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""" |
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High level node object, to access node attribute |
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and browse address space |
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""" |
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import logging |
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from asyncua import ua |
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from .ua_utils import value_to_datavalue |
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from .events import Event, get_filter_from_event_type |
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from .ua_utils import data_type_to_variant_type |
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from .manage_nodes import create_folder, create_object, create_object_type, create_variable, create_variable_type, \ |
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create_data_type, create_property, delete_nodes, create_method, create_reference_type |
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from .methods import call_method |
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_logger = logging.getLogger(__name__) |
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def _check_results(results, reqlen=1): |
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if not len(results) == reqlen: |
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raise ValueError(results) |
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for r in results: |
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r.check() |
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def _to_nodeid(nodeid): |
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if isinstance(nodeid, int): |
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return ua.TwoByteNodeId(nodeid) |
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elif isinstance(nodeid, Node): |
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return nodeid.nodeid |
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elif isinstance(nodeid, ua.NodeId): |
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return nodeid |
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elif type(nodeid) in (str, bytes): |
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return ua.NodeId.from_string(nodeid) |
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else: |
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raise ua.UaError("Could not resolve '{0}' to a type id".format(nodeid)) |
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class Node: |
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""" |
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High level node object, to access node attribute, |
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browse and populate address space. |
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Node objects are usefull as-is but they do not expose the entire |
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OPC-UA protocol. Feel free to look at the code of this class and call |
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directly UA services methods to optimize your code |
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""" |
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def __init__(self, server, nodeid): |
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self.server = server |
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self.nodeid = None |
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if isinstance(nodeid, Node): |
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self.nodeid = nodeid.nodeid |
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elif isinstance(nodeid, ua.NodeId): |
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self.nodeid = nodeid |
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elif type(nodeid) in (str, bytes): |
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self.nodeid = ua.NodeId.from_string(nodeid) |
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elif isinstance(nodeid, int): |
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self.nodeid = ua.NodeId(nodeid, 0) |
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else: |
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raise ua.UaError("argument to node must be a NodeId object or a string defining a nodeid found {0} of type {1}".format(nodeid, type(nodeid))) |
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self.basenodeid = None |
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def __eq__(self, other): |
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if isinstance(other, Node) and self.nodeid == other.nodeid: |
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return True |
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return False |
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def __ne__(self, other): |
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return not self.__eq__(other) |
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def __str__(self): |
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node_str = str(self.nodeid) |
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return node_str[node_str.find("(")+1:-1] |
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def __repr__(self): |
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return "Node({0})".format(self.nodeid) |
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def __hash__(self): |
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return self.nodeid.__hash__() |
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82
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async def read_browse_name(self): |
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""" |
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Get browse name of a node. A browse name is a QualifiedName object |
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composed of a string(name) and a namespace index. |
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""" |
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result = await self.read_attribute(ua.AttributeIds.BrowseName) |
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return result.Value.Value |
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async def read_display_name(self): |
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""" |
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get description attribute of node |
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""" |
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result = await self.read_attribute(ua.AttributeIds.DisplayName) |
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return result.Value.Value |
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96
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97
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async def read_data_type(self): |
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""" |
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99
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get data type of node as NodeId |
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""" |
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result = await self.read_attribute(ua.AttributeIds.DataType) |
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return result.Value.Value |
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104
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async def read_data_type_as_variant_type(self): |
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105
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""" |
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106
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get data type of node as VariantType |
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107
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This only works if node is a variable, otherwise type |
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108
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may not be convertible to VariantType |
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109
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""" |
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110
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result = await self.read_attribute(ua.AttributeIds.DataType) |
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return await data_type_to_variant_type(Node(self.server, result.Value.Value)) |
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112
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113
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async def get_access_level(self): |
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""" |
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115
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Get the access level attribute of the node as a set of AccessLevel enum values. |
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116
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""" |
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117
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result = await self.read_attribute(ua.AttributeIds.AccessLevel) |
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return ua.AccessLevel.parse_bitfield(result.Value.Value) |
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119
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120
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async def get_user_access_level(self): |
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121
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""" |
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122
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Get the user access level attribute of the node as a set of AccessLevel enum values. |
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123
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""" |
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124
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result = await self.read_attribute(ua.AttributeIds.UserAccessLevel) |
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return ua.AccessLevel.parse_bitfield(result.Value.Value) |
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126
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127
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async def read_event_notifier(self): |
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128
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""" |
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129
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Get the event notifier attribute of the node as a set of EventNotifier enum values. |
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130
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""" |
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131
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result = await self.read_attribute(ua.AttributeIds.EventNotifier) |
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return ua.EventNotifier.parse_bitfield(result.Value.Value) |
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133
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134
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async def set_event_notifier(self, values): |
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135
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""" |
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136
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Set the event notifier attribute. |
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137
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|
138
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:param values: an iterable of EventNotifier enum values. |
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139
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""" |
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140
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event_notifier_bitfield = ua.EventNotifier.to_bitfield(values) |
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141
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await self.write_attribute( |
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142
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ua.AttributeIds.EventNotifier, |
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143
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ua.DataValue(ua.Variant(event_notifier_bitfield, ua.VariantType.Byte)) |
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144
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) |
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145
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146
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async def read_node_class(self): |
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147
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""" |
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148
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get node class attribute of node |
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149
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""" |
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150
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result = await self.read_attribute(ua.AttributeIds.NodeClass) |
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151
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return result.Value.Value |
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152
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|
153
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async def get_description(self): |
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154
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""" |
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155
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get description attribute class of node |
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156
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|
""" |
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157
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result = await self.read_attribute(ua.AttributeIds.Description) |
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158
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return result.Value.Value |
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159
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|
160
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async def read_value(self): |
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161
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""" |
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162
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Get value of a node as a python type. Only variables ( and properties) have values. |
|
163
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An exception will be generated for other node types. |
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164
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|
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WARNING: on server side, this function returns a ref to object in ua database. Do not modify it if it is a mutable |
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165
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|
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object unless you know what you are doing |
|
166
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""" |
|
167
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result = await self.read_data_value() |
|
168
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|
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return result.Value.Value |
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169
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|
170
|
|
|
get_value = read_value # legacy compatibility |
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171
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|
172
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|
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async def read_data_value(self): |
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173
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""" |
|
174
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|
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Get value of a node as a DataValue object. Only variables (and properties) have values. |
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175
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|
|
An exception will be generated for other node types. |
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176
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DataValue contain a variable value as a variant as well as server and source timestamps |
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177
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""" |
|
178
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return await self.read_attribute(ua.AttributeIds.Value) |
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179
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|
180
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|
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async def write_array_dimensions(self, value): |
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181
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""" |
|
182
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|
|
Set attribute ArrayDimensions of node |
|
183
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|
|
make sure it has the correct data type |
|
184
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|
|
""" |
|
185
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|
|
v = ua.Variant(value, ua.VariantType.UInt32) |
|
186
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|
|
await self.write_attribute(ua.AttributeIds.ArrayDimensions, ua.DataValue(v)) |
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187
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|
188
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|
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async def read_array_dimensions(self): |
|
189
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|
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""" |
|
190
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|
|
Read and return ArrayDimensions attribute of node |
|
191
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|
|
""" |
|
192
|
|
|
res = await self.read_attribute(ua.AttributeIds.ArrayDimensions) |
|
193
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|
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return res.Value.Value |
|
194
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|
195
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|
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async def write_value_rank(self, value): |
|
196
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|
|
""" |
|
197
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|
|
Set attribute ArrayDimensions of node |
|
198
|
|
|
""" |
|
199
|
|
|
v = ua.Variant(value, ua.VariantType.Int32) |
|
200
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|
|
await self.write_attribute(ua.AttributeIds.ValueRank, ua.DataValue(v)) |
|
201
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|
202
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async def read_value_rank(self): |
|
203
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|
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""" |
|
204
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|
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Read and return ArrayDimensions attribute of node |
|
205
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""" |
|
206
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|
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res = await self.read_attribute(ua.AttributeIds.ValueRank) |
|
207
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return res.Value.Value |
|
208
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|
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|
209
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|
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async def write_value(self, value, varianttype=None): |
|
210
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|
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""" |
|
211
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|
|
Write value of a node. Only variables(properties) have values. |
|
212
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|
|
An exception will be generated for other node types. |
|
213
|
|
|
value argument is either: |
|
214
|
|
|
* a python built-in type, converted to opc-ua |
|
215
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|
|
optionnaly using the variantype argument. |
|
216
|
|
|
* a ua.Variant, varianttype is then ignored |
|
217
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|
|
* a ua.DataValue, you then have full control over data send to server |
|
218
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|
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WARNING: On server side, ref to object is directly saved in our UA db, if this is a mutable object |
|
219
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|
|
and you modfy it afterward, then the object in db will be modified without any |
|
220
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|
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data change event generated |
|
221
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|
|
""" |
|
222
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|
|
dv = value_to_datavalue(value, varianttype) |
|
223
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|
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await self.write_attribute(ua.AttributeIds.Value, dv) |
|
224
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|
225
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|
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set_data_value = write_value # legacy compatibility |
|
226
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set_value = write_value # legacy compatibility |
|
227
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|
228
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async def set_writable(self, writable=True): |
|
229
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""" |
|
230
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|
|
Set node as writable by clients. |
|
231
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|
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A node is always writable on server side. |
|
232
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""" |
|
233
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|
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if writable: |
|
234
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|
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await self.set_attr_bit(ua.AttributeIds.AccessLevel, ua.AccessLevel.CurrentWrite) |
|
235
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|
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await self.set_attr_bit(ua.AttributeIds.UserAccessLevel, ua.AccessLevel.CurrentWrite) |
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236
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else: |
|
237
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|
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await self.unset_attr_bit(ua.AttributeIds.AccessLevel, ua.AccessLevel.CurrentWrite) |
|
238
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|
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await self.unset_attr_bit(ua.AttributeIds.UserAccessLevel, ua.AccessLevel.CurrentWrite) |
|
239
|
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|
240
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|
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async def set_attr_bit(self, attr, bit): |
|
241
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|
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val = await self.read_attribute(attr) |
|
242
|
|
|
val.Value.Value = ua.ua_binary.set_bit(val.Value.Value, bit) |
|
243
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|
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await self.write_attribute(attr, val) |
|
244
|
|
|
|
|
245
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|
|
async def unset_attr_bit(self, attr, bit): |
|
246
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|
|
val = await self.read_attribute(attr) |
|
247
|
|
|
val.Value.Value = ua.ua_binary.unset_bit(val.Value.Value, bit) |
|
248
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|
|
await self.write_attribute(attr, val) |
|
249
|
|
|
|
|
250
|
|
|
def set_read_only(self): |
|
251
|
|
|
""" |
|
252
|
|
|
Set a node as read-only for clients. |
|
253
|
|
|
A node is always writable on server side. |
|
254
|
|
|
""" |
|
255
|
|
|
return self.set_writable(False) |
|
256
|
|
|
|
|
257
|
|
|
async def write_attribute(self, attributeid, datavalue): |
|
258
|
|
|
""" |
|
259
|
|
|
Set an attribute of a node |
|
260
|
|
|
attributeid is a member of ua.AttributeIds |
|
261
|
|
|
datavalue is a ua.DataValue object |
|
262
|
|
|
""" |
|
263
|
|
|
attr = ua.WriteValue() |
|
264
|
|
|
attr.NodeId = self.nodeid |
|
265
|
|
|
attr.AttributeId = attributeid |
|
266
|
|
|
attr.Value = datavalue |
|
267
|
|
|
params = ua.WriteParameters() |
|
268
|
|
|
params.NodesToWrite = [attr] |
|
269
|
|
|
result = await self.server.write(params) |
|
270
|
|
|
result[0].check() |
|
271
|
|
|
|
|
272
|
|
|
async def read_attribute(self, attr): |
|
273
|
|
|
""" |
|
274
|
|
|
Read one attribute of a node |
|
275
|
|
|
result code from server is checked and an exception is raised in case of error |
|
276
|
|
|
""" |
|
277
|
|
|
rv = ua.ReadValueId() |
|
278
|
|
|
rv.NodeId = self.nodeid |
|
279
|
|
|
rv.AttributeId = attr |
|
280
|
|
|
params = ua.ReadParameters() |
|
281
|
|
|
params.NodesToRead.append(rv) |
|
282
|
|
|
result = await self.server.read(params) |
|
283
|
|
|
result[0].StatusCode.check() |
|
284
|
|
|
return result[0] |
|
285
|
|
|
|
|
286
|
|
|
async def read_attributes(self, attrs): |
|
287
|
|
|
""" |
|
288
|
|
|
Read several attributes of a node |
|
289
|
|
|
list of DataValue is returned |
|
290
|
|
|
""" |
|
291
|
|
|
params = ua.ReadParameters() |
|
292
|
|
|
for attr in attrs: |
|
293
|
|
|
rv = ua.ReadValueId() |
|
294
|
|
|
rv.NodeId = self.nodeid |
|
295
|
|
|
rv.AttributeId = attr |
|
296
|
|
|
params.NodesToRead.append(rv) |
|
297
|
|
|
|
|
298
|
|
|
results = await self.server.read(params) |
|
299
|
|
|
return results |
|
300
|
|
|
|
|
301
|
|
|
async def get_children(self, refs=ua.ObjectIds.HierarchicalReferences, nodeclassmask=ua.NodeClass.Unspecified): |
|
302
|
|
|
""" |
|
303
|
|
|
Get all children of a node. By default hierarchical references and all node classes are returned. |
|
304
|
|
|
Other reference types may be given: |
|
305
|
|
|
References = 31 |
|
306
|
|
|
NonHierarchicalReferences = 32 |
|
307
|
|
|
HierarchicalReferences = 33 |
|
308
|
|
|
HasChild = 34 |
|
309
|
|
|
Organizes = 35 |
|
310
|
|
|
HasEventSource = 36 |
|
311
|
|
|
HasModellingRule = 37 |
|
312
|
|
|
HasEncoding = 38 |
|
313
|
|
|
HasDescription = 39 |
|
314
|
|
|
HasTypeDefinition = 40 |
|
315
|
|
|
GeneratesEvent = 41 |
|
316
|
|
|
Aggregates = 44 |
|
317
|
|
|
HasSubtype = 45 |
|
318
|
|
|
HasProperty = 46 |
|
319
|
|
|
HasComponent = 47 |
|
320
|
|
|
HasNotifier = 48 |
|
321
|
|
|
HasOrderedComponent = 49 |
|
322
|
|
|
""" |
|
323
|
|
|
return await self.get_referenced_nodes(refs, ua.BrowseDirection.Forward, nodeclassmask) |
|
324
|
|
|
|
|
325
|
|
|
def get_properties(self): |
|
326
|
|
|
""" |
|
327
|
|
|
return properties of node. |
|
328
|
|
|
properties are child nodes with a reference of type HasProperty and a NodeClass of Variable |
|
329
|
|
|
COROUTINE |
|
330
|
|
|
""" |
|
331
|
|
|
return self.get_children(refs=ua.ObjectIds.HasProperty, nodeclassmask=ua.NodeClass.Variable) |
|
332
|
|
|
|
|
333
|
|
|
def get_variables(self): |
|
334
|
|
|
""" |
|
335
|
|
|
return variables of node. |
|
336
|
|
|
properties are child nodes with a reference of type HasComponent and a NodeClass of Variable |
|
337
|
|
|
""" |
|
338
|
|
|
return self.get_children(refs=ua.ObjectIds.HasComponent, nodeclassmask=ua.NodeClass.Variable) |
|
339
|
|
|
|
|
340
|
|
|
def get_methods(self): |
|
341
|
|
|
""" |
|
342
|
|
|
return methods of node. |
|
343
|
|
|
properties are child nodes with a reference of type HasComponent and a NodeClass of Method |
|
344
|
|
|
""" |
|
345
|
|
|
return self.get_children(refs=ua.ObjectIds.HasComponent, nodeclassmask=ua.NodeClass.Method) |
|
346
|
|
|
|
|
347
|
|
|
async def get_children_descriptions(self, refs=ua.ObjectIds.HierarchicalReferences, |
|
348
|
|
|
nodeclassmask=ua.NodeClass.Unspecified, includesubtypes=True): |
|
349
|
|
|
return await self.get_references(refs, ua.BrowseDirection.Forward, nodeclassmask, includesubtypes) |
|
350
|
|
|
|
|
351
|
|
|
def get_encoding_refs(self): |
|
352
|
|
|
return self.get_referenced_nodes(ua.ObjectIds.HasEncoding, ua.BrowseDirection.Forward) |
|
353
|
|
|
|
|
354
|
|
|
def get_description_refs(self): |
|
355
|
|
|
return self.get_referenced_nodes(ua.ObjectIds.HasDescription, ua.BrowseDirection.Forward) |
|
356
|
|
|
|
|
357
|
|
|
async def get_references(self, refs=ua.ObjectIds.References, direction=ua.BrowseDirection.Both, |
|
358
|
|
|
nodeclassmask=ua.NodeClass.Unspecified, includesubtypes=True): |
|
359
|
|
|
""" |
|
360
|
|
|
returns references of the node based on specific filter defined with: |
|
361
|
|
|
|
|
362
|
|
|
refs = ObjectId of the Reference |
|
363
|
|
|
direction = Browse direction for references |
|
364
|
|
|
nodeclassmask = filter nodes based on specific class |
|
365
|
|
|
includesubtypes = If true subtypes of the reference (ref) are also included |
|
366
|
|
|
""" |
|
367
|
|
|
desc = ua.BrowseDescription() |
|
368
|
|
|
desc.BrowseDirection = direction |
|
369
|
|
|
desc.ReferenceTypeId = _to_nodeid(refs) |
|
370
|
|
|
desc.IncludeSubtypes = includesubtypes |
|
371
|
|
|
desc.NodeClassMask = nodeclassmask |
|
372
|
|
|
desc.ResultMask = ua.BrowseResultMask.All |
|
373
|
|
|
desc.NodeId = self.nodeid |
|
374
|
|
|
params = ua.BrowseParameters() |
|
375
|
|
|
params.View.Timestamp = ua.get_win_epoch() |
|
376
|
|
|
params.NodesToBrowse.append(desc) |
|
377
|
|
|
params.RequestedMaxReferencesPerNode = 0 |
|
378
|
|
|
results = await self.server.browse(params) |
|
379
|
|
|
references = await self._browse_next(results) |
|
380
|
|
|
return references |
|
381
|
|
|
|
|
382
|
|
|
async def _browse_next(self, results): |
|
383
|
|
|
references = results[0].References |
|
384
|
|
|
while results[0].ContinuationPoint: |
|
385
|
|
|
params = ua.BrowseNextParameters() |
|
386
|
|
|
params.ContinuationPoints = [results[0].ContinuationPoint] |
|
387
|
|
|
params.ReleaseContinuationPoints = False |
|
388
|
|
|
results = await self.server.browse_next(params) |
|
389
|
|
|
references.extend(results[0].References) |
|
390
|
|
|
return references |
|
391
|
|
|
|
|
392
|
|
|
async def get_referenced_nodes(self, refs=ua.ObjectIds.References, direction=ua.BrowseDirection.Both, |
|
393
|
|
|
nodeclassmask=ua.NodeClass.Unspecified, includesubtypes=True): |
|
394
|
|
|
""" |
|
395
|
|
|
returns referenced nodes based on specific filter |
|
396
|
|
|
Paramters are the same as for get_references |
|
397
|
|
|
|
|
398
|
|
|
""" |
|
399
|
|
|
references = await self.get_references(refs, direction, nodeclassmask, includesubtypes) |
|
400
|
|
|
nodes = [] |
|
401
|
|
|
for desc in references: |
|
402
|
|
|
node = Node(self.server, desc.NodeId) |
|
403
|
|
|
nodes.append(node) |
|
404
|
|
|
return nodes |
|
405
|
|
|
|
|
406
|
|
|
async def get_type_definition(self): |
|
407
|
|
|
""" |
|
408
|
|
|
returns type definition of the node. |
|
409
|
|
|
""" |
|
410
|
|
|
references = await self.get_references(refs=ua.ObjectIds.HasTypeDefinition, |
|
411
|
|
|
direction=ua.BrowseDirection.Forward) |
|
412
|
|
|
if len(references) == 0: |
|
413
|
|
|
return None |
|
414
|
|
|
return references[0].NodeId |
|
415
|
|
|
|
|
416
|
|
|
async def get_path(self, max_length=20, as_string=False): |
|
417
|
|
|
""" |
|
418
|
|
|
Attempt to find path of node from root node and return it as a list of Nodes. |
|
419
|
|
|
There might several possible paths to a node, this function will return one |
|
420
|
|
|
Some nodes may be missing references, so this method may |
|
421
|
|
|
return an empty list |
|
422
|
|
|
Since address space may have circular references, a max length is specified |
|
423
|
|
|
|
|
424
|
|
|
""" |
|
425
|
|
|
path = await self._get_path(max_length) |
|
426
|
|
|
path = [Node(self.server, ref.NodeId) for ref in path] |
|
427
|
|
|
path.append(self) |
|
428
|
|
|
if as_string: |
|
429
|
|
|
path = [(await el.read_browse_name()).to_string() for el in path] |
|
430
|
|
|
return path |
|
431
|
|
|
|
|
432
|
|
|
async def _get_path(self, max_length=20): |
|
433
|
|
|
""" |
|
434
|
|
|
Attempt to find path of node from root node and return it as a list of Nodes. |
|
435
|
|
|
There might several possible paths to a node, this function will return one |
|
436
|
|
|
Some nodes may be missing references, so this method may |
|
437
|
|
|
return an empty list |
|
438
|
|
|
Since address space may have circular references, a max length is specified |
|
439
|
|
|
|
|
440
|
|
|
""" |
|
441
|
|
|
path = [] |
|
442
|
|
|
node = self |
|
443
|
|
|
while True: |
|
444
|
|
|
refs = await node.get_references( |
|
445
|
|
|
refs=ua.ObjectIds.HierarchicalReferences, direction=ua.BrowseDirection.Inverse |
|
446
|
|
|
) |
|
447
|
|
|
if len(refs) > 0: |
|
448
|
|
|
path.insert(0, refs[0]) |
|
449
|
|
|
node = Node(self.server, refs[0].NodeId) |
|
450
|
|
|
if len(path) >= (max_length - 1): |
|
451
|
|
|
return path |
|
452
|
|
|
else: |
|
453
|
|
|
return path |
|
454
|
|
|
|
|
455
|
|
|
async def get_parent(self): |
|
456
|
|
|
""" |
|
457
|
|
|
returns parent of the node. |
|
458
|
|
|
A Node may have several parents, the first found is returned. |
|
459
|
|
|
This method uses reverse references, a node might be missing such a link, |
|
460
|
|
|
thus we will not find its parent. |
|
461
|
|
|
""" |
|
462
|
|
|
refs = await self.get_references(refs=ua.ObjectIds.HierarchicalReferences, direction=ua.BrowseDirection.Inverse) |
|
463
|
|
|
if len(refs) > 0: |
|
464
|
|
|
return Node(self.server, refs[0].NodeId) |
|
465
|
|
|
else: |
|
466
|
|
|
return None |
|
467
|
|
|
|
|
468
|
|
|
async def get_child(self, path): |
|
469
|
|
|
""" |
|
470
|
|
|
get a child specified by its path from this node. |
|
471
|
|
|
A path might be: |
|
472
|
|
|
* a string representing a qualified name. |
|
473
|
|
|
* a qualified name |
|
474
|
|
|
* a list of string |
|
475
|
|
|
* a list of qualified names |
|
476
|
|
|
""" |
|
477
|
|
|
if type(path) not in (list, tuple): |
|
478
|
|
|
path = [path] |
|
479
|
|
|
rpath = self._make_relative_path(path) |
|
480
|
|
|
bpath = ua.BrowsePath() |
|
481
|
|
|
bpath.StartingNode = self.nodeid |
|
482
|
|
|
bpath.RelativePath = rpath |
|
483
|
|
|
result = await self.server.translate_browsepaths_to_nodeids([bpath]) |
|
484
|
|
|
result = result[0] |
|
485
|
|
|
result.StatusCode.check() |
|
486
|
|
|
# FIXME: seems this method may return several nodes |
|
487
|
|
|
return Node(self.server, result.Targets[0].TargetId) |
|
488
|
|
|
|
|
489
|
|
|
def _make_relative_path(self, path): |
|
490
|
|
|
rpath = ua.RelativePath() |
|
491
|
|
|
for item in path: |
|
492
|
|
|
el = ua.RelativePathElement() |
|
493
|
|
|
el.ReferenceTypeId = ua.TwoByteNodeId(ua.ObjectIds.HierarchicalReferences) |
|
494
|
|
|
el.IsInverse = False |
|
495
|
|
|
el.IncludeSubtypes = True |
|
496
|
|
|
if isinstance(item, ua.QualifiedName): |
|
497
|
|
|
el.TargetName = item |
|
498
|
|
|
else: |
|
499
|
|
|
el.TargetName = ua.QualifiedName.from_string(item) |
|
500
|
|
|
rpath.Elements.append(el) |
|
501
|
|
|
return rpath |
|
502
|
|
|
|
|
503
|
|
|
async def read_raw_history(self, starttime=None, endtime=None, numvalues=0): |
|
504
|
|
|
""" |
|
505
|
|
|
Read raw history of a node |
|
506
|
|
|
result code from server is checked and an exception is raised in case of error |
|
507
|
|
|
If numvalues is > 0 and number of events in period is > numvalues |
|
508
|
|
|
then result will be truncated |
|
509
|
|
|
""" |
|
510
|
|
|
details = ua.ReadRawModifiedDetails() |
|
511
|
|
|
details.IsReadModified = False |
|
512
|
|
|
if starttime: |
|
513
|
|
|
details.StartTime = starttime |
|
514
|
|
|
else: |
|
515
|
|
|
details.StartTime = ua.get_win_epoch() |
|
516
|
|
|
if endtime: |
|
517
|
|
|
details.EndTime = endtime |
|
518
|
|
|
else: |
|
519
|
|
|
details.EndTime = ua.get_win_epoch() |
|
520
|
|
|
details.NumValuesPerNode = numvalues |
|
521
|
|
|
details.ReturnBounds = True |
|
522
|
|
|
result = await self.history_read(details) |
|
523
|
|
|
result.StatusCode.check() |
|
524
|
|
|
return result.HistoryData.DataValues |
|
525
|
|
|
|
|
526
|
|
|
async def history_read(self, details): |
|
527
|
|
|
""" |
|
528
|
|
|
Read raw history of a node, low-level function |
|
529
|
|
|
result code from server is checked and an exception is raised in case of error |
|
530
|
|
|
""" |
|
531
|
|
|
valueid = ua.HistoryReadValueId() |
|
532
|
|
|
valueid.NodeId = self.nodeid |
|
533
|
|
|
valueid.IndexRange = '' |
|
534
|
|
|
params = ua.HistoryReadParameters() |
|
535
|
|
|
params.HistoryReadDetails = details |
|
536
|
|
|
params.TimestampsToReturn = ua.TimestampsToReturn.Both |
|
537
|
|
|
params.ReleaseContinuationPoints = False |
|
538
|
|
|
params.NodesToRead.append(valueid) |
|
539
|
|
|
return (await self.server.history_read(params))[0] |
|
540
|
|
|
|
|
541
|
|
|
async def read_event_history(self, starttime=None, endtime=None, numvalues=0, evtypes=ua.ObjectIds.BaseEventType): |
|
542
|
|
|
""" |
|
543
|
|
|
Read event history of a source node |
|
544
|
|
|
result code from server is checked and an exception is raised in case of error |
|
545
|
|
|
If numvalues is > 0 and number of events in period is > numvalues |
|
546
|
|
|
then result will be truncated |
|
547
|
|
|
""" |
|
548
|
|
|
details = ua.ReadEventDetails() |
|
549
|
|
|
if starttime: |
|
550
|
|
|
details.StartTime = starttime |
|
551
|
|
|
else: |
|
552
|
|
|
details.StartTime = ua.get_win_epoch() |
|
553
|
|
|
if endtime: |
|
554
|
|
|
details.EndTime = endtime |
|
555
|
|
|
else: |
|
556
|
|
|
details.EndTime = ua.get_win_epoch() |
|
557
|
|
|
details.NumValuesPerNode = numvalues |
|
558
|
|
|
if not isinstance(evtypes, (list, tuple)): |
|
559
|
|
|
evtypes = [evtypes] |
|
560
|
|
|
evtypes = [Node(self.server, evtype) for evtype in evtypes] |
|
561
|
|
|
evfilter = await get_filter_from_event_type(evtypes) |
|
562
|
|
|
details.Filter = evfilter |
|
563
|
|
|
result = await self.history_read_events(details) |
|
564
|
|
|
result.StatusCode.check() |
|
565
|
|
|
event_res = [] |
|
566
|
|
|
for res in result.HistoryData.Events: |
|
567
|
|
|
event_res.append( |
|
568
|
|
|
Event.from_event_fields(evfilter.SelectClauses, res.EventFields) |
|
569
|
|
|
) |
|
570
|
|
|
return event_res |
|
571
|
|
|
|
|
572
|
|
|
async def history_read_events(self, details): |
|
573
|
|
|
""" |
|
574
|
|
|
Read event history of a node, low-level function |
|
575
|
|
|
result code from server is checked and an exception is raised in case of error |
|
576
|
|
|
""" |
|
577
|
|
|
valueid = ua.HistoryReadValueId() |
|
578
|
|
|
valueid.NodeId = self.nodeid |
|
579
|
|
|
valueid.IndexRange = '' |
|
580
|
|
|
params = ua.HistoryReadParameters() |
|
581
|
|
|
params.HistoryReadDetails = details |
|
582
|
|
|
params.TimestampsToReturn = ua.TimestampsToReturn.Both |
|
583
|
|
|
params.ReleaseContinuationPoints = False |
|
584
|
|
|
params.NodesToRead.append(valueid) |
|
585
|
|
|
return (await self.server.history_read(params))[0] |
|
586
|
|
|
|
|
587
|
|
|
async def delete(self, delete_references=True, recursive=False): |
|
588
|
|
|
""" |
|
589
|
|
|
Delete node from address space |
|
590
|
|
|
""" |
|
591
|
|
|
nodes, results = await delete_nodes(self.server, [self], recursive, delete_references) |
|
592
|
|
|
for r in results: |
|
593
|
|
|
r.check() |
|
594
|
|
|
return nodes |
|
595
|
|
|
|
|
596
|
|
|
def _fill_delete_reference_item(self, rdesc, bidirectional=False): |
|
597
|
|
|
ditem = ua.DeleteReferencesItem() |
|
598
|
|
|
ditem.SourceNodeId = self.nodeid |
|
599
|
|
|
ditem.TargetNodeId = rdesc.NodeId |
|
600
|
|
|
ditem.ReferenceTypeId = rdesc.ReferenceTypeId |
|
601
|
|
|
ditem.IsForward = rdesc.IsForward |
|
602
|
|
|
ditem.DeleteBidirectional = bidirectional |
|
603
|
|
|
return ditem |
|
604
|
|
|
|
|
605
|
|
|
async def delete_reference(self, target, reftype, forward=True, bidirectional=True): |
|
606
|
|
|
""" |
|
607
|
|
|
Delete given node's references from address space |
|
608
|
|
|
""" |
|
609
|
|
|
known_refs = await self.get_references(reftype, includesubtypes=False) |
|
610
|
|
|
targetid = _to_nodeid(target) |
|
611
|
|
|
for r in known_refs: |
|
612
|
|
|
if r.NodeId == targetid and r.IsForward == forward: |
|
613
|
|
|
rdesc = r |
|
614
|
|
|
break |
|
615
|
|
|
else: |
|
616
|
|
|
raise ua.UaStatusCodeError(ua.StatusCodes.BadNotFound) |
|
617
|
|
|
ditem = self._fill_delete_reference_item(rdesc, bidirectional) |
|
618
|
|
|
(await self.server.delete_references([ditem]))[0].check() |
|
619
|
|
|
|
|
620
|
|
|
async def add_reference(self, target, reftype, forward=True, bidirectional=True): |
|
621
|
|
|
""" |
|
622
|
|
|
Add reference to node |
|
623
|
|
|
""" |
|
624
|
|
|
aitem = ua.AddReferencesItem() |
|
625
|
|
|
aitem.SourceNodeId = self.nodeid |
|
626
|
|
|
aitem.TargetNodeId = _to_nodeid(target) |
|
627
|
|
|
aitem.ReferenceTypeId = _to_nodeid(reftype) |
|
628
|
|
|
aitem.IsForward = forward |
|
629
|
|
|
params = [aitem] |
|
630
|
|
|
if bidirectional: |
|
631
|
|
|
aitem2 = ua.AddReferencesItem() |
|
632
|
|
|
aitem2.SourceNodeId = aitem.TargetNodeId |
|
633
|
|
|
aitem2.TargetNodeId = aitem.SourceNodeId |
|
634
|
|
|
aitem2.ReferenceTypeId = aitem.ReferenceTypeId |
|
635
|
|
|
aitem2.IsForward = not forward |
|
636
|
|
|
params.append(aitem2) |
|
637
|
|
|
results = await self.server.add_references(params) |
|
638
|
|
|
_check_results(results, len(params)) |
|
639
|
|
|
|
|
640
|
|
|
async def set_modelling_rule(self, mandatory: bool): |
|
641
|
|
|
""" |
|
642
|
|
|
Add a modelling rule reference to Node. |
|
643
|
|
|
When creating a new object type, its variable and child nodes will not |
|
644
|
|
|
be instanciated if they do not have modelling rule |
|
645
|
|
|
if mandatory is None, the modelling rule is removed |
|
646
|
|
|
""" |
|
647
|
|
|
# remove all existing modelling rule |
|
648
|
|
|
rules = await self.get_references(ua.ObjectIds.HasModellingRule) |
|
649
|
|
|
await self.server.delete_references(list(map(self._fill_delete_reference_item, rules))) |
|
650
|
|
|
# add new modelling rule as requested |
|
651
|
|
|
if mandatory is not None: |
|
652
|
|
|
rule = ua.ObjectIds.ModellingRule_Mandatory if mandatory else ua.ObjectIds.ModellingRule_Optional |
|
653
|
|
|
await self.add_reference(rule, ua.ObjectIds.HasModellingRule, True, False) |
|
654
|
|
|
|
|
655
|
|
|
async def add_folder(self, nodeid, bname): |
|
656
|
|
|
return await create_folder(self, nodeid, bname) |
|
657
|
|
|
|
|
658
|
|
|
async def add_object(self, nodeid, bname, objecttype=None): |
|
659
|
|
|
return await create_object(self, nodeid, bname, objecttype) |
|
660
|
|
|
|
|
661
|
|
|
async def add_variable(self, nodeid, bname, val, varianttype=None, datatype=None): |
|
662
|
|
|
return await create_variable(self, nodeid, bname, val, varianttype, datatype) |
|
663
|
|
|
|
|
664
|
|
|
async def add_object_type(self, nodeid, bname): |
|
665
|
|
|
return await create_object_type(self, nodeid, bname) |
|
666
|
|
|
|
|
667
|
|
|
async def add_variable_type(self, nodeid, bname, datatype): |
|
668
|
|
|
return await create_variable_type(self, nodeid, bname, datatype) |
|
669
|
|
|
|
|
670
|
|
|
async def add_data_type(self, nodeid, bname, description=None): |
|
671
|
|
|
return await create_data_type(self, nodeid, bname, description=description) |
|
672
|
|
|
|
|
673
|
|
|
async def add_property(self, nodeid, bname, val, varianttype=None, datatype=None): |
|
674
|
|
|
return await create_property(self, nodeid, bname, val, varianttype, datatype) |
|
675
|
|
|
|
|
676
|
|
|
async def add_method(self, *args): |
|
677
|
|
|
return await create_method(self, *args) |
|
678
|
|
|
|
|
679
|
|
|
async def add_reference_type(self, nodeid, bname, symmetric=True, inversename=None): |
|
680
|
|
|
return await create_reference_type(self, nodeid, bname, symmetric, inversename) |
|
681
|
|
|
|
|
682
|
|
|
async def call_method(self, methodid, *args): |
|
683
|
|
|
return await call_method(self, methodid, *args) |
|
684
|
|
|
|
|
685
|
|
|
async def register(self): |
|
686
|
|
|
""" |
|
687
|
|
|
Register node for faster read and write access (if supported by server) |
|
688
|
|
|
Rmw: This call modifies the nodeid of the node, the original nodeid is |
|
689
|
|
|
available as node.basenodeid |
|
690
|
|
|
""" |
|
691
|
|
|
nodeid = await self.server.register_nodes([self.nodeid])[0] |
|
692
|
|
|
self.basenodeid = self.nodeid |
|
693
|
|
|
self.nodeid = nodeid |
|
694
|
|
|
|
|
695
|
|
|
async def unregister(self): |
|
696
|
|
|
if self.basenodeid is None: |
|
697
|
|
|
return |
|
698
|
|
|
await self.server.unregister_nodes([self.nodeid]) |
|
699
|
|
|
self.nodeid = self.basenodeid |
|
700
|
|
|
self.basenodeid = None |
|
701
|
|
|
|
FreeOpcUa /
opcua-asyncio
