|
1
|
|
|
""" |
|
2
|
|
|
Low level binary client |
|
3
|
|
|
""" |
|
4
|
|
|
|
|
5
|
1 |
|
import logging |
|
6
|
1 |
|
import socket |
|
7
|
1 |
|
from threading import Thread, Lock |
|
8
|
1 |
|
from concurrent.futures import Future |
|
9
|
1 |
|
from functools import partial |
|
10
|
|
|
|
|
11
|
1 |
|
from opcua import ua |
|
12
|
1 |
|
from opcua.common import utils |
|
13
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|
|
from opcua.common.uaerrors import UaError, BadTimeout, BadNoSubscription, BadSessionClosed |
|
14
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|
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|
|
15
|
1 |
|
|
|
16
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|
|
class UASocketClient(object): |
|
17
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|
|
""" |
|
18
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|
|
handle socket connection and send ua messages |
|
19
|
|
|
timeout is the timeout used while waiting for an ua answer from server |
|
20
|
1 |
|
""" |
|
21
|
1 |
|
def __init__(self, timeout=1, security_policy=ua.SecurityPolicy()): |
|
22
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1 |
|
self.logger = logging.getLogger(__name__ + ".Socket") |
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23
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1 |
|
self._thread = None |
|
24
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1 |
|
self._lock = Lock() |
|
25
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1 |
|
self.timeout = timeout |
|
26
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1 |
|
self._socket = None |
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27
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1 |
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self._do_stop = False |
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28
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1 |
|
self.authentication_token = ua.NodeId() |
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29
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1 |
|
self._request_id = 0 |
|
30
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1 |
|
self._request_handle = 0 |
|
31
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1 |
|
self._callbackmap = {} |
|
32
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|
|
self._connection = ua.SecureConnection(security_policy) |
|
33
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1 |
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|
|
34
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|
|
def start(self): |
|
35
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|
|
""" |
|
36
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|
|
Start receiving thread. |
|
37
|
|
|
this is called automatically in connect and |
|
38
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|
|
should not be necessary to call directly |
|
39
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1 |
|
""" |
|
40
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1 |
|
self._thread = Thread(target=self._run) |
|
41
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|
|
self._thread.start() |
|
42
|
1 |
|
|
|
43
|
|
|
def _send_request(self, request, callback=None, timeout=1000, message_type=ua.MessageType.SecureMessage): |
|
44
|
|
|
""" |
|
45
|
|
|
send request to server, lower-level method |
|
46
|
|
|
timeout is the timeout written in ua header |
|
47
|
|
|
returns future |
|
48
|
1 |
|
""" |
|
49
|
1 |
|
with self._lock: |
|
50
|
1 |
|
request.RequestHeader = self._create_request_header(timeout) |
|
51
|
1 |
|
self.logger.debug("Sending: %s", request) |
|
52
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1 |
|
try: |
|
53
|
|
|
binreq = request.to_binary() |
|
54
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|
|
except: |
|
55
|
|
|
# reset reqeust handle if any error |
|
56
|
|
|
# see self._create_request_header |
|
57
|
|
|
self._request_handle -= 1 |
|
58
|
1 |
|
raise |
|
59
|
1 |
|
self._request_id += 1 |
|
60
|
1 |
|
future = Future() |
|
61
|
1 |
|
if callback: |
|
62
|
1 |
|
future.add_done_callback(callback) |
|
63
|
1 |
|
self._callbackmap[self._request_id] = future |
|
64
|
1 |
|
msg = self._connection.message_to_binary(binreq, message_type=message_type, request_id=self._request_id) |
|
65
|
1 |
|
self._socket.write(msg) |
|
66
|
|
|
return future |
|
67
|
1 |
|
|
|
68
|
|
|
def send_request(self, request, callback=None, timeout=1000, message_type=ua.MessageType.SecureMessage): |
|
69
|
|
|
""" |
|
70
|
|
|
send request to server. |
|
71
|
|
|
timeout is the timeout written in ua header |
|
72
|
|
|
returns response object if no callback is provided |
|
73
|
1 |
|
""" |
|
74
|
1 |
|
future = self._send_request(request, callback, timeout, message_type) |
|
75
|
1 |
|
if not callback: |
|
76
|
1 |
|
data = future.result(self.timeout) |
|
77
|
1 |
|
self.check_answer(data, " in response to " + request.__class__.__name__) |
|
78
|
|
|
return data |
|
79
|
1 |
|
|
|
80
|
1 |
|
def check_answer(self, data, context): |
|
81
|
1 |
|
data = data.copy() |
|
82
|
1 |
|
typeid = ua.NodeId.from_binary(data) |
|
83
|
1 |
|
if typeid == ua.FourByteNodeId(ua.ObjectIds.ServiceFault_Encoding_DefaultBinary): |
|
84
|
1 |
|
self.logger.warning("ServiceFault from server received %s", context) |
|
85
|
1 |
|
hdr = ua.ResponseHeader.from_binary(data) |
|
86
|
|
|
hdr.ServiceResult.check() |
|
87
|
1 |
|
return False |
|
88
|
|
|
return True |
|
89
|
1 |
|
|
|
90
|
1 |
|
def _run(self): |
|
91
|
1 |
|
self.logger.info("Thread started") |
|
92
|
1 |
|
while not self._do_stop: |
|
93
|
1 |
|
try: |
|
94
|
1 |
|
self._receive() |
|
95
|
1 |
|
except ua.utils.SocketClosedException: |
|
96
|
1 |
|
self.logger.info("Socket has closed connection") |
|
97
|
1 |
|
break |
|
98
|
|
|
except UaError: |
|
99
|
1 |
|
self.logger.exception("Protocol Error") |
|
100
|
1 |
|
self.logger.info("Thread ended") |
|
101
|
1 |
|
|
|
102
|
|
|
def _receive(self): |
|
103
|
1 |
|
msg = self._connection.receive_from_socket(self._socket) |
|
104
|
1 |
|
if msg is None: |
|
105
|
1 |
|
return |
|
106
|
1 |
|
elif isinstance(msg, ua.Message): |
|
107
|
|
|
self._call_callback(msg.request_id(), msg.body()) |
|
108
|
|
|
elif isinstance(msg, ua.Acknowledge): |
|
109
|
|
|
self._call_callback(0, msg) |
|
110
|
|
|
elif isinstance(msg, ua.ErrorMessage): |
|
111
|
|
|
self.logger.warning("Received an error: %s", msg) |
|
112
|
1 |
|
else: |
|
113
|
1 |
|
raise ua.UaError("Unsupported message type: %s", msg) |
|
114
|
1 |
|
|
|
115
|
1 |
|
def _call_callback(self, request_id, body): |
|
116
|
|
|
with self._lock: |
|
117
|
1 |
|
future = self._callbackmap.pop(request_id, None) |
|
118
|
|
|
if future is None: |
|
119
|
1 |
|
raise ua.UaError("No future object found for request: {}, callbacks in list are {}".format(request_id, self._callbackmap.keys())) |
|
120
|
1 |
|
future.set_result(body) |
|
121
|
1 |
|
|
|
122
|
1 |
|
def _create_request_header(self, timeout=1000): |
|
123
|
1 |
|
hdr = ua.RequestHeader() |
|
124
|
1 |
|
hdr.AuthenticationToken = self.authentication_token |
|
125
|
1 |
|
self._request_handle += 1 |
|
126
|
|
|
hdr.RequestHandle = self._request_handle |
|
127
|
1 |
|
hdr.TimeoutHint = timeout |
|
128
|
|
|
return hdr |
|
129
|
|
|
|
|
130
|
|
|
def connect_socket(self, host, port): |
|
131
|
1 |
|
""" |
|
132
|
1 |
|
connect to server socket and start receiving thread |
|
133
|
1 |
|
""" |
|
134
|
1 |
|
self.logger.info("opening connection") |
|
135
|
1 |
|
sock = socket.create_connection((host, port)) |
|
136
|
|
|
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1) # nodelay ncessary to avoid packing in one frame, some servers do not like it |
|
137
|
1 |
|
self._socket = utils.SocketWrapper(sock) |
|
138
|
1 |
|
self.start() |
|
139
|
1 |
|
|
|
140
|
1 |
|
def disconnect_socket(self): |
|
141
|
1 |
|
self.logger.info("stop request") |
|
142
|
|
|
self._do_stop = True |
|
143
|
1 |
|
self._socket.socket.shutdown(socket.SHUT_WR) |
|
144
|
1 |
|
self._socket.socket.close() |
|
145
|
1 |
|
|
|
146
|
1 |
|
def send_hello(self, url): |
|
147
|
1 |
|
hello = ua.Hello() |
|
148
|
1 |
|
hello.EndpointUrl = url |
|
149
|
1 |
|
future = Future() |
|
150
|
1 |
|
with self._lock: |
|
151
|
1 |
|
self._callbackmap[0] = future |
|
152
|
1 |
|
binmsg = self._connection.tcp_to_binary(ua.MessageType.Hello, hello) |
|
153
|
|
|
self._socket.write(binmsg) |
|
154
|
1 |
|
ack = future.result(self.timeout) |
|
155
|
1 |
|
return ack |
|
156
|
1 |
|
|
|
157
|
1 |
|
def open_secure_channel(self, params): |
|
158
|
1 |
|
self.logger.info("open_secure_channel") |
|
159
|
|
|
request = ua.OpenSecureChannelRequest() |
|
160
|
1 |
|
request.Parameters = params |
|
161
|
1 |
|
future = self._send_request(request, message_type=ua.MessageType.SecureOpen) |
|
162
|
1 |
|
|
|
163
|
1 |
|
response = ua.OpenSecureChannelResponse.from_binary(future.result(self.timeout)) |
|
164
|
|
|
response.ResponseHeader.ServiceResult.check() |
|
165
|
1 |
|
self._connection.set_channel(response.Parameters) |
|
166
|
|
|
return response.Parameters |
|
167
|
|
|
|
|
168
|
|
|
def close_secure_channel(self): |
|
169
|
|
|
""" |
|
170
|
|
|
close secure channel. It seems to trigger a shutdown of socket |
|
171
|
1 |
|
in most servers, so be prepare to reconnect. |
|
172
|
1 |
|
OPC UA specs Part 6, 7.1.4 say that Server does not send a CloseSecureChannel response and should just close socket |
|
173
|
1 |
|
""" |
|
174
|
1 |
|
self.logger.info("close_secure_channel") |
|
175
|
|
|
request = ua.CloseSecureChannelRequest() |
|
176
|
1 |
|
future = self._send_request(request, message_type=ua.MessageType.SecureClose) |
|
177
|
1 |
|
with self._lock: |
|
178
|
|
|
# don't expect any more answers |
|
179
|
|
|
future.cancel() |
|
180
|
|
|
self._callbackmap.clear() |
|
181
|
|
|
|
|
182
|
1 |
|
# some servers send a response here, most do not ... so we ignore |
|
183
|
|
|
|
|
184
|
|
|
|
|
185
|
|
|
class UaClient(object): |
|
186
|
|
|
|
|
187
|
|
|
""" |
|
188
|
|
|
low level OPC-UA client. |
|
189
|
|
|
|
|
190
|
|
|
It implements (almost) all methods defined in opcua spec |
|
191
|
|
|
taking in argument the structures defined in opcua spec. |
|
192
|
|
|
|
|
193
|
|
|
In this Python implementation most of the structures are defined in |
|
194
|
1 |
|
uaprotocol_auto.py and uaprotocol_hand.py available under opcua.ua |
|
195
|
1 |
|
""" |
|
196
|
|
|
|
|
197
|
1 |
|
def __init__(self, timeout=1): |
|
198
|
1 |
|
self.logger = logging.getLogger(__name__) |
|
199
|
1 |
|
# _publishcallbacks should be accessed in recv thread only |
|
200
|
1 |
|
self._publishcallbacks = {} |
|
201
|
|
|
self._timeout = timeout |
|
202
|
1 |
|
self._uasocket = None |
|
203
|
1 |
|
self._security_policy = ua.SecurityPolicy() |
|
204
|
|
|
|
|
205
|
1 |
|
def set_security(self, policy): |
|
206
|
|
|
self._security_policy = policy |
|
207
|
|
|
|
|
208
|
|
|
def connect_socket(self, host, port): |
|
209
|
1 |
|
""" |
|
210
|
1 |
|
connect to server socket and start receiving thread |
|
211
|
|
|
""" |
|
212
|
1 |
|
self._uasocket = UASocketClient(self._timeout, security_policy=self._security_policy) |
|
213
|
1 |
|
return self._uasocket.connect_socket(host, port) |
|
214
|
|
|
|
|
215
|
1 |
|
def disconnect_socket(self): |
|
216
|
1 |
|
return self._uasocket.disconnect_socket() |
|
217
|
|
|
|
|
218
|
1 |
|
def send_hello(self, url): |
|
219
|
1 |
|
return self._uasocket.send_hello(url) |
|
220
|
|
|
|
|
221
|
1 |
|
def open_secure_channel(self, params): |
|
222
|
|
|
return self._uasocket.open_secure_channel(params) |
|
223
|
|
|
|
|
224
|
|
|
def close_secure_channel(self): |
|
225
|
|
|
""" |
|
226
|
1 |
|
close secure channel. It seems to trigger a shutdown of socket |
|
227
|
|
|
in most servers, so be prepare to reconnect |
|
228
|
1 |
|
""" |
|
229
|
1 |
|
return self._uasocket.close_secure_channel() |
|
230
|
1 |
|
|
|
231
|
1 |
|
def create_session(self, parameters): |
|
232
|
1 |
|
self.logger.info("create_session") |
|
233
|
1 |
|
request = ua.CreateSessionRequest() |
|
234
|
1 |
|
request.Parameters = parameters |
|
235
|
1 |
|
data = self._uasocket.send_request(request) |
|
236
|
1 |
|
response = ua.CreateSessionResponse.from_binary(data) |
|
237
|
1 |
|
self.logger.debug(response) |
|
238
|
|
|
response.ResponseHeader.ServiceResult.check() |
|
239
|
1 |
|
self._uasocket.authentication_token = response.Parameters.AuthenticationToken |
|
240
|
1 |
|
return response.Parameters |
|
241
|
1 |
|
|
|
242
|
1 |
|
def activate_session(self, parameters): |
|
243
|
1 |
|
self.logger.info("activate_session") |
|
244
|
1 |
|
request = ua.ActivateSessionRequest() |
|
245
|
1 |
|
request.Parameters = parameters |
|
246
|
1 |
|
data = self._uasocket.send_request(request) |
|
247
|
1 |
|
response = ua.ActivateSessionResponse.from_binary(data) |
|
248
|
|
|
self.logger.debug(response) |
|
249
|
1 |
|
response.ResponseHeader.ServiceResult.check() |
|
250
|
1 |
|
return response.Parameters |
|
251
|
1 |
|
|
|
252
|
1 |
|
def close_session(self, deletesubscriptions): |
|
253
|
1 |
|
self.logger.info("close_session") |
|
254
|
1 |
|
request = ua.CloseSessionRequest() |
|
255
|
|
|
request.DeleteSubscriptions = deletesubscriptions |
|
256
|
|
|
data = self._uasocket.send_request(request) |
|
257
|
1 |
|
response = ua.CloseSessionResponse.from_binary(data) |
|
258
|
1 |
|
try: |
|
259
|
1 |
|
response.ResponseHeader.ServiceResult.check() |
|
260
|
1 |
|
except BadSessionClosed: |
|
261
|
1 |
|
# Problem: closing the session with open publish requests leads to BadSessionClosed responses |
|
262
|
1 |
|
# we can just ignore it therefore. |
|
263
|
1 |
|
# Alternatively we could make sure that there are no publish requests in flight when |
|
264
|
1 |
|
# closing the session. |
|
265
|
1 |
|
pass |
|
266
|
|
|
|
|
267
|
1 |
|
def browse(self, parameters): |
|
268
|
1 |
|
self.logger.info("browse") |
|
269
|
1 |
|
request = ua.BrowseRequest() |
|
270
|
1 |
|
request.Parameters = parameters |
|
271
|
1 |
|
data = self._uasocket.send_request(request) |
|
272
|
1 |
|
response = ua.BrowseResponse.from_binary(data) |
|
273
|
1 |
|
self.logger.debug(response) |
|
274
|
1 |
|
response.ResponseHeader.ServiceResult.check() |
|
275
|
|
|
return response.Results |
|
276
|
1 |
|
|
|
277
|
1 |
|
def read(self, parameters): |
|
278
|
|
|
self.logger.info("read") |
|
279
|
|
|
request = ua.ReadRequest() |
|
280
|
|
|
request.Parameters = parameters |
|
281
|
1 |
|
data = self._uasocket.send_request(request) |
|
282
|
1 |
|
response = ua.ReadResponse.from_binary(data) |
|
283
|
1 |
|
self.logger.debug(response) |
|
284
|
1 |
|
response.ResponseHeader.ServiceResult.check() |
|
285
|
1 |
|
# cast to Enum attributes that need to |
|
286
|
|
|
for idx, rv in enumerate(parameters.NodesToRead): |
|
287
|
1 |
|
if rv.AttributeId == ua.AttributeIds.NodeClass: |
|
288
|
1 |
|
dv = response.Results[idx] |
|
289
|
1 |
|
if dv.StatusCode.is_good(): |
|
290
|
1 |
|
dv.Value.Value = ua.NodeClass(dv.Value.Value) |
|
291
|
1 |
|
elif rv.AttributeId == ua.AttributeIds.ValueRank: |
|
292
|
1 |
|
dv = response.Results[idx] |
|
293
|
1 |
|
if dv.StatusCode.is_good() and dv.Value.Value in (-3, -2, -1, 0, 1, 2, 3, 4): |
|
294
|
1 |
|
dv.Value.Value = ua.ValueRank(dv.Value.Value) |
|
295
|
1 |
|
return response.Results |
|
296
|
|
|
|
|
297
|
1 |
|
def write(self, params): |
|
298
|
1 |
|
self.logger.info("read") |
|
299
|
1 |
|
request = ua.WriteRequest() |
|
300
|
1 |
|
request.Parameters = params |
|
301
|
1 |
|
data = self._uasocket.send_request(request) |
|
302
|
1 |
|
response = ua.WriteResponse.from_binary(data) |
|
303
|
1 |
|
self.logger.debug(response) |
|
304
|
1 |
|
response.ResponseHeader.ServiceResult.check() |
|
305
|
1 |
|
return response.Results |
|
306
|
|
|
|
|
307
|
1 |
|
def get_endpoints(self, params): |
|
308
|
1 |
|
self.logger.info("get_endpoint") |
|
309
|
1 |
|
request = ua.GetEndpointsRequest() |
|
310
|
1 |
|
request.Parameters = params |
|
311
|
1 |
|
data = self._uasocket.send_request(request) |
|
312
|
1 |
|
response = ua.GetEndpointsResponse.from_binary(data) |
|
313
|
1 |
|
self.logger.debug(response) |
|
314
|
1 |
|
response.ResponseHeader.ServiceResult.check() |
|
315
|
1 |
|
return response.Endpoints |
|
316
|
|
|
|
|
317
|
1 |
|
def find_servers(self, params): |
|
318
|
|
|
self.logger.info("find_servers") |
|
319
|
|
|
request = ua.FindServersRequest() |
|
320
|
|
|
request.Parameters = params |
|
321
|
|
|
data = self._uasocket.send_request(request) |
|
322
|
|
|
response = ua.FindServersResponse.from_binary(data) |
|
323
|
|
|
self.logger.debug(response) |
|
324
|
|
|
response.ResponseHeader.ServiceResult.check() |
|
325
|
|
|
return response.Servers |
|
326
|
|
|
|
|
327
|
1 |
|
def find_servers_on_network(self, params): |
|
328
|
1 |
|
self.logger.info("find_servers_on_network") |
|
329
|
1 |
|
request = ua.FindServersOnNetworkRequest() |
|
330
|
1 |
|
request.Parameters = params |
|
331
|
1 |
|
data = self._uasocket.send_request(request) |
|
332
|
1 |
|
response = ua.FindServersOnNetworkResponse.from_binary(data) |
|
333
|
1 |
|
self.logger.debug(response) |
|
334
|
1 |
|
response.ResponseHeader.ServiceResult.check() |
|
335
|
|
|
return response.Parameters |
|
336
|
|
|
|
|
337
|
1 |
|
def register_server(self, registered_server): |
|
338
|
|
|
self.logger.info("register_server") |
|
339
|
|
|
request = ua.RegisterServerRequest() |
|
340
|
|
|
request.Server = registered_server |
|
341
|
|
|
data = self._uasocket.send_request(request) |
|
342
|
|
|
response = ua.RegisterServerResponse.from_binary(data) |
|
343
|
|
|
self.logger.debug(response) |
|
344
|
|
|
response.ResponseHeader.ServiceResult.check() |
|
345
|
|
|
# nothing to return for this service |
|
346
|
|
|
|
|
347
|
1 |
|
def register_server2(self, params): |
|
348
|
1 |
|
self.logger.info("register_server2") |
|
349
|
1 |
|
request = ua.RegisterServer2Request() |
|
350
|
1 |
|
request.Parameters = params |
|
351
|
1 |
|
data = self._uasocket.send_request(request) |
|
352
|
1 |
|
response = ua.RegisterServer2Response.from_binary(data) |
|
353
|
1 |
|
self.logger.debug(response) |
|
354
|
1 |
|
response.ResponseHeader.ServiceResult.check() |
|
355
|
1 |
|
return response.ConfigurationResults |
|
356
|
|
|
|
|
357
|
1 |
|
def translate_browsepaths_to_nodeids(self, browsepaths): |
|
358
|
1 |
|
self.logger.info("translate_browsepath_to_nodeid") |
|
359
|
1 |
|
request = ua.TranslateBrowsePathsToNodeIdsRequest() |
|
360
|
1 |
|
request.Parameters.BrowsePaths = browsepaths |
|
361
|
1 |
|
data = self._uasocket.send_request(request) |
|
362
|
1 |
|
response = ua.TranslateBrowsePathsToNodeIdsResponse.from_binary(data) |
|
363
|
1 |
|
self.logger.debug(response) |
|
364
|
1 |
|
response.ResponseHeader.ServiceResult.check() |
|
365
|
|
|
return response.Results |
|
366
|
1 |
|
|
|
367
|
1 |
|
def create_subscription(self, params, callback): |
|
368
|
1 |
|
self.logger.info("create_subscription") |
|
369
|
1 |
|
request = ua.CreateSubscriptionRequest() |
|
370
|
1 |
|
request.Parameters = params |
|
371
|
1 |
|
resp_fut = Future() |
|
372
|
1 |
|
mycallbak = partial(self._create_subscription_callback, callback, resp_fut) |
|
373
|
1 |
|
self._uasocket.send_request(request, mycallbak) |
|
374
|
|
|
return resp_fut.result(self._timeout) |
|
375
|
1 |
|
|
|
376
|
1 |
|
def _create_subscription_callback(self, pub_callback, resp_fut, data_fut): |
|
377
|
1 |
|
self.logger.info("_create_subscription_callback") |
|
378
|
1 |
|
data = data_fut.result() |
|
379
|
1 |
|
response = ua.CreateSubscriptionResponse.from_binary(data) |
|
380
|
1 |
|
self.logger.debug(response) |
|
381
|
1 |
|
response.ResponseHeader.ServiceResult.check() |
|
382
|
1 |
|
self._publishcallbacks[response.Parameters.SubscriptionId] = pub_callback |
|
383
|
|
|
resp_fut.set_result(response.Parameters) |
|
384
|
1 |
|
|
|
385
|
1 |
|
def delete_subscriptions(self, subscriptionids): |
|
386
|
1 |
|
self.logger.info("delete_subscription") |
|
387
|
1 |
|
request = ua.DeleteSubscriptionsRequest() |
|
388
|
1 |
|
request.Parameters.SubscriptionIds = subscriptionids |
|
389
|
1 |
|
resp_fut = Future() |
|
390
|
1 |
|
mycallbak = partial(self._delete_subscriptions_callback, subscriptionids, resp_fut) |
|
391
|
1 |
|
self._uasocket.send_request(request, mycallbak) |
|
392
|
1 |
|
return resp_fut.result(self._timeout) |
|
393
|
|
|
|
|
394
|
1 |
|
def _delete_subscriptions_callback(self, subscriptionids, resp_fut, data_fut): |
|
395
|
1 |
|
self.logger.info("_delete_subscriptions_callback") |
|
396
|
1 |
|
data = data_fut.result() |
|
397
|
1 |
|
response = ua.DeleteSubscriptionsResponse.from_binary(data) |
|
398
|
1 |
|
self.logger.debug(response) |
|
399
|
1 |
|
response.ResponseHeader.ServiceResult.check() |
|
400
|
1 |
|
for sid in subscriptionids: |
|
401
|
|
|
self._publishcallbacks.pop(sid) |
|
402
|
1 |
|
resp_fut.set_result(response.Results) |
|
403
|
1 |
|
|
|
404
|
1 |
|
def publish(self, acks=None): |
|
405
|
1 |
|
self.logger.info("publish") |
|
406
|
1 |
|
if acks is None: |
|
407
|
1 |
|
acks = [] |
|
408
|
1 |
|
request = ua.PublishRequest() |
|
409
|
|
|
request.Parameters.SubscriptionAcknowledgements = acks |
|
410
|
|
|
# timeout could be set to 0 (= no timeout) but some servers do not support it |
|
411
|
|
|
self._uasocket.send_request(request, self._call_publish_callback, timeout=int(9e8)) # 250 days |
|
412
|
|
|
|
|
413
|
1 |
|
def _call_publish_callback(self, future): |
|
414
|
|
|
self.logger.info("call_publish_callback") |
|
415
|
|
|
data = future.result() |
|
416
|
1 |
|
|
|
417
|
1 |
|
# check if answer looks ok |
|
418
|
1 |
|
try: |
|
419
|
|
|
self._uasocket.check_answer(data, "while waiting for publish response") |
|
420
|
|
|
except BadTimeout: # Spec Part 4, 7.28 |
|
421
|
|
|
self.publish() |
|
422
|
1 |
|
return |
|
423
|
1 |
|
except BadNoSubscription: # Spec Part 5, 13.8.1 |
|
424
|
1 |
|
# BadNoSubscription is expected after deleting the last subscription. |
|
425
|
1 |
|
# |
|
426
|
1 |
|
# We should therefore also check for len(self._publishcallbacks) == 0, but |
|
427
|
1 |
|
# this gets us into trouble if a Publish response arrives before the |
|
428
|
1 |
|
# DeleteSubscription response. |
|
429
|
1 |
|
# |
|
430
|
1 |
|
# We could remove the callback already when sending the DeleteSubscription request, |
|
431
|
|
|
# but there are some legitimate reasons to keep them around, such as when the server |
|
432
|
1 |
|
# responds with "BadTimeout" and we should try again later instead of just removing |
|
433
|
1 |
|
# the subscription client-side. |
|
434
|
1 |
|
# |
|
435
|
1 |
|
# There are a variety of ways to act correctly, but the most practical solution seems |
|
436
|
1 |
|
# to be to just ignore any BadNoSubscription responses. |
|
437
|
1 |
|
self.logger.info("BadNoSubscription received, ignoring because it's probably valid.") |
|
438
|
1 |
|
return |
|
439
|
1 |
|
|
|
440
|
1 |
|
# parse publish response |
|
441
|
|
|
try: |
|
442
|
1 |
|
response = ua.PublishResponse.from_binary(data) |
|
443
|
1 |
|
self.logger.debug(response) |
|
444
|
1 |
|
except Exception: |
|
445
|
1 |
|
# INFO: catching the exception here might be obsolete because we already |
|
446
|
1 |
|
# catch BadTimeout above. However, it's not really clear what this code |
|
447
|
1 |
|
# does so it stays in, doesn't seem to hurt. |
|
448
|
1 |
|
self.logger.exception("Error parsing notificatipn from server") |
|
449
|
1 |
|
self.publish([]) #send publish request ot server so he does stop sending notifications |
|
450
|
1 |
|
return |
|
451
|
|
|
|
|
452
|
1 |
|
# look for callback |
|
453
|
1 |
|
try: |
|
454
|
1 |
|
callback = self._publishcallbacks[response.Parameters.SubscriptionId] |
|
455
|
1 |
|
except KeyError: |
|
456
|
1 |
|
self.logger.warning("Received data for unknown subscription: %s ", response.Parameters.SubscriptionId) |
|
457
|
1 |
|
return |
|
458
|
1 |
|
|
|
459
|
1 |
|
# do callback |
|
460
|
1 |
|
try: |
|
461
|
|
|
callback(response.Parameters) |
|
462
|
1 |
|
except Exception: # we call client code, catch everything! |
|
463
|
1 |
|
self.logger.exception("Exception while calling user callback: %s") |
|
464
|
1 |
|
|
|
465
|
1 |
|
def create_monitored_items(self, params): |
|
466
|
1 |
|
self.logger.info("create_monitored_items") |
|
467
|
1 |
|
request = ua.CreateMonitoredItemsRequest() |
|
468
|
1 |
|
request.Parameters = params |
|
469
|
1 |
|
data = self._uasocket.send_request(request) |
|
470
|
|
|
response = ua.CreateMonitoredItemsResponse.from_binary(data) |
|
471
|
1 |
|
self.logger.debug(response) |
|
472
|
|
|
response.ResponseHeader.ServiceResult.check() |
|
473
|
|
|
return response.Results |
|
474
|
|
|
|
|
475
|
|
|
def delete_monitored_items(self, params): |
|
476
|
|
|
self.logger.info("delete_monitored_items") |
|
477
|
|
|
request = ua.DeleteMonitoredItemsRequest() |
|
478
|
|
|
request.Parameters = params |
|
479
|
|
|
data = self._uasocket.send_request(request) |
|
480
|
|
|
response = ua.DeleteMonitoredItemsResponse.from_binary(data) |
|
481
|
|
|
self.logger.debug(response) |
|
482
|
|
|
response.ResponseHeader.ServiceResult.check() |
|
483
|
|
|
return response.Results |
|
484
|
|
|
|
|
485
|
|
|
def add_nodes(self, nodestoadd): |
|
486
|
|
|
self.logger.info("add_nodes") |
|
487
|
|
|
request = ua.AddNodesRequest() |
|
488
|
|
|
request.Parameters.NodesToAdd = nodestoadd |
|
489
|
|
|
data = self._uasocket.send_request(request) |
|
490
|
|
|
response = ua.AddNodesResponse.from_binary(data) |
|
491
|
|
|
self.logger.debug(response) |
|
492
|
|
|
response.ResponseHeader.ServiceResult.check() |
|
493
|
|
|
return response.Results |
|
494
|
|
|
|
|
495
|
|
|
def delete_nodes(self, params): |
|
496
|
|
|
self.logger.info("delete_nodes") |
|
497
|
|
|
request = ua.DeleteNodesRequest() |
|
498
|
|
|
request.Parameters = params |
|
499
|
|
|
data = self._uasocket.send_request(request) |
|
500
|
|
|
response = ua.DeleteNodesResponse.from_binary(data) |
|
501
|
|
|
self.logger.debug(response) |
|
502
|
|
|
response.ResponseHeader.ServiceResult.check() |
|
503
|
|
|
return response.Results |
|
504
|
|
|
|
|
505
|
|
|
def call(self, methodstocall): |
|
506
|
|
|
request = ua.CallRequest() |
|
507
|
|
|
request.Parameters.MethodsToCall = methodstocall |
|
508
|
|
|
data = self._uasocket.send_request(request) |
|
509
|
|
|
response = ua.CallResponse.from_binary(data) |
|
510
|
|
|
self.logger.debug(response) |
|
511
|
|
|
response.ResponseHeader.ServiceResult.check() |
|
512
|
|
|
return response.Results |
|
513
|
|
|
|
|
514
|
|
|
def history_read(self, params): |
|
515
|
|
|
self.logger.info("history_read") |
|
516
|
|
|
request = ua.HistoryReadRequest() |
|
517
|
|
|
request.Parameters = params |
|
518
|
|
|
data = self._uasocket.send_request(request) |
|
519
|
|
|
response = ua.HistoryReadResponse.from_binary(data) |
|
520
|
|
|
self.logger.debug(response) |
|
521
|
|
|
response.ResponseHeader.ServiceResult.check() |
|
522
|
|
|
return response.Results |
|
523
|
|
|
|
|
524
|
|
|
def modify_monitored_items(self, params): |
|
525
|
|
|
self.logger.info("modify_monitored_items") |
|
526
|
|
|
request = ua.ModifyMonitoredItemsRequest() |
|
527
|
|
|
request.Parameters = params |
|
528
|
|
|
data = self._uasocket.send_request(request) |
|
529
|
|
|
response = ua.ModifyMonitoredItemsResponse.from_binary(data) |
|
530
|
|
|
self.logger.debug(response) |
|
531
|
|
|
response.ResponseHeader.ServiceResult.check() |
|
532
|
|
|
return response.Results |
|
533
|
|
|
|
FreeOpcUa /
python-opcua
