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from asyncua import Server, ua, uamethod |
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import asyncio |
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4
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async def main(): |
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@uamethod |
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async def callback(parent, in_extobj): |
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out_extobj = ua.uaprotocol_auto.AxisInformation() # get new instanace of AxisInformation |
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out_extobj.EngineeringUnits = in_extobj.EngineeringUnits |
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out_extobj.EURange.Low = in_extobj.EURange.Low |
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out_extobj.EURange.High = in_extobj.EURange.High |
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out_extobj.Title = in_extobj.Title |
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out_extobj.AxisScaleType = in_extobj.AxisScaleType |
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out_extobj.AxisSteps = in_extobj.AxisSteps |
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await axis_info.set_value(out_extobj) #write values to variable |
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ret = ( |
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ua.Variant(out_extobj, ua.VariantType.ExtensionObject), |
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ua.Variant("test", ua.VariantType.String) |
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) |
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return ret |
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server = Server() |
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await server.init() |
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server.set_endpoint("opc.tcp://0.0.0.0:4840/freeopcua/server/") |
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server.set_security_policy([ua.SecurityPolicyType.NoSecurity]) |
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obj = server.get_objects_node() |
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idx = await server.register_namespace("http://examples.freeopcua.github.io") |
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await server.load_data_type_definitions() |
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inarg_extobj = ua.Argument() |
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inarg_extobj.Name = "In" |
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inarg_extobj.DataType = ua.NodeId(12079, 0) |
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inarg_extobj.ValueRank = -1 |
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inarg_extobj.ArrayDimensions = [] |
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inarg_extobj.Description = ua.LocalizedText("Wanted AxisInformation") |
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outarg_extobj = ua.Argument() |
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outarg_extobj.Name = "Out" |
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outarg_extobj.DataType = ua.NodeId(12079, 0) |
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outarg_extobj.ValueRank = -1 |
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outarg_extobj.ArrayDimensions = [] |
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outarg_extobj.Description = ua.LocalizedText("Actual AxisInformation") |
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status = ua.Argument() |
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status.Name = "Status" |
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status.DataType = ua.NodeId(12, 0) |
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status.ValueRank = -1 |
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status.ArrayDimensions = [] |
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status.Description = ua.LocalizedText("MSG") |
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method_parent = await obj.add_object(idx, "Methods") |
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method_node = await method_parent.add_method( |
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idx, |
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"SetAxisInformation", |
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callback, |
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[ |
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inarg_extobj |
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], |
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[ |
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outarg_extobj, |
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status |
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] |
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) |
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#add a variable of type AxisInformation |
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axis_info = await obj.add_variable(idx, "AxisInformation", ua.uaprotocol_auto.AxisInformation(), varianttype=ua.VariantType.ExtensionObject) |
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async with server: |
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while 1: |
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await asyncio.sleep(0) |
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if __name__ == "__main__": |
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asyncio.run(main()) |
FreeOpcUa /
opcua-asyncio
