|
1
|
|
|
""" |
|
2
|
|
|
High level node object, to access node attribute |
|
3
|
|
|
and browse address space |
|
4
|
|
|
""" |
|
5
|
|
|
|
|
6
|
1 |
|
from opcua import ua |
|
7
|
1 |
|
from opcua.common import events |
|
8
|
1 |
|
import opcua.common |
|
9
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|
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|
|
10
|
1 |
|
def _check_results(results, reqlen = 1): |
|
11
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1 |
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assert len(results) == reqlen, results |
|
12
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1 |
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for r in results: |
|
13
|
1 |
|
r.check() |
|
14
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|
15
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1 |
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def _to_nodeid(nodeid): |
|
16
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1 |
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if isinstance(nodeid, int): |
|
17
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1 |
|
return ua.TwoByteNodeId(nodeid) |
|
18
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1 |
|
elif isinstance(nodeid, Node): |
|
19
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1 |
|
return nodeid.nodeid |
|
20
|
|
|
elif isinstance(nodeid, ua.NodeId): |
|
21
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|
|
return nodeid |
|
22
|
|
|
elif type(nodeid) in (str, bytes): |
|
23
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|
|
return ua.NodeId.from_string(nodeid) |
|
24
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|
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else: |
|
25
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|
|
raise ua.UaError("Could not resolve '{0}' to a type id".format(nodeid)) |
|
26
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|
27
|
1 |
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class Node(object): |
|
28
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|
29
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""" |
|
30
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|
High level node object, to access node attribute, |
|
31
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|
browse and populate address space. |
|
32
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|
Node objects are usefull as-is but they do not expose the entire |
|
33
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|
|
OPC-UA protocol. Feel free to look at the code of this class and call |
|
34
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|
directly UA services methods to optimize your code |
|
35
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|
|
""" |
|
36
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|
37
|
1 |
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def __init__(self, server, nodeid): |
|
38
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1 |
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self.server = server |
|
39
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1 |
|
self.nodeid = None |
|
40
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1 |
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if isinstance(nodeid, Node): |
|
41
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1 |
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self.nodeid = nodeid.nodeid |
|
42
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1 |
|
elif isinstance(nodeid, ua.NodeId): |
|
43
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1 |
|
self.nodeid = nodeid |
|
44
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1 |
|
elif type(nodeid) in (str, bytes): |
|
45
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1 |
|
self.nodeid = ua.NodeId.from_string(nodeid) |
|
46
|
1 |
|
elif isinstance(nodeid, int): |
|
47
|
1 |
|
self.nodeid = ua.NodeId(nodeid, 0) |
|
48
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|
|
else: |
|
49
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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))) |
|
50
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|
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|
|
51
|
1 |
|
def __eq__(self, other): |
|
52
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1 |
|
if isinstance(other, Node) and self.nodeid == other.nodeid: |
|
53
|
1 |
|
return True |
|
54
|
1 |
|
return False |
|
55
|
|
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|
|
56
|
1 |
|
def __ne__(self, other): |
|
57
|
|
|
return not self.__eq__(other) |
|
58
|
|
|
|
|
59
|
1 |
|
def __str__(self): |
|
60
|
1 |
|
return "Node({0})".format(self.nodeid) |
|
61
|
1 |
|
__repr__ = __str__ |
|
62
|
|
|
|
|
63
|
1 |
|
def __hash__(self): |
|
64
|
1 |
|
return self.nodeid.__hash__() |
|
65
|
|
|
|
|
66
|
1 |
|
def get_browse_name(self): |
|
67
|
|
|
""" |
|
68
|
|
|
Get browse name of a node. A browse name is a QualifiedName object |
|
69
|
|
|
composed of a string(name) and a namespace index. |
|
70
|
|
|
""" |
|
71
|
1 |
|
result = self.get_attribute(ua.AttributeIds.BrowseName) |
|
72
|
1 |
|
return result.Value.Value |
|
73
|
|
|
|
|
74
|
1 |
|
def get_display_name(self): |
|
75
|
|
|
""" |
|
76
|
|
|
get description attribute of node |
|
77
|
|
|
""" |
|
78
|
1 |
|
result = self.get_attribute(ua.AttributeIds.DisplayName) |
|
79
|
1 |
|
return result.Value.Value |
|
80
|
|
|
|
|
81
|
1 |
|
def get_data_type(self): |
|
82
|
|
|
""" |
|
83
|
|
|
get data type of node as NodeId |
|
84
|
|
|
""" |
|
85
|
1 |
|
result = self.get_attribute(ua.AttributeIds.DataType) |
|
86
|
1 |
|
return result.Value.Value |
|
87
|
|
|
|
|
88
|
1 |
|
def get_data_type_as_variant_type(self): |
|
89
|
|
|
""" |
|
90
|
|
|
get data type of node as VariantType |
|
91
|
|
|
This only works if node is a variable, otherwise type |
|
92
|
|
|
may not be convertible to VariantType |
|
93
|
|
|
""" |
|
94
|
1 |
|
result = self.get_attribute(ua.AttributeIds.DataType) |
|
95
|
1 |
|
return opcua.common.ua_utils.data_type_to_variant_type(Node(self.server, result.Value.Value)) |
|
96
|
|
|
|
|
97
|
1 |
|
def get_access_level(self): |
|
98
|
|
|
""" |
|
99
|
|
|
Get the access level attribute of the node as a set of AccessLevel enum values. |
|
100
|
|
|
""" |
|
101
|
|
|
result = self.get_attribute(ua.AttributeIds.AccessLevel) |
|
102
|
|
|
return ua.AccessLevel.parse_bitfield(result.Value.Value) |
|
103
|
|
|
|
|
104
|
1 |
|
def get_user_access_level(self): |
|
105
|
|
|
""" |
|
106
|
|
|
Get the user access level attribute of the node as a set of AccessLevel enum values. |
|
107
|
|
|
""" |
|
108
|
|
|
result = self.get_attribute(ua.AttributeIds.UserAccessLevel) |
|
109
|
|
|
return ua.AccessLevel.parse_bitfield(result.Value.Value) |
|
110
|
|
|
|
|
111
|
1 |
|
def get_event_notifier(self): |
|
112
|
|
|
""" |
|
113
|
|
|
Get the event notifier attribute of the node as a set of EventNotifier enum values. |
|
114
|
|
|
""" |
|
115
|
1 |
|
result = self.get_attribute(ua.AttributeIds.EventNotifier) |
|
116
|
1 |
|
return ua.EventNotifier.parse_bitfield(result.Value.Value) |
|
117
|
|
|
|
|
118
|
1 |
|
def set_event_notifier(self, values): |
|
119
|
|
|
""" |
|
120
|
|
|
Set the event notifier attribute. |
|
121
|
|
|
|
|
122
|
|
|
:param values: an iterable of EventNotifier enum values. |
|
123
|
|
|
""" |
|
124
|
1 |
|
event_notifier_bitfield = ua.EventNotifier.to_bitfield(values) |
|
125
|
1 |
|
self.set_attribute(ua.AttributeIds.EventNotifier, ua.DataValue(ua.Variant(event_notifier_bitfield, ua.VariantType.Byte))) |
|
126
|
|
|
|
|
127
|
1 |
|
def get_node_class(self): |
|
128
|
|
|
""" |
|
129
|
|
|
get node class attribute of node |
|
130
|
|
|
""" |
|
131
|
1 |
|
result = self.get_attribute(ua.AttributeIds.NodeClass) |
|
132
|
1 |
|
return result.Value.Value |
|
133
|
|
|
|
|
134
|
1 |
|
def get_description(self): |
|
135
|
|
|
""" |
|
136
|
|
|
get description attribute class of node |
|
137
|
|
|
""" |
|
138
|
1 |
|
result = self.get_attribute(ua.AttributeIds.Description) |
|
139
|
1 |
|
return result.Value.Value |
|
140
|
|
|
|
|
141
|
1 |
|
def get_value(self): |
|
142
|
|
|
""" |
|
143
|
|
|
Get value of a node as a python type. Only variables ( and properties) have values. |
|
144
|
|
|
An exception will be generated for other node types. |
|
145
|
|
|
WARNING: on server side, this function returns a ref to object in ua database. Do not modify it if it is a mutable |
|
146
|
|
|
object unless you know what you are doing |
|
147
|
|
|
""" |
|
148
|
1 |
|
result = self.get_data_value() |
|
149
|
1 |
|
return result.Value.Value |
|
150
|
|
|
|
|
151
|
1 |
|
def get_data_value(self): |
|
152
|
|
|
""" |
|
153
|
|
|
Get value of a node as a DataValue object. Only variables (and properties) have values. |
|
154
|
|
|
An exception will be generated for other node types. |
|
155
|
|
|
DataValue contain a variable value as a variant as well as server and source timestamps |
|
156
|
|
|
""" |
|
157
|
1 |
|
return self.get_attribute(ua.AttributeIds.Value) |
|
158
|
|
|
|
|
159
|
1 |
|
def set_array_dimensions(self, value): |
|
160
|
|
|
""" |
|
161
|
|
|
Set attribute ArrayDimensions of node |
|
162
|
|
|
make sure it has the correct data type |
|
163
|
|
|
""" |
|
164
|
1 |
|
v = ua.Variant(value, ua.VariantType.UInt32) |
|
165
|
1 |
|
self.set_attribute(ua.AttributeIds.ArrayDimensions, ua.DataValue(v)) |
|
166
|
|
|
|
|
167
|
1 |
|
def get_array_dimensions(self): |
|
168
|
|
|
""" |
|
169
|
|
|
Read and return ArrayDimensions attribute of node |
|
170
|
|
|
""" |
|
171
|
1 |
|
res = self.get_attribute(ua.AttributeIds.ArrayDimensions) |
|
172
|
1 |
|
return res.Value.Value |
|
173
|
|
|
|
|
174
|
1 |
|
def set_value_rank(self, value): |
|
175
|
|
|
""" |
|
176
|
|
|
Set attribute ArrayDimensions of node |
|
177
|
|
|
""" |
|
178
|
1 |
|
v = ua.Variant(value, ua.VariantType.Int32) |
|
179
|
1 |
|
self.set_attribute(ua.AttributeIds.ValueRank, ua.DataValue(v)) |
|
180
|
|
|
|
|
181
|
1 |
|
def get_value_rank(self): |
|
182
|
|
|
""" |
|
183
|
|
|
Read and return ArrayDimensions attribute of node |
|
184
|
|
|
""" |
|
185
|
1 |
|
res = self.get_attribute(ua.AttributeIds.ValueRank) |
|
186
|
1 |
|
return res.Value.Value |
|
187
|
|
|
|
|
188
|
1 |
|
def set_value(self, value, varianttype=None): |
|
189
|
|
|
""" |
|
190
|
|
|
Set value of a node. Only variables(properties) have values. |
|
191
|
|
|
An exception will be generated for other node types. |
|
192
|
|
|
value argument is either: |
|
193
|
|
|
* a python built-in type, converted to opc-ua |
|
194
|
|
|
optionnaly using the variantype argument. |
|
195
|
|
|
* a ua.Variant, varianttype is then ignored |
|
196
|
|
|
* a ua.DataValue, you then have full control over data send to server |
|
197
|
|
|
WARNING: On server side, ref to object is directly saved in our UA db, if this is a mutable object |
|
198
|
|
|
and you modfy it afterward, then the object in db will be modified without any |
|
199
|
|
|
data change event generated |
|
200
|
|
|
""" |
|
201
|
1 |
|
datavalue = None |
|
202
|
1 |
|
if isinstance(value, ua.DataValue): |
|
203
|
1 |
|
datavalue = value |
|
204
|
1 |
|
elif isinstance(value, ua.Variant): |
|
205
|
1 |
|
datavalue = ua.DataValue(value) |
|
206
|
|
|
else: |
|
207
|
1 |
|
datavalue = ua.DataValue(ua.Variant(value, varianttype)) |
|
208
|
1 |
|
self.set_attribute(ua.AttributeIds.Value, datavalue) |
|
209
|
|
|
|
|
210
|
1 |
|
set_data_value = set_value |
|
211
|
|
|
|
|
212
|
1 |
|
def set_writable(self, writable=True): |
|
213
|
|
|
""" |
|
214
|
|
|
Set node as writable by clients. |
|
215
|
|
|
A node is always writable on server side. |
|
216
|
|
|
""" |
|
217
|
1 |
|
if writable: |
|
218
|
1 |
|
self.set_attr_bit(ua.AttributeIds.AccessLevel, ua.AccessLevel.CurrentWrite) |
|
219
|
1 |
|
self.set_attr_bit(ua.AttributeIds.UserAccessLevel, ua.AccessLevel.CurrentWrite) |
|
220
|
|
|
else: |
|
221
|
1 |
|
self.unset_attr_bit(ua.AttributeIds.AccessLevel, ua.AccessLevel.CurrentWrite) |
|
222
|
1 |
|
self.unset_attr_bit(ua.AttributeIds.UserAccessLevel, ua.AccessLevel.CurrentWrite) |
|
223
|
|
|
|
|
224
|
1 |
|
def set_attr_bit(self, attr, bit): |
|
225
|
1 |
|
val = self.get_attribute(attr) |
|
226
|
1 |
|
val.Value.Value = ua.ua_binary.set_bit(val.Value.Value, bit) |
|
227
|
1 |
|
self.set_attribute(attr, val) |
|
228
|
|
|
|
|
229
|
1 |
|
def unset_attr_bit(self, attr, bit): |
|
230
|
1 |
|
val = self.get_attribute(attr) |
|
231
|
1 |
|
val.Value.Value = ua.ua_binary.unset_bit(val.Value.Value, bit) |
|
232
|
1 |
|
self.set_attribute(attr, val) |
|
233
|
|
|
|
|
234
|
1 |
|
def set_read_only(self): |
|
235
|
|
|
""" |
|
236
|
|
|
Set a node as read-only for clients. |
|
237
|
|
|
A node is always writable on server side. |
|
238
|
|
|
""" |
|
239
|
|
|
return self.set_writable(False) |
|
240
|
|
|
|
|
241
|
1 |
|
def set_attribute(self, attributeid, datavalue): |
|
242
|
|
|
""" |
|
243
|
|
|
Set an attribute of a node |
|
244
|
|
|
attributeid is a member of ua.AttributeIds |
|
245
|
|
|
datavalue is a ua.DataValue object |
|
246
|
|
|
""" |
|
247
|
1 |
|
attr = ua.WriteValue() |
|
248
|
1 |
|
attr.NodeId = self.nodeid |
|
249
|
1 |
|
attr.AttributeId = attributeid |
|
250
|
1 |
|
attr.Value = datavalue |
|
251
|
1 |
|
params = ua.WriteParameters() |
|
252
|
1 |
|
params.NodesToWrite = [attr] |
|
253
|
1 |
|
result = self.server.write(params) |
|
254
|
1 |
|
result[0].check() |
|
255
|
|
|
|
|
256
|
1 |
|
def get_attribute(self, attr): |
|
257
|
|
|
""" |
|
258
|
|
|
Read one attribute of a node |
|
259
|
|
|
result code from server is checked and an exception is raised in case of error |
|
260
|
|
|
""" |
|
261
|
1 |
|
rv = ua.ReadValueId() |
|
262
|
1 |
|
rv.NodeId = self.nodeid |
|
263
|
1 |
|
rv.AttributeId = attr |
|
264
|
1 |
|
params = ua.ReadParameters() |
|
265
|
1 |
|
params.NodesToRead.append(rv) |
|
266
|
1 |
|
result = self.server.read(params) |
|
267
|
1 |
|
result[0].StatusCode.check() |
|
268
|
1 |
|
return result[0] |
|
269
|
|
|
|
|
270
|
1 |
|
def get_attributes(self, attrs): |
|
271
|
|
|
""" |
|
272
|
|
|
Read several attributes of a node |
|
273
|
|
|
list of DataValue is returned |
|
274
|
|
|
""" |
|
275
|
1 |
|
params = ua.ReadParameters() |
|
276
|
1 |
|
for attr in attrs: |
|
277
|
1 |
|
rv = ua.ReadValueId() |
|
278
|
1 |
|
rv.NodeId = self.nodeid |
|
279
|
1 |
|
rv.AttributeId = attr |
|
280
|
1 |
|
params.NodesToRead.append(rv) |
|
281
|
|
|
|
|
282
|
1 |
|
results = self.server.read(params) |
|
283
|
1 |
|
return results |
|
284
|
|
|
|
|
285
|
1 |
|
def get_children(self, refs=ua.ObjectIds.HierarchicalReferences, nodeclassmask=ua.NodeClass.Unspecified): |
|
286
|
|
|
""" |
|
287
|
|
|
Get all children of a node. By default hierarchical references and all node classes are returned. |
|
288
|
|
|
Other reference types may be given: |
|
289
|
|
|
References = 31 |
|
290
|
|
|
NonHierarchicalReferences = 32 |
|
291
|
|
|
HierarchicalReferences = 33 |
|
292
|
|
|
HasChild = 34 |
|
293
|
|
|
Organizes = 35 |
|
294
|
|
|
HasEventSource = 36 |
|
295
|
|
|
HasModellingRule = 37 |
|
296
|
|
|
HasEncoding = 38 |
|
297
|
|
|
HasDescription = 39 |
|
298
|
|
|
HasTypeDefinition = 40 |
|
299
|
|
|
GeneratesEvent = 41 |
|
300
|
|
|
Aggregates = 44 |
|
301
|
|
|
HasSubtype = 45 |
|
302
|
|
|
HasProperty = 46 |
|
303
|
|
|
HasComponent = 47 |
|
304
|
|
|
HasNotifier = 48 |
|
305
|
|
|
HasOrderedComponent = 49 |
|
306
|
|
|
""" |
|
307
|
1 |
|
return self.get_referenced_nodes(refs, ua.BrowseDirection.Forward, nodeclassmask) |
|
308
|
|
|
|
|
309
|
1 |
|
def get_properties(self): |
|
310
|
|
|
""" |
|
311
|
|
|
return properties of node. |
|
312
|
|
|
properties are child nodes with a reference of type HasProperty and a NodeClass of Variable |
|
313
|
|
|
""" |
|
314
|
1 |
|
return self.get_children(refs=ua.ObjectIds.HasProperty, nodeclassmask=ua.NodeClass.Variable) |
|
315
|
|
|
|
|
316
|
1 |
|
def get_variables(self): |
|
317
|
|
|
""" |
|
318
|
|
|
return variables of node. |
|
319
|
|
|
properties are child nodes with a reference of type HasComponent and a NodeClass of Variable |
|
320
|
|
|
""" |
|
321
|
1 |
|
return self.get_children(refs=ua.ObjectIds.HasComponent, nodeclassmask=ua.NodeClass.Variable) |
|
322
|
|
|
|
|
323
|
1 |
|
def get_methods(self): |
|
324
|
|
|
""" |
|
325
|
|
|
return methods of node. |
|
326
|
|
|
properties are child nodes with a reference of type HasComponent and a NodeClass of Method |
|
327
|
|
|
""" |
|
328
|
1 |
|
return self.get_children(refs=ua.ObjectIds.HasComponent, nodeclassmask=ua.NodeClass.Method) |
|
329
|
|
|
|
|
330
|
1 |
|
def get_children_descriptions(self, refs=ua.ObjectIds.HierarchicalReferences, nodeclassmask=ua.NodeClass.Unspecified, includesubtypes=True): |
|
331
|
1 |
|
return self.get_references(refs, ua.BrowseDirection.Forward, nodeclassmask, includesubtypes) |
|
332
|
|
|
|
|
333
|
1 |
|
def get_encoding_refs(self): |
|
334
|
|
|
return self.get_referenced_nodes(ua.ObjectIds.HasEncoding, ua.BrowseDirection.Forward) |
|
335
|
|
|
|
|
336
|
1 |
|
def get_description_refs(self): |
|
337
|
|
|
return self.get_referenced_nodes(ua.ObjectIds.HasDescription, ua.BrowseDirection.Forward) |
|
338
|
|
|
|
|
339
|
1 |
|
def get_references(self, refs=ua.ObjectIds.References, direction=ua.BrowseDirection.Both, nodeclassmask=ua.NodeClass.Unspecified, includesubtypes=True): |
|
340
|
|
|
""" |
|
341
|
|
|
returns references of the node based on specific filter defined with: |
|
342
|
|
|
|
|
343
|
|
|
refs = ObjectId of the Reference |
|
344
|
|
|
direction = Browse direction for references |
|
345
|
|
|
nodeclassmask = filter nodes based on specific class |
|
346
|
|
|
includesubtypes = If true subtypes of the reference (ref) are also included |
|
347
|
|
|
""" |
|
348
|
1 |
|
desc = ua.BrowseDescription() |
|
349
|
1 |
|
desc.BrowseDirection = direction |
|
350
|
1 |
|
desc.ReferenceTypeId = _to_nodeid(refs) |
|
351
|
1 |
|
desc.IncludeSubtypes = includesubtypes |
|
352
|
1 |
|
desc.NodeClassMask = nodeclassmask |
|
353
|
1 |
|
desc.ResultMask = ua.BrowseResultMask.All |
|
354
|
|
|
|
|
355
|
1 |
|
desc.NodeId = self.nodeid |
|
356
|
1 |
|
params = ua.BrowseParameters() |
|
357
|
1 |
|
params.View.Timestamp = ua.get_win_epoch() |
|
358
|
1 |
|
params.NodesToBrowse.append(desc) |
|
359
|
1 |
|
params.RequestedMaxReferencesPerNode = 0 |
|
360
|
1 |
|
results = self.server.browse(params) |
|
361
|
|
|
|
|
362
|
1 |
|
references = self._browse_next(results) |
|
363
|
1 |
|
return references |
|
364
|
|
|
|
|
365
|
1 |
|
def _browse_next(self, results): |
|
366
|
1 |
|
references = results[0].References |
|
367
|
1 |
|
while results[0].ContinuationPoint: |
|
368
|
|
|
params = ua.BrowseNextParameters() |
|
369
|
|
|
params.ContinuationPoints = [results[0].ContinuationPoint] |
|
370
|
|
|
params.ReleaseContinuationPoints = False |
|
371
|
|
|
results = self.server.browse_next(params) |
|
372
|
|
|
references.extend(results[0].References) |
|
373
|
1 |
|
return references |
|
374
|
|
|
|
|
375
|
1 |
|
def get_referenced_nodes(self, refs=ua.ObjectIds.References, direction=ua.BrowseDirection.Both, nodeclassmask=ua.NodeClass.Unspecified, includesubtypes=True): |
|
376
|
|
|
""" |
|
377
|
|
|
returns referenced nodes based on specific filter |
|
378
|
|
|
Paramters are the same as for get_references |
|
379
|
|
|
|
|
380
|
|
|
""" |
|
381
|
1 |
|
references = self.get_references(refs, direction, nodeclassmask, includesubtypes) |
|
382
|
1 |
|
nodes = [] |
|
383
|
1 |
|
for desc in references: |
|
384
|
1 |
|
node = Node(self.server, desc.NodeId) |
|
385
|
1 |
|
nodes.append(node) |
|
386
|
1 |
|
return nodes |
|
387
|
|
|
|
|
388
|
1 |
|
def get_type_definition(self): |
|
389
|
|
|
""" |
|
390
|
|
|
returns type definition of the node. |
|
391
|
|
|
""" |
|
392
|
1 |
|
references = self.get_references(refs=ua.ObjectIds.HasTypeDefinition, direction=ua.BrowseDirection.Forward) |
|
393
|
1 |
|
if len(references) == 0: |
|
394
|
1 |
|
return None |
|
395
|
1 |
|
return references[0].NodeId |
|
396
|
|
|
|
|
397
|
1 |
|
def get_path(self, max_length=20, as_string=False): |
|
398
|
|
|
""" |
|
399
|
|
|
Attempt to find path of node from root node and return it as a list of Nodes. |
|
400
|
|
|
There might several possible paths to a node, this function will return one |
|
401
|
|
|
Some nodes may be missing references, so this method may |
|
402
|
|
|
return an empty list |
|
403
|
|
|
Since address space may have circular references, a max length is specified |
|
404
|
|
|
|
|
405
|
|
|
""" |
|
406
|
1 |
|
path = self._get_path(max_length) |
|
407
|
1 |
|
path = [Node(self.server, ref.NodeId) for ref in path] |
|
408
|
1 |
|
path.append(self) |
|
409
|
1 |
|
if as_string: |
|
410
|
1 |
|
path = [el.get_browse_name().to_string() for el in path] |
|
411
|
1 |
|
return path |
|
412
|
|
|
|
|
413
|
1 |
|
def _get_path(self, max_length=20): |
|
414
|
|
|
""" |
|
415
|
|
|
Attempt to find path of node from root node and return it as a list of Nodes. |
|
416
|
|
|
There might several possible paths to a node, this function will return one |
|
417
|
|
|
Some nodes may be missing references, so this method may |
|
418
|
|
|
return an empty list |
|
419
|
|
|
Since address space may have circular references, a max length is specified |
|
420
|
|
|
|
|
421
|
|
|
""" |
|
422
|
1 |
|
path = [] |
|
423
|
1 |
|
node = self |
|
424
|
1 |
|
while True: |
|
425
|
1 |
|
refs = node.get_references(refs=ua.ObjectIds.HierarchicalReferences, direction=ua.BrowseDirection.Inverse) |
|
426
|
1 |
|
if len(refs) > 0: |
|
427
|
1 |
|
path.insert(0, refs[0]) |
|
428
|
1 |
|
node = Node(self.server, refs[0].NodeId) |
|
429
|
1 |
|
if len(path) >= (max_length -1): |
|
430
|
1 |
|
return path |
|
431
|
|
|
else: |
|
432
|
1 |
|
return path |
|
433
|
|
|
|
|
434
|
1 |
|
def get_parent(self): |
|
435
|
|
|
""" |
|
436
|
|
|
returns parent of the node. |
|
437
|
|
|
A Node may have several parents, the first found is returned. |
|
438
|
|
|
This method uses reverse references, a node might be missing such a link, |
|
439
|
|
|
thus we will not find its parent. |
|
440
|
|
|
""" |
|
441
|
1 |
|
refs = self.get_references(refs=ua.ObjectIds.HierarchicalReferences, direction=ua.BrowseDirection.Inverse) |
|
442
|
1 |
|
if len(refs) > 0: |
|
443
|
1 |
|
return Node(self.server, refs[0].NodeId) |
|
444
|
|
|
else: |
|
445
|
|
|
return None |
|
446
|
|
|
|
|
447
|
1 |
|
def get_child(self, path): |
|
448
|
|
|
""" |
|
449
|
|
|
get a child specified by its path from this node. |
|
450
|
|
|
A path might be: |
|
451
|
|
|
* a string representing a qualified name. |
|
452
|
|
|
* a qualified name |
|
453
|
|
|
* a list of string |
|
454
|
|
|
* a list of qualified names |
|
455
|
|
|
""" |
|
456
|
1 |
|
if type(path) not in (list, tuple): |
|
457
|
1 |
|
path = [path] |
|
458
|
1 |
|
rpath = self._make_relative_path(path) |
|
459
|
1 |
|
bpath = ua.BrowsePath() |
|
460
|
1 |
|
bpath.StartingNode = self.nodeid |
|
461
|
1 |
|
bpath.RelativePath = rpath |
|
462
|
1 |
|
result = self.server.translate_browsepaths_to_nodeids([bpath]) |
|
463
|
1 |
|
result = result[0] |
|
464
|
1 |
|
result.StatusCode.check() |
|
465
|
|
|
# FIXME: seems this method may return several nodes |
|
466
|
1 |
|
return Node(self.server, result.Targets[0].TargetId) |
|
467
|
|
|
|
|
468
|
1 |
|
def _make_relative_path(self, path): |
|
469
|
1 |
|
rpath = ua.RelativePath() |
|
470
|
1 |
|
for item in path: |
|
471
|
1 |
|
el = ua.RelativePathElement() |
|
472
|
1 |
|
el.ReferenceTypeId = ua.TwoByteNodeId(ua.ObjectIds.HierarchicalReferences) |
|
473
|
1 |
|
el.IsInverse = False |
|
474
|
1 |
|
el.IncludeSubtypes = True |
|
475
|
1 |
|
if isinstance(item, ua.QualifiedName): |
|
476
|
|
|
el.TargetName = item |
|
477
|
|
|
else: |
|
478
|
1 |
|
el.TargetName = ua.QualifiedName.from_string(item) |
|
479
|
1 |
|
rpath.Elements.append(el) |
|
480
|
1 |
|
return rpath |
|
481
|
|
|
|
|
482
|
1 |
|
def read_raw_history(self, starttime=None, endtime=None, numvalues=0): |
|
483
|
|
|
""" |
|
484
|
|
|
Read raw history of a node |
|
485
|
|
|
result code from server is checked and an exception is raised in case of error |
|
486
|
|
|
If numvalues is > 0 and number of events in period is > numvalues |
|
487
|
|
|
then result will be truncated |
|
488
|
|
|
""" |
|
489
|
1 |
|
details = ua.ReadRawModifiedDetails() |
|
490
|
1 |
|
details.IsReadModified = False |
|
491
|
1 |
|
if starttime: |
|
492
|
1 |
|
details.StartTime = starttime |
|
493
|
|
|
else: |
|
494
|
1 |
|
details.StartTime = ua.get_win_epoch() |
|
495
|
1 |
|
if endtime: |
|
496
|
1 |
|
details.EndTime = endtime |
|
497
|
|
|
else: |
|
498
|
1 |
|
details.EndTime = ua.get_win_epoch() |
|
499
|
1 |
|
details.NumValuesPerNode = numvalues |
|
500
|
1 |
|
details.ReturnBounds = True |
|
501
|
1 |
|
result = self.history_read(details) |
|
502
|
1 |
|
return result.HistoryData.DataValues |
|
503
|
|
|
|
|
504
|
1 |
View Code Duplication |
def history_read(self, details): |
|
|
|
|
|
|
505
|
|
|
""" |
|
506
|
|
|
Read raw history of a node, low-level function |
|
507
|
|
|
result code from server is checked and an exception is raised in case of error |
|
508
|
|
|
""" |
|
509
|
1 |
|
valueid = ua.HistoryReadValueId() |
|
510
|
1 |
|
valueid.NodeId = self.nodeid |
|
511
|
1 |
|
valueid.IndexRange = '' |
|
512
|
|
|
|
|
513
|
1 |
|
params = ua.HistoryReadParameters() |
|
514
|
1 |
|
params.HistoryReadDetails = details |
|
515
|
1 |
|
params.TimestampsToReturn = ua.TimestampsToReturn.Both |
|
516
|
1 |
|
params.ReleaseContinuationPoints = False |
|
517
|
1 |
|
params.NodesToRead.append(valueid) |
|
518
|
1 |
|
result = self.server.history_read(params)[0] |
|
519
|
1 |
|
return result |
|
520
|
|
|
|
|
521
|
1 |
|
def read_event_history(self, starttime=None, endtime=None, numvalues=0, evtypes=ua.ObjectIds.BaseEventType): |
|
522
|
|
|
""" |
|
523
|
|
|
Read event history of a source node |
|
524
|
|
|
result code from server is checked and an exception is raised in case of error |
|
525
|
|
|
If numvalues is > 0 and number of events in period is > numvalues |
|
526
|
|
|
then result will be truncated |
|
527
|
|
|
""" |
|
528
|
|
|
|
|
529
|
1 |
|
details = ua.ReadEventDetails() |
|
530
|
1 |
|
if starttime: |
|
531
|
1 |
|
details.StartTime = starttime |
|
532
|
|
|
else: |
|
533
|
1 |
|
details.StartTime = ua.get_win_epoch() |
|
534
|
1 |
|
if endtime: |
|
535
|
1 |
|
details.EndTime = endtime |
|
536
|
|
|
else: |
|
537
|
1 |
|
details.EndTime = ua.get_win_epoch() |
|
538
|
1 |
|
details.NumValuesPerNode = numvalues |
|
539
|
|
|
|
|
540
|
1 |
|
if not isinstance(evtypes, (list, tuple)): |
|
541
|
1 |
|
evtypes = [evtypes] |
|
542
|
|
|
|
|
543
|
1 |
|
evtypes = [Node(self.server, evtype) for evtype in evtypes] |
|
544
|
|
|
|
|
545
|
1 |
|
evfilter = events.get_filter_from_event_type(evtypes) |
|
546
|
1 |
|
details.Filter = evfilter |
|
547
|
|
|
|
|
548
|
1 |
|
result = self.history_read_events(details) |
|
549
|
1 |
|
event_res = [] |
|
550
|
1 |
|
for res in result.HistoryData.Events: |
|
551
|
1 |
|
event_res.append(events.Event.from_event_fields(evfilter.SelectClauses, res.EventFields)) |
|
552
|
1 |
|
return event_res |
|
553
|
|
|
|
|
554
|
1 |
View Code Duplication |
def history_read_events(self, details): |
|
|
|
|
|
|
555
|
|
|
""" |
|
556
|
|
|
Read event history of a node, low-level function |
|
557
|
|
|
result code from server is checked and an exception is raised in case of error |
|
558
|
|
|
""" |
|
559
|
1 |
|
valueid = ua.HistoryReadValueId() |
|
560
|
1 |
|
valueid.NodeId = self.nodeid |
|
561
|
1 |
|
valueid.IndexRange = '' |
|
562
|
|
|
|
|
563
|
1 |
|
params = ua.HistoryReadParameters() |
|
564
|
1 |
|
params.HistoryReadDetails = details |
|
565
|
1 |
|
params.TimestampsToReturn = ua.TimestampsToReturn.Both |
|
566
|
1 |
|
params.ReleaseContinuationPoints = False |
|
567
|
1 |
|
params.NodesToRead.append(valueid) |
|
568
|
1 |
|
result = self.server.history_read(params)[0] |
|
569
|
1 |
|
return result |
|
570
|
|
|
|
|
571
|
1 |
|
def delete(self, delete_references=True, recursive=False): |
|
572
|
|
|
""" |
|
573
|
|
|
Delete node from address space |
|
574
|
|
|
""" |
|
575
|
|
|
results = opcua.common.manage_nodes.delete_nodes(self.server, [self], recursive, delete_references) |
|
576
|
|
|
_check_results(results) |
|
577
|
|
|
|
|
578
|
1 |
|
def _fill_delete_reference_item(self, rdesc, bidirectional = False): |
|
579
|
1 |
|
ditem = ua.DeleteReferencesItem() |
|
580
|
1 |
|
ditem.SourceNodeId = self.nodeid |
|
581
|
1 |
|
ditem.TargetNodeId = rdesc.NodeId |
|
582
|
1 |
|
ditem.ReferenceTypeId = rdesc.ReferenceTypeId |
|
583
|
1 |
|
ditem.IsForward = rdesc.IsForward |
|
584
|
1 |
|
ditem.DeleteBidirectional = bidirectional |
|
585
|
1 |
|
return ditem |
|
586
|
|
|
|
|
587
|
1 |
|
def delete_reference(self, target, reftype, forward=True, bidirectional=True): |
|
588
|
|
|
""" |
|
589
|
|
|
Delete given node's references from address space |
|
590
|
|
|
""" |
|
591
|
1 |
|
known_refs = self.get_references(reftype, includesubtypes=False) |
|
592
|
1 |
|
targetid = _to_nodeid(target) |
|
593
|
|
|
|
|
594
|
1 |
|
for r in known_refs: |
|
595
|
1 |
|
if r.NodeId == targetid and r.IsForward == forward: |
|
596
|
1 |
|
rdesc = r |
|
597
|
1 |
|
break |
|
598
|
|
|
else: |
|
599
|
1 |
|
raise ua.UaStatusCodeError(ua.StatusCodes.BadNotFound) |
|
600
|
|
|
|
|
601
|
1 |
|
ditem = self._fill_delete_reference_item(rdesc, bidirectional) |
|
602
|
1 |
|
self.server.delete_references([ditem])[0].check() |
|
603
|
|
|
|
|
604
|
1 |
|
def add_reference(self, target, reftype, forward=True, bidirectional=True): |
|
605
|
|
|
""" |
|
606
|
|
|
Add reference to node |
|
607
|
|
|
""" |
|
608
|
|
|
|
|
609
|
1 |
|
aitem = ua.AddReferencesItem() |
|
610
|
1 |
|
aitem.SourceNodeId = self.nodeid |
|
611
|
1 |
|
aitem.TargetNodeId = _to_nodeid(target) |
|
612
|
1 |
|
aitem.ReferenceTypeId = _to_nodeid(reftype) |
|
613
|
1 |
|
aitem.IsForward = forward |
|
614
|
|
|
|
|
615
|
1 |
|
params = [aitem] |
|
616
|
|
|
|
|
617
|
1 |
|
if bidirectional: |
|
618
|
1 |
|
aitem2 = ua.AddReferencesItem() |
|
619
|
1 |
|
aitem2.SourceNodeId = aitem.TargetNodeId |
|
620
|
1 |
|
aitem2.TargetNodeId = aitem.SourceNodeId |
|
621
|
1 |
|
aitem2.ReferenceTypeId = aitem.ReferenceTypeId |
|
622
|
1 |
|
aitem2.IsForward = not forward |
|
623
|
1 |
|
params.append(aitem2) |
|
624
|
|
|
|
|
625
|
1 |
|
results = self.server.add_references(params) |
|
626
|
1 |
|
_check_results(results, len(params)) |
|
627
|
|
|
|
|
628
|
1 |
|
def set_modelling_rule(self, mandatory): |
|
629
|
|
|
""" |
|
630
|
|
|
Add a modelling rule reference to Node. |
|
631
|
|
|
When creating a new object type, its variable and child nodes will not |
|
632
|
|
|
be instanciated if they do not have modelling rule |
|
633
|
|
|
if mandatory is None, the modelling rule is removed |
|
634
|
|
|
""" |
|
635
|
|
|
# remove all existing modelling rule |
|
636
|
1 |
|
rules = self.get_references(ua.ObjectIds.HasModellingRule) |
|
637
|
1 |
|
self.server.delete_references(list(map(self._fill_delete_reference_item, rules))) |
|
638
|
|
|
# add new modelling rule as requested |
|
639
|
1 |
|
if mandatory is not None: |
|
640
|
1 |
|
rule = ua.ObjectIds.ModellingRule_Mandatory if mandatory else ua.ObjectIds.ModellingRule_Optional |
|
641
|
1 |
|
self.add_reference(rule, ua.ObjectIds.HasModellingRule, True, False) |
|
642
|
|
|
|
|
643
|
1 |
|
def add_folder(self, nodeid, bname): |
|
644
|
1 |
|
return opcua.common.manage_nodes.create_folder(self, nodeid, bname) |
|
645
|
|
|
|
|
646
|
1 |
|
def add_object(self, nodeid, bname, objecttype=None): |
|
647
|
1 |
|
return opcua.common.manage_nodes.create_object(self, nodeid, bname, objecttype) |
|
648
|
|
|
|
|
649
|
1 |
|
def add_variable(self, nodeid, bname, val, varianttype=None, datatype=None): |
|
650
|
1 |
|
return opcua.common.manage_nodes.create_variable(self, nodeid, bname, val, varianttype, datatype) |
|
651
|
|
|
|
|
652
|
1 |
|
def add_object_type(self, nodeid, bname): |
|
653
|
1 |
|
return opcua.common.manage_nodes.create_object_type(self, nodeid, bname) |
|
654
|
|
|
|
|
655
|
1 |
|
def add_variable_type(self, nodeid, bname, datatype): |
|
656
|
|
|
return opcua.common.manage_nodes.create_variable_type(self, nodeid, bname, datatype) |
|
657
|
|
|
|
|
658
|
1 |
|
def add_data_type(self, nodeid, bname, description=None): |
|
659
|
1 |
|
return opcua.common.manage_nodes.create_data_type(self, nodeid, bname, description=None) |
|
660
|
|
|
|
|
661
|
1 |
|
def add_property(self, nodeid, bname, val, varianttype=None, datatype=None): |
|
662
|
1 |
|
return opcua.common.manage_nodes.create_property(self, nodeid, bname, val, varianttype, datatype) |
|
663
|
|
|
|
|
664
|
1 |
|
def add_method(self, *args): |
|
665
|
1 |
|
return opcua.common.manage_nodes.create_method(self, *args) |
|
666
|
|
|
|
|
667
|
1 |
|
def add_reference_type(self, nodeid, bname, symmetric=True, inversename=None): |
|
668
|
1 |
|
return opcua.common.manage_nodes.create_reference_type(self, nodeid, bname, symmetric, inversename) |
|
669
|
|
|
|
|
670
|
1 |
|
def call_method(self, methodid, *args): |
|
671
|
|
|
return opcua.common.methods.call_method(self, methodid, *args) |
|
672
|
|
|
|
FreeOpcUa /
python-opcua
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