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#! /usr/bin/env python3 |
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import sys |
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from datetime import datetime |
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import inspect |
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from enum import Enum |
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import logging |
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from PyQt5.QtCore import pyqtSignal, QTimer, Qt, QObject, QSettings, QModelIndex, QMimeData, QCoreApplication |
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from PyQt5.QtGui import QStandardItemModel, QStandardItem, QIcon |
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from PyQt5.QtWidgets import QMainWindow, QWidget, QApplication, QAbstractItemView, QMenu, QAction |
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from opcua import ua |
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from opcua import Node |
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from uaclient.uaclient import UaClient |
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from uaclient.mainwindow_ui import Ui_MainWindow |
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from uaclient.connection_dialog import ConnectionDialog |
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from uawidgets import resources |
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from uawidgets.attrs_widget import AttrsWidget |
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from uawidgets.tree_widget import TreeWidget |
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from uawidgets.refs_widget import RefsWidget |
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from uawidgets.utils import trycatchslot |
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from uawidgets.logger import QtHandler |
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use_graph = True |
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try: |
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import pyqtgraph as pg |
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import numpy as np |
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except ImportError: |
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print("pyqtgraph or numpy are not installed, use of graph feature disabled") |
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use_graph = False |
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if use_graph: |
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pg.setConfigOptions(antialias=True) |
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pg.setConfigOption('background', 'w') |
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pg.setConfigOption('foreground', 'k') |
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logger = logging.getLogger(__name__) |
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View Code Duplication |
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class DataChangeHandler(QObject): |
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data_change_fired = pyqtSignal(object, str, str) |
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def datachange_notification(self, node, val, data): |
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if data.monitored_item.Value.SourceTimestamp: |
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dato = data.monitored_item.Value.SourceTimestamp.isoformat() |
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elif data.monitored_item.Value.ServerTimestamp: |
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dato = data.monitored_item.Value.ServerTimestamp.isoformat() |
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else: |
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dato = datetime.now().isoformat() |
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self.data_change_fired.emit(node, str(val), dato) |
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class EventHandler(QObject): |
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event_fired = pyqtSignal(object) |
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def event_notification(self, event): |
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self.event_fired.emit(event) |
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class EventUI(object): |
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def __init__(self, window, uaclient): |
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self.window = window |
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self.uaclient = uaclient |
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self._handler = EventHandler() |
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self._subscribed_nodes = [] # FIXME: not really needed |
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self.model = QStandardItemModel() |
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self.window.ui.evView.setModel(self.model) |
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self.window.ui.actionSubscribeEvent.triggered.connect(self._subscribe) |
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self.window.ui.actionUnsubscribeEvents.triggered.connect(self._unsubscribe) |
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# context menu |
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self.window.ui.treeView.addAction(self.window.ui.actionSubscribeEvent) |
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self.window.ui.treeView.addAction(self.window.ui.actionUnsubscribeEvents) |
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self._handler.event_fired.connect(self._update_event_model, type=Qt.QueuedConnection) |
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# accept drops |
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self.model.canDropMimeData = self.canDropMimeData |
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self.model.dropMimeData = self.dropMimeData |
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def canDropMimeData(self, mdata, action, row, column, parent): |
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return True |
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def show_error(self, *args): |
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self.window.show_error(*args) |
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def dropMimeData(self, mdata, action, row, column, parent): |
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node = self.uaclient.client.get_node(mdata.text()) |
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self._subscribe(node) |
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return True |
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def clear(self): |
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self._subscribed_nodes = [] |
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self.model.clear() |
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@trycatchslot |
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def _subscribe(self, node=None): |
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logger.info("Subscribing to %s", node) |
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if not node: |
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node = self.window.get_current_node() |
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if node is None: |
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return |
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if node in self._subscribed_nodes: |
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View Code Duplication |
logger.info("allready subscribed to event for node: %s", node) |
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return |
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logger.info("Subscribing to events for %s", node) |
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self.window.ui.evDockWidget.raise_() |
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try: |
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self.uaclient.subscribe_events(node, self._handler) |
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except Exception as ex: |
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self.window.show_error(ex) |
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raise |
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else: |
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self._subscribed_nodes.append(node) |
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@trycatchslot |
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def _unsubscribe(self): |
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node = self.window.get_current_node() |
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if node is None: |
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return |
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self._subscribed_nodes.remove(node) |
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self.uaclient.unsubscribe_events(node) |
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@trycatchslot |
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def _update_event_model(self, event): |
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self.model.appendRow([QStandardItem(str(event))]) |
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class DataChangeUI(object): |
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def __init__(self, window, uaclient): |
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self.window = window |
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self.uaclient = uaclient |
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self._subhandler = DataChangeHandler() |
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self._subscribed_nodes = [] |
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self.model = QStandardItemModel() |
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self.window.ui.subView.setModel(self.model) |
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self.window.ui.subView.horizontalHeader().setSectionResizeMode(1) |
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self.window.ui.actionSubscribeDataChange.triggered.connect(self._subscribe) |
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self.window.ui.actionUnsubscribeDataChange.triggered.connect(self._unsubscribe) |
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# populate contextual menu |
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self.window.ui.treeView.addAction(self.window.ui.actionSubscribeDataChange) |
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self.window.ui.treeView.addAction(self.window.ui.actionUnsubscribeDataChange) |
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# handle subscriptions |
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self._subhandler.data_change_fired.connect(self._update_subscription_model, type=Qt.QueuedConnection) |
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# accept drops |
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self.model.canDropMimeData = self.canDropMimeData |
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self.model.dropMimeData = self.dropMimeData |
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def canDropMimeData(self, mdata, action, row, column, parent): |
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return True |
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def dropMimeData(self, mdata, action, row, column, parent): |
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node = self.uaclient.client.get_node(mdata.text()) |
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self._subscribe(node) |
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return True |
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def clear(self): |
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self._subscribed_nodes = [] |
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self.model.clear() |
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def show_error(self, *args): |
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self.window.show_error(*args) |
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@trycatchslot |
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def _subscribe(self, node=None): |
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if not isinstance(node, Node): |
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node = self.window.get_current_node() |
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if node is None: |
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return |
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if node in self._subscribed_nodes: |
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logger.warning("allready subscribed to node: %s ", node) |
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return |
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self.model.setHorizontalHeaderLabels(["DisplayName", "Value", "Timestamp"]) |
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text = str(node.get_display_name().Text) |
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row = [QStandardItem(text), QStandardItem("No Data yet"), QStandardItem("")] |
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row[0].setData(node) |
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self.model.appendRow(row) |
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self._subscribed_nodes.append(node) |
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self.window.ui.subDockWidget.raise_() |
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try: |
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self.uaclient.subscribe_datachange(node, self._subhandler) |
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except Exception as ex: |
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self.window.show_error(ex) |
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idx = self.model.indexFromItem(row[0]) |
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self.model.takeRow(idx.row()) |
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raise |
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@trycatchslot |
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def _unsubscribe(self): |
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node = self.window.get_current_node() |
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if node is None: |
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return |
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self.uaclient.unsubscribe_datachange(node) |
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self._subscribed_nodes.remove(node) |
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i = 0 |
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while self.model.item(i): |
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item = self.model.item(i) |
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if item.data() == node: |
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self.model.removeRow(i) |
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i += 1 |
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def _update_subscription_model(self, node, value, timestamp): |
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i = 0 |
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while self.model.item(i): |
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item = self.model.item(i) |
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if item.data() == node: |
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it = self.model.item(i, 1) |
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it.setText(value) |
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it_ts = self.model.item(i, 2) |
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it_ts.setText(timestamp) |
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i += 1 |
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class GraphUI(object): |
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# use tango color schema (public domain) |
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colorCycle = ['#4e9a06ff', '#ce5c00ff', '#3465a4ff', '#75507bff', '#cc0000ff', '#edd400ff'] |
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acceptedDatatypes = ['Decimal128', 'Double', 'Float', 'Integer', 'UInteger'] |
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def __init__(self, window, uaclient): |
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self.window = window |
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self.uaclient = uaclient |
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# exit if the modules are not present |
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if not use_graph: |
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self.window.ui.graphLayout.addWidget(QLabel("pyqtgraph or numpy not installed")) |
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return |
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self._node_list = [] # holds the nodes to poll |
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self._channels = [] # holds the actual data |
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self._curves = [] # holds the curve objects |
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self.pw = pg.PlotWidget(name='Plot1') |
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self.pw.showGrid(x = True, y = True, alpha = 0.3) |
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self.legend = self.pw.addLegend() |
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self.window.ui.graphLayout.addWidget(self.pw) |
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self.window.ui.actionAddToGraph.triggered.connect(self._add_node_to_channel) |
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self.window.ui.actionRemoveFromGraph.triggered.connect(self._remove_node_from_channel) |
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# populate contextual menu |
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self.window.ui.treeView.addAction(self.window.ui.actionAddToGraph) |
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self.window.ui.treeView.addAction(self.window.ui.actionRemoveFromGraph) |
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251
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# connect Apply button |
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self.window.ui.buttonApply.clicked.connect(self.restartTimer) |
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self.restartTimer() |
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255
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256
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def restartTimer(self): |
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# stop current timer, if it exists |
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if hasattr(self,'timer') and self.timer.isActive(): |
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self.timer.stop() |
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# define the number of polls displayed in graph |
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self.N = self.window.ui.spinBoxNumberOfPoints.value() |
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self.ts = np.arange(self.N) |
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264
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# define the poll intervall |
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self.intervall = self.window.ui.spinBoxIntervall.value()*1000 |
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267
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# overwrite current channel buffers with zeros of current length and add to curves again |
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268
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for i,channel in enumerate(self._channels): |
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self._channels[i] = np.zeros(self.N) |
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270
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self._curves[i].setData(self._channels[i]) |
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272
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# starting new timer |
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273
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self.timer = QTimer() |
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274
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self.timer.setInterval(self.intervall) |
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275
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self.timer.timeout.connect(self.pushtoGraph) |
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276
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self.timer.start() |
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277
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278
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@trycatchslot |
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279
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def _add_node_to_channel(self,node=None): |
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280
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# TODO: check if node is of number type |
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281
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if not isinstance(node, Node): |
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282
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node = self.window.get_current_node() |
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283
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if node is None: |
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284
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return |
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285
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if node not in self._node_list: |
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286
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dtype = node.get_attribute(ua.AttributeIds.DataType) |
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287
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288
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dtypeStr = ua.ObjectIdNames[dtype.Value.Value.Identifier] |
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289
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290
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#TODO: arrays are detected by checking if the value is a list, but should use get_array_dimensions |
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291
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#TODO: instead. Unfortunately get_array_dimensions always returns an empty list. |
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292
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if dtypeStr in self.acceptedDatatypes and not isinstance(node.get_value(),list): |
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293
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self._node_list.append(node) |
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294
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displayName = node.get_display_name().Text.decode('utf-8') |
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295
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colorIndex = len(self._node_list) % len(self.colorCycle) |
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296
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self._curves.append(self.pw.plot(pen=pg.mkPen(color=self.colorCycle[colorIndex],width=3,style=Qt.SolidLine), name=displayName)) |
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297
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# set initial data to zero |
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298
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self._channels.append(np.zeros(self.N)) # init data sequence with zeros |
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299
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# add the new channel data to the new curve |
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300
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self._curves[-1].setData(self._channels[-1]) |
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301
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|
|
logger.info("Variable %s added to graph", displayName) |
|
302
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|
|
|
|
303
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|
|
else: |
|
304
|
|
|
logger.info("Variable cannot be added to graph because it is of type %s or an array", dtypeStr) |
|
305
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|
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|
|
306
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|
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|
307
|
|
|
@trycatchslot |
|
308
|
|
|
def _remove_node_from_channel(self,node=None): |
|
309
|
|
|
if not isinstance(node, Node): |
|
310
|
|
|
node = self.window.get_current_node() |
|
311
|
|
|
if node is None: |
|
312
|
|
|
return |
|
313
|
|
|
if node in self._node_list: |
|
314
|
|
|
idx = self._node_list.index(node) |
|
315
|
|
|
self._node_list.pop(idx) |
|
316
|
|
|
displayName = node.get_display_name().Text.decode('utf-8') |
|
317
|
|
|
self.legend.removeItem(displayName) |
|
318
|
|
|
self.pw.removeItem(self._curves[idx]) |
|
319
|
|
|
self._curves.pop(idx) |
|
320
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|
|
self._channels.pop(idx) |
|
321
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|
|
322
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|
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|
|
323
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|
|
def pushtoGraph(self): |
|
324
|
|
|
# ringbuffer: shift and replace last |
|
325
|
|
|
for i,node in enumerate(self._node_list): |
|
326
|
|
|
self._channels[i] = np.roll(self._channels[i],-1) # shift elements to the left by one |
|
327
|
|
|
self._channels[i][-1] = float(node.get_value()) |
|
328
|
|
|
self._curves[i].setData(self.ts,self._channels[i]) |
|
329
|
|
|
|
|
330
|
|
|
|
|
331
|
|
|
def clear(self): |
|
332
|
|
|
pass |
|
333
|
|
|
|
|
334
|
|
|
|
|
335
|
|
|
def show_error(self, *args): |
|
336
|
|
|
self.window.show_error(*args) |
|
337
|
|
|
|
|
338
|
|
|
class Window(QMainWindow): |
|
339
|
|
|
|
|
340
|
|
|
def __init__(self): |
|
341
|
|
|
QMainWindow.__init__(self) |
|
342
|
|
|
self.ui = Ui_MainWindow() |
|
343
|
|
|
self.ui.setupUi(self) |
|
344
|
|
|
self.setWindowIcon(QIcon(":/network.svg")) |
|
345
|
|
|
|
|
346
|
|
|
# fix stuff imposible to do in qtdesigner |
|
347
|
|
|
# remove dock titlebar for addressbar |
|
348
|
|
|
w = QWidget() |
|
349
|
|
|
self.ui.addrDockWidget.setTitleBarWidget(w) |
|
350
|
|
|
# tabify some docks |
|
351
|
|
|
self.tabifyDockWidget(self.ui.evDockWidget, self.ui.subDockWidget) |
|
352
|
|
|
self.tabifyDockWidget(self.ui.subDockWidget, self.ui.refDockWidget) |
|
353
|
|
|
self.tabifyDockWidget(self.ui.refDockWidget, self.ui.graphDockWidget) |
|
354
|
|
|
|
|
355
|
|
|
# we only show statusbar in case of errors |
|
356
|
|
|
self.ui.statusBar.hide() |
|
357
|
|
|
|
|
358
|
|
|
# setup QSettings for application and get a settings object |
|
359
|
|
|
QCoreApplication.setOrganizationName("FreeOpcUa") |
|
360
|
|
|
QCoreApplication.setApplicationName("OpcUaClient") |
|
361
|
|
|
self.settings = QSettings() |
|
362
|
|
|
|
|
363
|
|
|
self._address_list = self.settings.value("address_list", ["opc.tcp://localhost:4840", "opc.tcp://localhost:53530/OPCUA/SimulationServer/"]) |
|
364
|
|
|
self._address_list_max_count = int(self.settings.value("address_list_max_count", 10)) |
|
365
|
|
|
|
|
366
|
|
|
# init widgets |
|
367
|
|
|
for addr in self._address_list: |
|
368
|
|
|
self.ui.addrComboBox.insertItem(-1, addr) |
|
369
|
|
|
|
|
370
|
|
|
self.uaclient = UaClient() |
|
371
|
|
|
|
|
372
|
|
|
self.tree_ui = TreeWidget(self.ui.treeView) |
|
373
|
|
|
self.tree_ui.error.connect(self.show_error) |
|
374
|
|
|
self.refs_ui = RefsWidget(self.ui.refView) |
|
375
|
|
|
self.refs_ui.error.connect(self.show_error) |
|
376
|
|
|
self.attrs_ui = AttrsWidget(self.ui.attrView) |
|
377
|
|
|
self.attrs_ui.error.connect(self.show_error) |
|
378
|
|
|
self.datachange_ui = DataChangeUI(self, self.uaclient) |
|
379
|
|
|
self.event_ui = EventUI(self, self.uaclient) |
|
380
|
|
|
self.graph_ui = GraphUI(self, self.uaclient) |
|
381
|
|
|
|
|
382
|
|
|
self.ui.addrComboBox.currentTextChanged.connect(self._uri_changed) |
|
383
|
|
|
self._uri_changed(self.ui.addrComboBox.currentText()) # force update for current value at startup |
|
384
|
|
|
|
|
385
|
|
|
self.ui.treeView.activated.connect(self.show_refs) |
|
386
|
|
|
self.ui.treeView.clicked.connect(self.show_refs) |
|
387
|
|
|
self.ui.actionCopyPath.triggered.connect(self.tree_ui.copy_path) |
|
388
|
|
|
self.ui.actionCopyNodeId.triggered.connect(self.tree_ui.copy_nodeid) |
|
389
|
|
|
# add items to context menu |
|
390
|
|
|
self.ui.treeView.addAction(self.ui.actionCopyPath) |
|
391
|
|
|
self.ui.treeView.addAction(self.ui.actionCopyNodeId) |
|
392
|
|
|
|
|
393
|
|
|
self.ui.treeView.activated.connect(self.show_attrs) |
|
394
|
|
|
self.ui.treeView.clicked.connect(self.show_attrs) |
|
395
|
|
|
self.ui.attrRefreshButton.clicked.connect(self.show_attrs) |
|
396
|
|
|
|
|
397
|
|
|
self.resize(int(self.settings.value("main_window_width", 800)), int(self.settings.value("main_window_height", 600))) |
|
398
|
|
|
data = self.settings.value("main_window_state", None) |
|
399
|
|
|
if data: |
|
400
|
|
|
self.restoreState(data) |
|
401
|
|
|
|
|
402
|
|
|
self.ui.connectButton.clicked.connect(self.connect) |
|
403
|
|
|
self.ui.disconnectButton.clicked.connect(self.disconnect) |
|
404
|
|
|
# self.ui.treeView.expanded.connect(self._fit) |
|
405
|
|
|
|
|
406
|
|
|
self.ui.actionConnect.triggered.connect(self.connect) |
|
407
|
|
|
self.ui.actionDisconnect.triggered.connect(self.disconnect) |
|
408
|
|
|
|
|
409
|
|
|
self.ui.connectOptionButton.clicked.connect(self.show_connection_dialog) |
|
410
|
|
|
|
|
411
|
|
|
def _uri_changed(self, uri): |
|
412
|
|
|
self.uaclient.load_security_settings(uri) |
|
413
|
|
|
|
|
414
|
|
|
def show_connection_dialog(self): |
|
415
|
|
|
dia = ConnectionDialog(self, self.ui.addrComboBox.currentText()) |
|
416
|
|
|
dia.security_mode = self.uaclient.security_mode |
|
417
|
|
|
dia.security_policy = self.uaclient.security_policy |
|
418
|
|
|
dia.certificate_path = self.uaclient.certificate_path |
|
419
|
|
|
dia.private_key_path = self.uaclient.private_key_path |
|
420
|
|
|
ret = dia.exec_() |
|
421
|
|
|
if ret: |
|
422
|
|
|
self.uaclient.security_mode = dia.security_mode |
|
423
|
|
|
self.uaclient.security_policy = dia.security_policy |
|
424
|
|
|
self.uaclient.certificate_path = dia.certificate_path |
|
425
|
|
|
self.uaclient.private_key_path = dia.private_key_path |
|
426
|
|
|
|
|
427
|
|
|
@trycatchslot |
|
428
|
|
|
def show_refs(self, idx): |
|
429
|
|
|
node = self.get_current_node(idx) |
|
430
|
|
|
if node: |
|
431
|
|
|
self.refs_ui.show_refs(node) |
|
432
|
|
|
|
|
433
|
|
|
@trycatchslot |
|
434
|
|
|
def show_attrs(self, idx): |
|
435
|
|
|
if not isinstance(idx, QModelIndex): |
|
436
|
|
|
idx = None |
|
437
|
|
|
node = self.get_current_node(idx) |
|
438
|
|
|
if node: |
|
439
|
|
|
self.attrs_ui.show_attrs(node) |
|
440
|
|
|
|
|
441
|
|
|
def show_error(self, msg): |
|
442
|
|
|
logger.warning("showing error: %s") |
|
443
|
|
|
self.ui.statusBar.show() |
|
444
|
|
|
self.ui.statusBar.setStyleSheet("QStatusBar { background-color : red; color : black; }") |
|
445
|
|
|
self.ui.statusBar.showMessage(str(msg)) |
|
446
|
|
|
QTimer.singleShot(1500, self.ui.statusBar.hide) |
|
447
|
|
|
|
|
448
|
|
|
def get_current_node(self, idx=None): |
|
449
|
|
|
return self.tree_ui.get_current_node(idx) |
|
450
|
|
|
|
|
451
|
|
|
def get_uaclient(self): |
|
452
|
|
|
return self.uaclient |
|
453
|
|
|
|
|
454
|
|
|
@trycatchslot |
|
455
|
|
|
def connect(self): |
|
456
|
|
|
uri = self.ui.addrComboBox.currentText() |
|
457
|
|
|
try: |
|
458
|
|
|
self.uaclient.connect(uri) |
|
459
|
|
|
except Exception as ex: |
|
460
|
|
|
self.show_error(ex) |
|
461
|
|
|
raise |
|
462
|
|
|
|
|
463
|
|
|
self._update_address_list(uri) |
|
464
|
|
|
self.tree_ui.set_root_node(self.uaclient.client.get_root_node()) |
|
465
|
|
|
|
|
466
|
|
|
def _update_address_list(self, uri): |
|
467
|
|
|
if uri == self._address_list[0]: |
|
468
|
|
|
return |
|
469
|
|
|
if uri in self._address_list: |
|
470
|
|
|
self._address_list.remove(uri) |
|
471
|
|
|
self._address_list.insert(0, uri) |
|
472
|
|
|
if len(self._address_list) > self._address_list_max_count: |
|
473
|
|
|
self._address_list.pop(-1) |
|
474
|
|
|
|
|
475
|
|
|
def disconnect(self): |
|
476
|
|
|
try: |
|
477
|
|
|
self.uaclient.disconnect() |
|
478
|
|
|
except Exception as ex: |
|
479
|
|
|
self.show_error(ex) |
|
480
|
|
|
raise |
|
481
|
|
|
finally: |
|
482
|
|
|
self.tree_ui.clear() |
|
483
|
|
|
self.refs_ui.clear() |
|
484
|
|
|
self.attrs_ui.clear() |
|
485
|
|
|
self.datachange_ui.clear() |
|
486
|
|
|
self.event_ui.clear() |
|
487
|
|
|
|
|
488
|
|
|
def closeEvent(self, event): |
|
489
|
|
|
self.tree_ui.save_state() |
|
490
|
|
|
self.attrs_ui.save_state() |
|
491
|
|
|
self.refs_ui.save_state() |
|
492
|
|
|
self.settings.setValue("main_window_width", self.size().width()) |
|
493
|
|
|
self.settings.setValue("main_window_height", self.size().height()) |
|
494
|
|
|
self.settings.setValue("main_window_state", self.saveState()) |
|
495
|
|
|
self.settings.setValue("address_list", self._address_list) |
|
496
|
|
|
self.disconnect() |
|
497
|
|
|
event.accept() |
|
498
|
|
|
|
|
499
|
|
|
|
|
500
|
|
|
def main(): |
|
501
|
|
|
app = QApplication(sys.argv) |
|
502
|
|
|
client = Window() |
|
503
|
|
|
handler = QtHandler(client.ui.logTextEdit) |
|
504
|
|
|
logging.getLogger().addHandler(handler) |
|
505
|
|
|
logging.getLogger("uaclient").setLevel(logging.INFO) |
|
506
|
|
|
logging.getLogger("uawidgets").setLevel(logging.INFO) |
|
507
|
|
|
#logging.getLogger("opcua").setLevel(logging.INFO) # to enable logging of ua server |
|
508
|
|
|
|
|
509
|
|
|
client.show() |
|
510
|
|
|
sys.exit(app.exec_()) |
|
511
|
|
|
|
|
512
|
|
|
|
|
513
|
|
|
if __name__ == "__main__": |
|
514
|
|
|
main() |
|
515
|
|
|
|
FreeOpcUa /
opcua-client-gui
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