimitStateMachine(FiniteStateMachine): |
|
296
|
|
|
''' |
|
297
|
|
|
NOT IMPLEMENTED "ExclusiveLimitStateMachineType" |
|
298
|
|
|
''' |
|
299
|
|
|
def __init__(self, server=None, parent=None, idx=None, name=None): |
|
300
|
|
|
super().__init__(server, parent, idx, name) |
|
301
|
|
|
if name == None: |
|
302
|
|
|
name = "ExclusiveLimitStateMachine" |
|
303
|
|
|
self._state_machine_type = ua.NodeId(9318, 0) |
|
304
|
|
|
raise NotImplementedError |
|
305
|
|
|
|
|
306
|
|
|
class FileTransferStateMachine(FiniteStateMachine): |
|
307
|
|
|
''' |
|
308
|
|
|
NOT IMPLEMENTED "FileTransferStateMachineType" |
|
309
|
|
|
''' |
|
310
|
|
|
def __init__(self, server=None, parent=None, idx=None, name=None): |
|
311
|
|
|
super().__init__(server, parent, idx, name) |
|
312
|
|
|
if name == None: |
|
313
|
|
|
name = "FileTransferStateMachine" |
|
314
|
|
|
self._state_machine_type = ua.NodeId(15803, 0) |
|
315
|
|
|
raise NotImplementedError |
|
316
|
|
|
|
|
317
|
|
|
class ProgramStateMachine(FiniteStateMachine): |
|
318
|
|
|
''' |
|
319
|
|
|
https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.3/ |
|
320
|
|
|
Implementation of an ProgramStateMachine its quite a complex statemachine with the |
|
321
|
|
|
optional possibility to make the statchange from clientside via opcua-methods |
|
322
|
|
|
''' |
|
323
|
|
|
def __init__(self, server=None, parent=None, idx=None, name=None): |
|
324
|
|
|
super().__init__(server, parent, idx, name) |
|
325
|
|
|
if name == None: |
|
326
|
|
|
name = "ProgramStateMachine" |
|
327
|
|
|
self._state_machine_type = ua.NodeId(2391, 0) |
|
328
|
|
|
self.evtype = ProgramTransitionEvent() |
|
329
|
|
|
|
|
330
|
|
|
# 5.2.3.2 ProgramStateMachineType states |
|
331
|
|
|
self._ready_state_node = None #State node |
|
332
|
|
|
self._halted_state_node = None #State node |
|
333
|
|
|
self._running_state_node = None #State node |
|
334
|
|
|
self._suspended_state_node = None #State node |
|
335
|
|
|
|
|
336
|
|
|
# 5.2.3.3 ProgramStateMachineType transitions |
|
337
|
|
|
self._halted_to_ready_node = None #Transition node |
|
338
|
|
|
self._ready_to_running_node = None #Transition node |
|
339
|
|
|
self._running_to_halted_node = None #Transition node |
|
340
|
|
|
self._running_to_ready_node = None #Transition node |
|
341
|
|
|
self._running_to_suspended_node = None #Transition node |
|
342
|
|
|
self._suspended_to_running_node = None #Transition node |
|
343
|
|
|
self._suspended_to_halted_node = None #Transition node |
|
344
|
|
|
self._suspended_to_ready_node = None #Transition node |
|
345
|
|
|
self._ready_to_halted_node = None #Transition node |
|
346
|
|
|
|
|
347
|
|
|
# 5.2.3.2 ProgramStateMachineType states |
|
348
|
|
|
self._halted_state_id_node = None #State property (StateNumber value 11) |
|
349
|
|
|
self._ready_state_id_node = None #State property (StateNumber value 12) |
|
350
|
|
|
self._running_state_id_node = None #State property (StateNumber value 13) |
|
351
|
|
|
self._suspended_state_id_node = None #State property (StateNumber value 14) |
|
352
|
|
|
|
|
353
|
|
|
# 5.2.3.3 ProgramStateMachineType transitions |
|
354
|
|
|
self._halted_to_ready_id_node = None #Transition property (TransitionNumber value 1) |
|
355
|
|
|
self._ready_to_running_id_node = None #Transition property (TransitionNumber value 2) |
|
356
|
|
|
self._running_to_halted_id_node = None #Transition property (TransitionNumber value 3) |
|
357
|
|
|
self._running_to_ready_id_node = None #Transition property (TransitionNumber value 4) |
|
358
|
|
|
self._running_to_suspended_id_node = None #Transition property (TransitionNumber value 5) |
|
359
|
|
|
self._suspended_to_running_id_node = None #Transition property (TransitionNumber value 6) |
|
360
|
|
|
self._suspended_to_halted_id_node = None #Transition property (TransitionNumber value 7) |
|
361
|
|
|
self._suspended_to_ready_id_node = None #Transition property (TransitionNumber value 8) |
|
362
|
|
|
self._ready_to_halted_id_node = None #Transition property (TransitionNumber value 9) |
|
363
|
|
|
|
|
364
|
|
|
# 4.2.7 Program Control Methods (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.7/) |
|
365
|
|
|
self._halt_method_node = None #uamethod node |
|
366
|
|
|
self._reset_method_node = None #uamethod node |
|
367
|
|
|
self._resume_method_node = None #uamethod node |
|
368
|
|
|
self._start_method_node = None #uamethod node |
|
369
|
|
|
self._suspend_method_node = None #uamethod node |
|
370
|
|
|
|
|
371
|
|
|
#can be overwritten if you want a different language |
|
372
|
|
|
self.localizedtext_ready = ua.LocalizedText("Ready", "en-US") |
|
373
|
|
|
self.localizedtext_running = ua.LocalizedText("Running", "en-US") |
|
374
|
|
|
self.localizedtext_halted = ua.LocalizedText("Halted", "en-US") |
|
375
|
|
|
self.localizedtext_suspended= ua.LocalizedText("Suspended", "en-US") |
|
376
|
|
|
self.localizedtext_halted_to_ready = ua.LocalizedText("HaltedToReady", "en-US") |
|
377
|
|
|
self.localizedtext_ready_to_running = ua.LocalizedText("ReadyToRunning", "en-US") |
|
378
|
|
|
self.localizedtext_running_to_halted = ua.LocalizedText("RunningToHalted", "en-US") |
|
379
|
|
|
self.localizedtext_running_to_ready = ua.LocalizedText("RunningToReady", "en-US") |
|
380
|
|
|
self.localizedtext_running_to_suspended = ua.LocalizedText("RunningToSuspended", "en-US") |
|
381
|
|
|
self.localizedtext_suspended_to_running = ua.LocalizedText("SuspendedToRunning", "en-US") |
|
382
|
|
|
self.localizedtext_suspended_to_halted = ua.LocalizedText("SuspendedToHalted", "en-US") |
|
383
|
|
|
self.localizedtext_suspended_to_ready = ua.LocalizedText("SuspendedToReady", "en-US") |
|
384
|
|
|
self.localizedtext_ready_to_halted = ua.LocalizedText("ReadyToHalted", "en-US") |
|
385
|
|
|
|
|
386
|
|
|
async def install(self, optionals=False): |
|
387
|
|
|
''' |
|
388
|
|
|
setup adressspace and initialize |
|
389
|
|
|
''' |
|
390
|
|
|
self._optionals = optionals |
|
391
|
|
|
self._state_machine_node = await self._parent.add_object( |
|
392
|
|
|
self._idx, |
|
393
|
|
|
self._name, |
|
394
|
|
|
objecttype=self._state_machine_type, |
|
395
|
|
|
instantiate_optional=optionals |
|
396
|
|
|
) |
|
397
|
|
|
#FIXME get children and map children |
|
398
|
|
|
|
|
399
|
|
|
#Transition |
|
400
|
|
|
async def HaltedToReady(self): |
|
401
|
|
|
await self._current_state_node.write_value( |
|
402
|
|
|
self.localizedtext_ready, |
|
403
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
404
|
|
|
) |
|
405
|
|
|
await self._current_state_id_node.write_value( |
|
406
|
|
|
self._ready_state.nodeid, |
|
407
|
|
|
varianttype=ua.VariantType.NodeId |
|
408
|
|
|
) |
|
409
|
|
|
await self._last_transition_node.write_value( |
|
410
|
|
|
self.localizedtext_halted_to_ready, |
|
411
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
412
|
|
|
) |
|
413
|
|
|
await self._last_transition_id_node.write_value( |
|
414
|
|
|
self._halted_to_ready.nodeid, |
|
415
|
|
|
varianttype=ua.VariantType.NodeId |
|
416
|
|
|
) |
|
417
|
|
|
#FIXME |
|
418
|
|
|
# trigger ProgramTransitionEventType and |
|
419
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
420
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
421
|
|
|
|
|
422
|
|
|
#Transition |
|
423
|
|
|
async def ReadyToRunning(self): |
|
424
|
|
|
await self._current_state_node.write_value( |
|
425
|
|
|
self.localizedtext_running, |
|
426
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
427
|
|
|
) |
|
428
|
|
|
await self._current_state_id_node.write_value( |
|
429
|
|
|
self._running_state.nodeid, |
|
430
|
|
|
varianttype=ua.VariantType.NodeId |
|
431
|
|
|
) |
|
432
|
|
|
await self._last_transition_node.write_value( |
|
433
|
|
|
self.localizedtext_ready_to_running, |
|
434
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
435
|
|
|
) |
|
436
|
|
|
await self._last_transition_id_node.write_value( |
|
437
|
|
|
self._ready_to_running.nodeid, |
|
438
|
|
|
varianttype=ua.VariantType.NodeId |
|
439
|
|
|
) |
|
440
|
|
|
#FIXME |
|
441
|
|
|
# trigger ProgramTransitionEventType and |
|
442
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
443
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
444
|
|
|
|
|
445
|
|
|
#Transition |
|
446
|
|
|
async def RunningToHalted(self): |
|
447
|
|
|
await self._current_state_node.write_value( |
|
448
|
|
|
self.localizedtext_halted, |
|
449
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
450
|
|
|
) |
|
451
|
|
|
await self._current_state_id_node.write_value( |
|
452
|
|
|
self._halted_state.nodeid, |
|
453
|
|
|
varianttype=ua.VariantType.NodeId |
|
454
|
|
|
) |
|
455
|
|
|
await self._last_transition_node.write_value( |
|
456
|
|
|
self.localizedtext_running_to_halted, |
|
457
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
458
|
|
|
) |
|
459
|
|
|
await self._last_transition_id_node.write_value( |
|
460
|
|
|
self._running_to_halted.nodeid, |
|
461
|
|
|
varianttype=ua.VariantType.NodeId |
|
462
|
|
|
) |
|
463
|
|
|
#FIXME |
|
464
|
|
|
# trigger ProgramTransitionEventType and |
|
465
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
466
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
467
|
|
|
|
|
468
|
|
|
#Transition |
|
469
|
|
|
async def RunningToReady(self): |
|
470
|
|
|
await self._current_state_node.write_value( |
|
471
|
|
|
self.localizedtext_ready, |
|
472
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
473
|
|
|
) |
|
474
|
|
|
await self._current_state_id_node.write_value( |
|
475
|
|
|
self._ready_state.nodeid, |
|
476
|
|
|
varianttype=ua.VariantType.NodeId |
|
477
|
|
|
) |
|
478
|
|
|
await self._last_transition_node.write_value( |
|
479
|
|
|
self.localizedtext_running_to_ready, |
|
480
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
481
|
|
|
) |
|
482
|
|
|
await self._last_transition_id_node.write_value( |
|
483
|
|
|
self._running_to_ready.nodeid, |
|
484
|
|
|
varianttype=ua.VariantType.NodeId |
|
485
|
|
|
) |
|
486
|
|
|
#FIXME |
|
487
|
|
|
# trigger ProgramTransitionEventType and |
|
488
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
489
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
490
|
|
|
|
|
491
|
|
|
#Transition |
|
492
|
|
|
async def RunningToSuspended(self): |
|
493
|
|
|
await self._current_state_node.write_value( |
|
494
|
|
|
self.localizedtext_suspended, |
|
495
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
496
|
|
|
) |
|
497
|
|
|
await self._current_state_id_node.write_value( |
|
498
|
|
|
self._suspended_state.nodeid, |
|
499
|
|
|
varianttype=ua.VariantType.NodeId |
|
500
|
|
|
) |
|
501
|
|
|
await self._last_transition_node.write_value( |
|
502
|
|
|
self.localizedtext_running_to_suspended, |
|
503
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
504
|
|
|
) |
|
505
|
|
|
await self._last_transition_id_node.write_value( |
|
506
|
|
|
self._running_to_suspended.nodeid, |
|
507
|
|
|
varianttype=ua.VariantType.NodeId |
|
508
|
|
|
) |
|
509
|
|
|
#FIXME |
|
510
|
|
|
# trigger ProgramTransitionEventType and |
|
511
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
512
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
513
|
|
|
|
|
514
|
|
|
#Transition |
|
515
|
|
|
async def SuspendedToRunning(self): |
|
516
|
|
|
await self._current_state_node.write_value( |
|
517
|
|
|
self.localizedtext_running, |
|
518
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
519
|
|
|
) |
|
520
|
|
|
await self._current_state_id_node.write_value( |
|
521
|
|
|
self._running_state.nodeid, |
|
522
|
|
|
varianttype=ua.VariantType.NodeId |
|
523
|
|
|
) |
|
524
|
|
|
await self._last_transition_node.write_value( |
|
525
|
|
|
self.localizedtext_suspended_to_running, |
|
526
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
527
|
|
|
) |
|
528
|
|
|
await self._last_transition_id_node.write_value( |
|
529
|
|
|
self._suspended_to_running.nodeid, |
|
530
|
|
|
varianttype=ua.VariantType.NodeId |
|
531
|
|
|
) |
|
532
|
|
|
#FIXME |
|
533
|
|
|
# trigger ProgramTransitionEventType and |
|
534
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
535
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
536
|
|
|
|
|
537
|
|
|
#Transition |
|
538
|
|
|
async def SuspendedToHalted(self): |
|
539
|
|
|
await self._current_state_node.write_value( |
|
540
|
|
|
self.localizedtext_halted, |
|
541
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
542
|
|
|
) |
|
543
|
|
|
await self._current_state_id_node.write_value( |
|
544
|
|
|
self._halted_state.nodeid, |
|
545
|
|
|
varianttype=ua.VariantType.NodeId |
|
546
|
|
|
) |
|
547
|
|
|
await self._last_transition_node.write_value( |
|
548
|
|
|
self.localizedtext_suspended_to_halted, |
|
549
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
550
|
|
|
) |
|
551
|
|
|
await self._last_transition_id_node.write_value( |
|
552
|
|
|
self._suspended_to_halted.nodeid, |
|
553
|
|
|
varianttype=ua.VariantType.NodeId |
|
554
|
|
|
) |
|
555
|
|
|
#FIXME |
|
556
|
|
|
# trigger ProgramTransitionEventType and |
|
557
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
558
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
559
|
|
|
|
|
560
|
|
|
#Transition |
|
561
|
|
|
async def SuspendedToReady(self): |
|
562
|
|
|
await self._current_state_node.write_value( |
|
563
|
|
|
self.localizedtext_ready, |
|
564
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
565
|
|
|
) |
|
566
|
|
|
await self._current_state_id_node.write_value( |
|
567
|
|
|
self._ready_state.nodeid, |
|
568
|
|
|
varianttype=ua.VariantType.NodeId |
|
569
|
|
|
) |
|
570
|
|
|
await self._last_transition_node.write_value( |
|
571
|
|
|
self.localizedtext_suspended_to_ready, |
|
572
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
573
|
|
|
) |
|
574
|
|
|
await self._last_transition_id_node.write_value( |
|
575
|
|
|
self._suspended_to_ready.nodeid, |
|
576
|
|
|
varianttype=ua.VariantType.NodeId |
|
577
|
|
|
) |
|
578
|
|
|
#FIXME |
|
579
|
|
|
# trigger ProgramTransitionEventType and |
|
580
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
581
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
582
|
|
|
|
|
583
|
|
|
#Transition |
|
584
|
|
|
async def ReadyToHalted(self): |
|
585
|
|
|
await self._current_state_node.write_value( |
|
586
|
|
|
self.localizedtext_halted, |
|
587
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
588
|
|
|
) |
|
589
|
|
|
await self._current_state_id_node.write_value( |
|
590
|
|
|
self._halted_state.nodeid, |
|
591
|
|
|
varianttype=ua.VariantType.NodeId |
|
592
|
|
|
) |
|
593
|
|
|
await self._last_transition_node.write_value( |
|
594
|
|
|
self.localizedtext_ready_to_halted, |
|
595
|
|
|
varianttype=ua.VariantType.LocalizedText |
|
596
|
|
|
) |
|
597
|
|
|
await self._last_transition_id_node.write_value( |
|
598
|
|
|
self._ready_to_halted.nodeid, |
|
599
|
|
|
varianttype=ua.VariantType.NodeId |
|
600
|
|
|
) |
|
601
|
|
|
#FIXME |
|
602
|
|
|
# trigger ProgramTransitionEventType and |
|
603
|
|
|
# AuditUpdateMethodEvents/AuditProgramTransitionEventType (https://reference.opcfoundation.org/v104/Core/docs/Part10/4.2.2/) |
|
604
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.Good) |
|
605
|
|
|
|
|
606
|
|
|
#method to be linked to uamethod |
|
607
|
|
|
async def Start(self): |
|
608
|
|
|
if await self._current_state_node.read_value() == self.localizedtext_ready: |
|
609
|
|
|
return await ReadyToRunning() |
|
|
|
|
|
|
610
|
|
|
else: |
|
611
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.BadNotExecutable) |
|
612
|
|
|
|
|
613
|
|
|
#method to be linked to uamethod |
|
614
|
|
|
async def Suspend(self): |
|
615
|
|
|
if await self._current_state_node.read_value() == self.localizedtext_running: |
|
616
|
|
|
return await RunningToSuspended() |
|
|
|
|
|
|
617
|
|
|
else: |
|
618
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.BadNotExecutable) |
|
619
|
|
|
|
|
620
|
|
|
#method to be linked to uamethod |
|
621
|
|
|
async def Resume(self): |
|
622
|
|
|
if await self._current_state_node.read_value() == self.localizedtext_suspended: |
|
623
|
|
|
return await SuspendedToRunning() |
|
|
|
|
|
|
624
|
|
|
else: |
|
625
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.BadNotExecutable) |
|
626
|
|
|
|
|
627
|
|
|
#method to be linked to uamethod |
|
628
|
|
|
async def Halt(self): |
|
629
|
|
|
val = await self._current_state_node.read_value() |
|
630
|
|
|
if val == self.localizedtext_ready: |
|
631
|
|
|
return await ReadyToHalted() |
|
|
|
|
|
|
632
|
|
|
elif val == self.localizedtext_running: |
|
633
|
|
|
return await RunningToHalted() |
|
|
|
|
|
|
634
|
|
|
elif val == self.localizedtext_suspended: |
|
635
|
|
|
return await SuspendedToHalted() |
|
|
|
|
|
|
636
|
|
|
else: |
|
637
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.BadNotExecutable) |
|
638
|
|
|
|
|
639
|
|
|
#method to be linked to uamethod |
|
640
|
|
|
async def Reset(self): |
|
641
|
|
|
if await self._current_state_node.read_value() == self.localizedtext_halted: |
|
642
|
|
|
return await HaltedToReady() |
|
|
|
|
|
|
643
|
|
|
else: |
|
644
|
|
|
return ua.StatusCode(ua.status_codes.StatusCodes.BadNotExecutable) |
|
645
|
|
|
|
|
646
|
|
|
class ShelvedStateMachine(FiniteStateMachine): |
|
647
|
|
|
''' |
|
648
|
|
|
NOT IMPLEMENTED "ShelvedStateMachineType" |
|
649
|
|
|
''' |
|
650
|
|
|
def __init__(self, server=None, parent=None, idx=None, name=None): |
|
651
|
|
|
super().__init__(server, parent, idx, name) |
|
652
|
|
|
if name == None: |
|
653
|
|
|
name = "ShelvedStateMachine" |
|
654
|
|
|
self._state_machine_type = ua.NodeId(2929, 0) |
|
655
|
|
|
raise NotImplementedError |
|
656
|
|
|
|
FreeOpcUa /
opcua-asyncio
Loading history...