|
1
|
|
|
""" |
|
2
|
|
|
High level node object, to access node attribute |
|
3
|
|
|
and browse address space |
|
4
|
|
|
""" |
|
5
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|
|
6
|
1 |
|
from opcua import ua |
|
7
|
|
|
|
|
8
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|
|
|
|
9
|
1 |
|
def create_folder(parent, *args): |
|
10
|
|
|
""" |
|
11
|
|
|
create a child node folder |
|
12
|
|
|
arguments are nodeid, browsename |
|
13
|
|
|
or namespace index, name |
|
14
|
|
|
""" |
|
15
|
1 |
|
nodeid, qname = _parse_add_args(*args) |
|
16
|
1 |
|
return Node(parent.server, _create_folder(parent.server, parent.nodeid, nodeid, qname)) |
|
17
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|
18
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|
19
|
1 |
|
def create_object(parent, *args): |
|
20
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|
|
""" |
|
21
|
|
|
create a child node object |
|
22
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|
|
arguments are nodeid, browsename |
|
23
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|
|
or namespace index, name |
|
24
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|
|
""" |
|
25
|
1 |
|
nodeid, qname = _parse_add_args(*args) |
|
26
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1 |
|
return Node(parent.server, _create_object(parent.server, parent.nodeid, nodeid, qname)) |
|
27
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|
28
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|
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|
29
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1 |
|
def create_property(parent, *args): |
|
30
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|
|
""" |
|
31
|
|
|
create a child node property |
|
32
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|
|
args are nodeid, browsename, value, [variant type] |
|
33
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|
|
or idx, name, value, [variant type] |
|
34
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|
|
""" |
|
35
|
1 |
|
nodeid, qname = _parse_add_args(*args[:2]) |
|
36
|
1 |
|
val = _to_variant(*args[2:]) |
|
37
|
1 |
|
return Node(parent.server, _create_variable(parent.server, parent.nodeid, nodeid, qname, val, isproperty=True)) |
|
38
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|
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|
|
39
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|
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|
|
40
|
1 |
|
def create_variable(parent, *args): |
|
41
|
|
|
""" |
|
42
|
|
|
create a child node variable |
|
43
|
|
|
args are nodeid, browsename, value, [variant type] |
|
44
|
|
|
or idx, name, value, [variant type] |
|
45
|
|
|
""" |
|
46
|
1 |
|
nodeid, qname = _parse_add_args(*args[:2]) |
|
47
|
1 |
|
val = _to_variant(*args[2:]) |
|
48
|
1 |
|
return Node(parent.server, _create_variable(parent.server, parent.nodeid, nodeid, qname, val, isproperty=False)) |
|
49
|
|
|
|
|
50
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|
|
|
|
51
|
1 |
|
def create_method(parent, *args): |
|
52
|
|
|
""" |
|
53
|
|
|
create a child method object |
|
54
|
|
|
This is only possible on server side!! |
|
55
|
|
|
args are nodeid, browsename, method_to_be_called, [input argument types], [output argument types] |
|
56
|
|
|
or idx, name, method_to_be_called, [input argument types], [output argument types] |
|
57
|
|
|
if argument types is specified, child nodes advertising what arguments the method uses and returns will be created |
|
58
|
|
|
a callback is a method accepting the nodeid of the parent as first argument and variants after. returns a list of variants |
|
59
|
|
|
""" |
|
60
|
1 |
|
nodeid, qname = _parse_add_args(*args[:2]) |
|
61
|
1 |
|
callback = args[2] |
|
62
|
1 |
|
if len(args) > 3: |
|
63
|
1 |
|
inputs = args[3] |
|
64
|
1 |
|
if len(args) > 4: |
|
65
|
1 |
|
outputs = args[4] |
|
66
|
1 |
|
return _create_method(parent, nodeid, qname, callback, inputs, outputs) |
|
67
|
|
|
|
|
68
|
|
|
|
|
69
|
1 |
|
def call_method(parent, methodid, *args): |
|
70
|
|
|
""" |
|
71
|
|
|
Call an OPC-UA method. methodid is browse name of child method or the |
|
72
|
|
|
nodeid of method as a NodeId object |
|
73
|
|
|
arguments are variants or python object convertible to variants. |
|
74
|
|
|
which may be of different types |
|
75
|
|
|
returns a list of variants which are output of the method |
|
76
|
|
|
""" |
|
77
|
1 |
|
if isinstance(methodid, str): |
|
78
|
1 |
|
methodid = parent.get_child(methodid).nodeid |
|
79
|
1 |
|
elif isinstance(methodid, Node): |
|
80
|
1 |
|
methodid = methodid.nodeid |
|
81
|
|
|
|
|
82
|
1 |
|
arguments = [] |
|
83
|
1 |
|
for arg in args: |
|
84
|
1 |
|
if not isinstance(arg, ua.Variant): |
|
85
|
1 |
|
arg = ua.Variant(arg) |
|
86
|
1 |
|
arguments.append(arg) |
|
87
|
|
|
|
|
88
|
1 |
|
result = _call_method(parent.server, parent.nodeid, methodid, arguments) |
|
89
|
|
|
|
|
90
|
1 |
|
if len(result.OutputArguments) == 0: |
|
91
|
|
|
return None |
|
92
|
1 |
|
elif len(result.OutputArguments) == 1: |
|
93
|
1 |
|
return result.OutputArguments[0].Value |
|
94
|
|
|
else: |
|
95
|
|
|
return [var.Value for var in result.OutputArguments] |
|
96
|
|
|
|
|
97
|
|
|
|
|
98
|
1 |
|
class Node(object): |
|
99
|
|
|
|
|
100
|
|
|
""" |
|
101
|
|
|
High level node object, to access node attribute, |
|
102
|
|
|
browse and populate address space. |
|
103
|
|
|
Node objects are usefull as-is but they do not expose the entire possibilities of the OPC-UA protocol. Feel free to look at Node code and |
|
104
|
|
|
""" |
|
105
|
|
|
|
|
106
|
1 |
|
def __init__(self, server, nodeid): |
|
107
|
1 |
|
self.server = server |
|
108
|
1 |
|
self.nodeid = None |
|
109
|
1 |
|
if isinstance(nodeid, ua.NodeId): |
|
110
|
1 |
|
self.nodeid = nodeid |
|
111
|
|
|
elif type(nodeid) in (str, bytes): |
|
112
|
|
|
self.nodeid = ua.NodeId.from_string(nodeid) |
|
113
|
|
|
elif isinstance(nodeid, int): |
|
114
|
|
|
self.nodeid = ua.NodeId(nodeid, 0) |
|
115
|
|
|
else: |
|
116
|
|
|
raise Exception("argument to node must be a NodeId object or a string defining a nodeid found {} of type {}".format(nodeid, type(nodeid))) |
|
117
|
|
|
|
|
118
|
1 |
|
def __eq__(self, other): |
|
119
|
1 |
|
if isinstance(other, Node) and self.nodeid == other.nodeid: |
|
120
|
1 |
|
return True |
|
121
|
1 |
|
return False |
|
122
|
|
|
|
|
123
|
1 |
|
def __str__(self): |
|
124
|
|
|
return "Node({})".format(self.nodeid) |
|
125
|
1 |
|
__repr__ = __str__ |
|
126
|
|
|
|
|
127
|
1 |
|
def get_browse_name(self): |
|
128
|
|
|
""" |
|
129
|
|
|
Get browse name of a node. A browse name is a QualifiedName object |
|
130
|
|
|
composed of a string(name) and a namespace index. |
|
131
|
|
|
""" |
|
132
|
1 |
|
result = self.get_attribute(ua.AttributeIds.BrowseName) |
|
133
|
1 |
|
return result.Value.Value |
|
134
|
|
|
|
|
135
|
1 |
|
def get_display_name(self): |
|
136
|
|
|
""" |
|
137
|
|
|
get description attribute of node |
|
138
|
|
|
""" |
|
139
|
1 |
|
result = self.get_attribute(ua.AttributeIds.DisplayName) |
|
140
|
1 |
|
return result.Value.Value |
|
141
|
|
|
|
|
142
|
1 |
|
def get_data_type(self): |
|
143
|
|
|
""" |
|
144
|
|
|
get data type of node |
|
145
|
|
|
""" |
|
146
|
1 |
|
result = self.get_attribute(ua.AttributeIds.DataType) |
|
147
|
1 |
|
return result.Value.Value |
|
148
|
|
|
|
|
149
|
1 |
|
def get_node_class(self): |
|
150
|
|
|
""" |
|
151
|
|
|
get node class attribute of node |
|
152
|
|
|
""" |
|
153
|
1 |
|
result = self.get_attribute(ua.AttributeIds.NodeClass) |
|
154
|
1 |
|
return result.Value.Value |
|
155
|
|
|
|
|
156
|
1 |
|
def get_description(self): |
|
157
|
|
|
""" |
|
158
|
|
|
get description attribute class of node |
|
159
|
|
|
""" |
|
160
|
1 |
|
result = self.get_attribute(ua.AttributeIds.Description) |
|
161
|
1 |
|
return result.Value.Value |
|
162
|
|
|
|
|
163
|
1 |
|
def get_value(self): |
|
164
|
|
|
""" |
|
165
|
|
|
Get value of a node as a python type. Only variables ( and properties) have values. |
|
166
|
|
|
An exception will be generated for other node types. |
|
167
|
|
|
""" |
|
168
|
1 |
|
result = self.get_data_value() |
|
169
|
1 |
|
return result.Value.Value |
|
170
|
|
|
|
|
171
|
1 |
|
def get_data_value(self): |
|
172
|
|
|
""" |
|
173
|
|
|
Get value of a node as a DataValue object. Only variables (and properties) have values. |
|
174
|
|
|
An exception will be generated for other node types. |
|
175
|
|
|
DataValue contain a variable value as a variant as well as server and source timestamps |
|
176
|
|
|
""" |
|
177
|
1 |
|
return self.get_attribute(ua.AttributeIds.Value) |
|
178
|
|
|
|
|
179
|
1 |
|
def set_value(self, value, varianttype=None): |
|
180
|
|
|
""" |
|
181
|
|
|
Set value of a node. Only variables(properties) have values. |
|
182
|
|
|
An exception will be generated for other node types. |
|
183
|
|
|
value argument is either: |
|
184
|
|
|
* a python built-in type, converted to opc-ua |
|
185
|
|
|
optionnaly using the variantype argument. |
|
186
|
|
|
* a ua.Variant, varianttype is then ignored |
|
187
|
|
|
* a ua.DataValue, you then have full control over data send to server |
|
188
|
|
|
""" |
|
189
|
1 |
|
datavalue = None |
|
190
|
1 |
|
if isinstance(value, ua.DataValue): |
|
191
|
1 |
|
datavalue = value |
|
192
|
1 |
|
elif isinstance(value, ua.Variant): |
|
193
|
1 |
|
datavalue = ua.DataValue(value) |
|
194
|
|
|
else: |
|
195
|
1 |
|
datavalue = ua.DataValue(ua.Variant(value, varianttype)) |
|
196
|
1 |
|
self.set_attribute(ua.AttributeIds.Value, datavalue) |
|
197
|
|
|
|
|
198
|
1 |
|
set_data_value = set_value |
|
199
|
|
|
|
|
200
|
1 |
|
def set_writable(self, writable=True): |
|
201
|
|
|
""" |
|
202
|
|
|
Set node as writable by clients. |
|
203
|
|
|
A node is always writable on server side. |
|
204
|
|
|
""" |
|
205
|
1 |
|
if writable: |
|
206
|
1 |
|
self.set_attribute(ua.AttributeIds.AccessLevel, ua.DataValue(ua.Variant(ua.AccessLevelMask.CurrentWrite, ua.VariantType.Byte))) |
|
207
|
1 |
|
self.set_attribute(ua.AttributeIds.UserAccessLevel, ua.DataValue(ua.Variant(ua.AccessLevelMask.CurrentWrite, ua.VariantType.Byte))) |
|
208
|
|
|
else: |
|
209
|
1 |
|
self.set_attribute(ua.AttributeIds.AccessLevel, ua.DataValue(ua.Variant(ua.AccessLevelMask.CurrentRead, ua.VariantType.Byte))) |
|
210
|
1 |
|
self.set_attribute(ua.AttributeIds.AccessLevel, ua.DataValue(ua.Variant(ua.AccessLevelMask.CurrentRead, ua.VariantType.Byte))) |
|
211
|
|
|
|
|
212
|
1 |
|
def set_read_only(self): |
|
213
|
|
|
""" |
|
214
|
|
|
Set a node as read-only for clients. |
|
215
|
|
|
A node is always writable on server side. |
|
216
|
|
|
""" |
|
217
|
|
|
return self.set_writable(False) |
|
218
|
|
|
|
|
219
|
1 |
|
def set_attribute(self, attributeid, datavalue): |
|
220
|
|
|
""" |
|
221
|
|
|
Set an attribute of a node |
|
222
|
|
|
""" |
|
223
|
1 |
|
attr = ua.WriteValue() |
|
224
|
1 |
|
attr.NodeId = self.nodeid |
|
225
|
1 |
|
attr.AttributeId = attributeid |
|
226
|
1 |
|
attr.Value = datavalue |
|
227
|
1 |
|
params = ua.WriteParameters() |
|
228
|
1 |
|
params.NodesToWrite = [attr] |
|
229
|
1 |
|
result = self.server.write(params) |
|
230
|
1 |
|
result[0].check() |
|
231
|
|
|
|
|
232
|
1 |
|
def get_attribute(self, attr): |
|
233
|
|
|
""" |
|
234
|
|
|
Read one attribute of a node |
|
235
|
|
|
result code from server is checked and an exception is raised in case of error |
|
236
|
|
|
""" |
|
237
|
1 |
|
rv = ua.ReadValueId() |
|
238
|
1 |
|
rv.NodeId = self.nodeid |
|
239
|
1 |
|
rv.AttributeId = attr |
|
240
|
1 |
|
params = ua.ReadParameters() |
|
241
|
1 |
|
params.NodesToRead.append(rv) |
|
242
|
1 |
|
result = self.server.read(params) |
|
243
|
1 |
|
result[0].StatusCode.check() |
|
244
|
1 |
|
return result[0] |
|
245
|
|
|
|
|
246
|
1 |
|
def get_attributes(self, attrs): |
|
247
|
|
|
""" |
|
248
|
|
|
Read several attributes of a node |
|
249
|
|
|
list of DataValue is returned |
|
250
|
|
|
""" |
|
251
|
|
|
params = ua.ReadParameters() |
|
252
|
|
|
for attr in attrs: |
|
253
|
|
|
rv = ua.ReadValueId() |
|
254
|
|
|
rv.NodeId = self.nodeid |
|
255
|
|
|
rv.AttributeId = attr |
|
256
|
|
|
params.NodesToRead.append(rv) |
|
257
|
|
|
|
|
258
|
|
|
results = self.server.read(params) |
|
259
|
|
|
return results |
|
260
|
|
|
|
|
261
|
1 |
|
def get_children(self, refs=ua.ObjectIds.HierarchicalReferences, nodeclassmask=ua.NodeClass.Unspecified): |
|
262
|
|
|
""" |
|
263
|
|
|
Get all children of a node. By default hierarchical references and all node classes are returned. |
|
264
|
|
|
Other reference types may be given: |
|
265
|
|
|
References = 31 |
|
266
|
|
|
NonHierarchicalReferences = 32 |
|
267
|
|
|
HierarchicalReferences = 33 |
|
268
|
|
|
HasChild = 34 |
|
269
|
|
|
Organizes = 35 |
|
270
|
|
|
HasEventSource = 36 |
|
271
|
|
|
HasModellingRule = 37 |
|
272
|
|
|
HasEncoding = 38 |
|
273
|
|
|
HasDescription = 39 |
|
274
|
|
|
HasTypeDefinition = 40 |
|
275
|
|
|
GeneratesEvent = 41 |
|
276
|
|
|
Aggregates = 44 |
|
277
|
|
|
HasSubtype = 45 |
|
278
|
|
|
HasProperty = 46 |
|
279
|
|
|
HasComponent = 47 |
|
280
|
|
|
HasNotifier = 48 |
|
281
|
|
|
HasOrderedComponent = 49 |
|
282
|
|
|
""" |
|
283
|
1 |
|
references = self.get_children_descriptions(refs, nodeclassmask) |
|
284
|
1 |
|
nodes = [] |
|
285
|
1 |
|
for desc in references: |
|
286
|
1 |
|
node = Node(self.server, desc.NodeId) |
|
287
|
1 |
|
nodes.append(node) |
|
288
|
1 |
|
return nodes |
|
289
|
|
|
|
|
290
|
1 |
|
def get_properties(self): |
|
291
|
|
|
""" |
|
292
|
|
|
return properties of node. |
|
293
|
|
|
properties are child nodes with a reference of type HasProperty and a NodeClass of Variable |
|
294
|
|
|
""" |
|
295
|
|
|
return self.get_children(refs=ua.ObjectIds.HasProperty, nodeclassmask=ua.NodeClass.Variable) |
|
296
|
|
|
|
|
297
|
1 |
|
def get_children_descriptions(self, refs=ua.ObjectIds.HierarchicalReferences, nodeclassmask=ua.NodeClass.Unspecified, includesubtypes=True): |
|
298
|
|
|
""" |
|
299
|
|
|
return all attributes of child nodes as UA BrowseResult structs |
|
300
|
|
|
""" |
|
301
|
1 |
|
desc = ua.BrowseDescription() |
|
302
|
1 |
|
desc.BrowseDirection = ua.BrowseDirection.Forward |
|
303
|
1 |
|
desc.ReferenceTypeId = ua.TwoByteNodeId(refs) |
|
304
|
1 |
|
desc.IncludeSubtypes = includesubtypes |
|
305
|
1 |
|
desc.NodeClassMask = nodeclassmask |
|
306
|
1 |
|
desc.ResultMask = ua.BrowseResultMask.All |
|
307
|
|
|
|
|
308
|
1 |
|
desc.NodeId = self.nodeid |
|
309
|
1 |
|
params = ua.BrowseParameters() |
|
310
|
1 |
|
params.View.Timestamp = ua.win_epoch_to_datetime(0) |
|
311
|
1 |
|
params.NodesToBrowse.append(desc) |
|
312
|
1 |
|
results = self.server.browse(params) |
|
313
|
1 |
|
return results[0].References |
|
314
|
|
|
|
|
315
|
1 |
|
def get_child(self, path): |
|
316
|
|
|
""" |
|
317
|
|
|
get a child specified by its path from this node. |
|
318
|
|
|
A path might be: |
|
319
|
|
|
* a string representing a qualified name. |
|
320
|
|
|
* a qualified name |
|
321
|
|
|
* a list of string |
|
322
|
|
|
* a list of qualified names |
|
323
|
|
|
""" |
|
324
|
1 |
|
if type(path) not in (list, tuple): |
|
325
|
1 |
|
path = [path] |
|
326
|
1 |
|
rpath = ua.RelativePath() |
|
327
|
1 |
|
for item in path: |
|
328
|
1 |
|
el = ua.RelativePathElement() |
|
329
|
1 |
|
el.ReferenceTypeId = ua.TwoByteNodeId(ua.ObjectIds.HierarchicalReferences) |
|
330
|
1 |
|
el.IsInverse = False |
|
331
|
1 |
|
el.IncludeSubtypes = True |
|
332
|
1 |
|
if isinstance(item, ua.QualifiedName): |
|
333
|
|
|
el.TargetName = item |
|
334
|
|
|
else: |
|
335
|
1 |
|
el.TargetName = ua.QualifiedName.from_string(item) |
|
336
|
1 |
|
rpath.Elements.append(el) |
|
337
|
1 |
|
bpath = ua.BrowsePath() |
|
338
|
1 |
|
bpath.StartingNode = self.nodeid |
|
339
|
1 |
|
bpath.RelativePath = rpath |
|
340
|
1 |
|
result = self.server.translate_browsepaths_to_nodeids([bpath]) |
|
341
|
1 |
|
result = result[0] |
|
342
|
1 |
|
result.StatusCode.check() |
|
343
|
|
|
# FIXME: seems this method may return several nodes |
|
344
|
1 |
|
return Node(self.server, result.Targets[0].TargetId) |
|
345
|
|
|
|
|
346
|
1 |
|
def read_raw_history(self, starttime=None, endtime=None, numvalues=0, returnbounds=True): |
|
347
|
|
|
""" |
|
348
|
|
|
Read raw history of a node |
|
349
|
|
|
result code from server is checked and an exception is raised in case of error |
|
350
|
|
|
""" |
|
351
|
|
|
details = ua.ReadRawModifiedDetails() |
|
352
|
|
|
details.IsReadModified = False |
|
353
|
|
|
if starttime: |
|
354
|
|
|
details.StartTime = starttime |
|
355
|
|
|
if endtime: |
|
356
|
|
|
details.EndTime = endtime |
|
357
|
|
|
details.NumValuesPerNode = numvalues |
|
358
|
|
|
details.ReturnBounds = returnbounds |
|
359
|
|
|
return self.history_read(details) |
|
360
|
|
|
|
|
361
|
1 |
|
def history_read(self, details): |
|
362
|
|
|
""" |
|
363
|
|
|
Read raw history of a node, low-level function |
|
364
|
|
|
result code from server is checked and an exception is raised in case of error |
|
365
|
|
|
""" |
|
366
|
|
|
valueid = ua.HistoryReadValueId() |
|
367
|
|
|
valueid.NodeId = self.nodeid |
|
368
|
|
|
valueid.IndexRange = '' |
|
369
|
|
|
|
|
370
|
|
|
params = ua.HistoryReadParameters() |
|
371
|
|
|
params.HistoryReadDetails = ua.ExtensionObject.from_object(details) |
|
372
|
|
|
params.TimestampsToReturn = ua.TimestampsToReturn.Both |
|
373
|
|
|
params.ReleaseContinuationPoints = False |
|
374
|
|
|
params.NodesToRead.append(valueid) |
|
375
|
|
|
result = self.server.history_read(params)[0] |
|
376
|
|
|
return result.HistoryData |
|
377
|
|
|
|
|
378
|
|
|
# Convenience legacy methods |
|
379
|
1 |
|
add_folder = create_folder |
|
380
|
1 |
|
add_property = create_property |
|
381
|
1 |
|
add_object = create_object |
|
382
|
1 |
|
add_variable = create_variable |
|
383
|
1 |
|
add_method = create_method |
|
384
|
1 |
|
call_method = call_method |
|
385
|
|
|
|
|
386
|
|
|
|
|
387
|
1 |
|
def _create_folder(server, parentnodeid, nodeid, qname): |
|
388
|
1 |
|
node = ua.AddNodesItem() |
|
389
|
1 |
|
node.RequestedNewNodeId = nodeid |
|
390
|
1 |
|
node.BrowseName = qname |
|
391
|
1 |
|
node.NodeClass = ua.NodeClass.Object |
|
392
|
1 |
|
node.ParentNodeId = parentnodeid |
|
393
|
1 |
|
node.ReferenceTypeId = ua.NodeId.from_string("i=35") |
|
394
|
1 |
|
node.TypeDefinition = ua.NodeId.from_string("i=61") |
|
395
|
1 |
|
attrs = ua.ObjectAttributes() |
|
396
|
1 |
|
attrs.Description = ua.LocalizedText(qname.Name) |
|
397
|
1 |
|
attrs.DisplayName = ua.LocalizedText(qname.Name) |
|
398
|
1 |
|
attrs.WriteMask = ua.OpenFileMode.Read |
|
399
|
1 |
|
attrs.UserWriteMask = ua.OpenFileMode.Read |
|
400
|
1 |
|
attrs.EventNotifier = 0 |
|
401
|
1 |
|
node.NodeAttributes = attrs |
|
402
|
1 |
|
results = server.add_nodes([node]) |
|
403
|
1 |
|
results[0].StatusCode.check() |
|
404
|
1 |
|
return nodeid |
|
405
|
|
|
|
|
406
|
|
|
|
|
407
|
1 |
|
def _create_object(server, parentnodeid, nodeid, qname): |
|
408
|
1 |
|
node = ua.AddNodesItem() |
|
409
|
1 |
|
node.RequestedNewNodeId = nodeid |
|
410
|
1 |
|
node.BrowseName = qname |
|
411
|
1 |
|
node.NodeClass = ua.NodeClass.Object |
|
412
|
1 |
|
node.ParentNodeId = parentnodeid |
|
413
|
1 |
|
node.ReferenceTypeId = ua.NodeId.from_string("i=35") |
|
414
|
1 |
|
node.TypeDefinition = ua.NodeId(ua.ObjectIds.BaseObjectType) |
|
415
|
1 |
|
attrs = ua.ObjectAttributes() |
|
416
|
1 |
|
attrs.Description = ua.LocalizedText(qname.Name) |
|
417
|
1 |
|
attrs.DisplayName = ua.LocalizedText(qname.Name) |
|
418
|
1 |
|
attrs.EventNotifier = 0 |
|
419
|
1 |
|
attrs.WriteMask = ua.OpenFileMode.Read |
|
420
|
1 |
|
attrs.UserWriteMask = ua.OpenFileMode.Read |
|
421
|
1 |
|
node.NodeAttributes = attrs |
|
422
|
1 |
|
results = server.add_nodes([node]) |
|
423
|
1 |
|
results[0].StatusCode.check() |
|
424
|
1 |
|
return nodeid |
|
425
|
|
|
|
|
426
|
|
|
|
|
427
|
1 |
|
def _to_variant(val, vtype=None): |
|
428
|
1 |
|
if isinstance(val, ua.Variant): |
|
429
|
1 |
|
return val |
|
430
|
|
|
else: |
|
431
|
1 |
|
return ua.Variant(val, vtype) |
|
432
|
|
|
|
|
433
|
|
|
|
|
434
|
1 |
|
def _create_variable(server, parentnodeid, nodeid, qname, val, isproperty=False): |
|
435
|
1 |
|
node = ua.AddNodesItem() |
|
436
|
1 |
|
node.RequestedNewNodeId = nodeid |
|
437
|
1 |
|
node.BrowseName = qname |
|
438
|
1 |
|
node.NodeClass = ua.NodeClass.Variable |
|
439
|
1 |
|
node.ParentNodeId = parentnodeid |
|
440
|
1 |
|
if isproperty: |
|
441
|
1 |
|
node.ReferenceTypeId = ua.NodeId(ua.ObjectIds.HasProperty) |
|
442
|
1 |
|
node.TypeDefinition = ua.NodeId(ua.ObjectIds.PropertyType) |
|
443
|
|
|
else: |
|
444
|
1 |
|
node.ReferenceTypeId = ua.NodeId(ua.ObjectIds.HasComponent) |
|
445
|
1 |
|
node.TypeDefinition = ua.NodeId(ua.ObjectIds.BaseDataVariableType) |
|
446
|
1 |
|
attrs = ua.VariableAttributes() |
|
447
|
1 |
|
attrs.Description = ua.LocalizedText(qname.Name) |
|
448
|
1 |
|
attrs.DisplayName = ua.LocalizedText(qname.Name) |
|
449
|
1 |
|
attrs.DataType = _guess_uatype(val) |
|
450
|
1 |
|
attrs.Value = val |
|
451
|
1 |
|
attrs.ValueRank = 0 |
|
452
|
1 |
|
attrs.WriteMask = ua.OpenFileMode.Read |
|
453
|
1 |
|
attrs.UserWriteMask = ua.OpenFileMode.Read |
|
454
|
1 |
|
attrs.Historizing = 0 |
|
455
|
1 |
|
node.NodeAttributes = attrs |
|
456
|
1 |
|
results = server.add_nodes([node]) |
|
457
|
1 |
|
results[0].StatusCode.check() |
|
458
|
1 |
|
return nodeid |
|
459
|
|
|
|
|
460
|
|
|
|
|
461
|
1 |
|
def _create_method(parent, nodeid, qname, callback, inputs, outputs): |
|
462
|
1 |
|
node = ua.AddNodesItem() |
|
463
|
1 |
|
node.RequestedNewNodeId = nodeid |
|
464
|
1 |
|
node.BrowseName = qname |
|
465
|
1 |
|
node.NodeClass = ua.NodeClass.Method |
|
466
|
1 |
|
node.ParentNodeId = parent.nodeid |
|
467
|
1 |
|
node.ReferenceTypeId = ua.NodeId.from_string("i=47") |
|
468
|
|
|
#node.TypeDefinition = ua.NodeId(ua.ObjectIds.BaseObjectType) |
|
469
|
1 |
|
attrs = ua.MethodAttributes() |
|
470
|
1 |
|
attrs.Description = ua.LocalizedText(qname.Name) |
|
471
|
1 |
|
attrs.DisplayName = ua.LocalizedText(qname.Name) |
|
472
|
1 |
|
attrs.WriteMask = ua.OpenFileMode.Read |
|
473
|
1 |
|
attrs.UserWriteMask = ua.OpenFileMode.Read |
|
474
|
1 |
|
attrs.Executable = True |
|
475
|
1 |
|
attrs.UserExecutable = True |
|
476
|
1 |
|
node.NodeAttributes = attrs |
|
477
|
1 |
|
results = parent.server.add_nodes([node]) |
|
478
|
1 |
|
results[0].StatusCode.check() |
|
479
|
1 |
|
method = Node(parent.server, nodeid) |
|
480
|
1 |
|
if inputs: |
|
481
|
1 |
|
create_property(method, ua.generate_nodeid(qname.NamespaceIndex), ua.QualifiedName("InputArguments", 0), [_vtype_to_argument(vtype) for vtype in inputs]) |
|
482
|
1 |
|
if outputs: |
|
483
|
1 |
|
create_property(method, ua.generate_nodeid(qname.NamespaceIndex), ua.QualifiedName("OutputArguments", 0), [_vtype_to_argument(vtype) for vtype in outputs]) |
|
484
|
1 |
|
parent.server.add_method_callback(method.nodeid, callback) |
|
485
|
1 |
|
return nodeid |
|
486
|
|
|
|
|
487
|
|
|
|
|
488
|
1 |
|
def _call_method(server, parentnodeid, methodid, arguments): |
|
489
|
1 |
|
request = ua.CallMethodRequest() |
|
490
|
1 |
|
request.ObjectId = parentnodeid |
|
491
|
1 |
|
request.MethodId = methodid |
|
492
|
1 |
|
request.InputArguments = arguments |
|
493
|
1 |
|
methodstocall = [request] |
|
494
|
1 |
|
results = server.call(methodstocall) |
|
495
|
1 |
|
res = results[0] |
|
496
|
1 |
|
res.StatusCode.check() |
|
497
|
1 |
|
return res |
|
498
|
|
|
|
|
499
|
|
|
|
|
500
|
1 |
|
def _vtype_to_argument(vtype): |
|
501
|
1 |
|
if isinstance(vtype, ua.Argument): |
|
502
|
|
|
return ua.ExtensionObject.from_object(vtype) |
|
503
|
|
|
|
|
504
|
1 |
|
arg = ua.Argument() |
|
505
|
1 |
|
v = ua.Variant(None, vtype) |
|
506
|
1 |
|
arg.DataType = _guess_uatype(v) |
|
507
|
1 |
|
return ua.ExtensionObject.from_object(arg) |
|
508
|
|
|
|
|
509
|
|
|
|
|
510
|
1 |
|
def _guess_uatype(variant): |
|
511
|
1 |
|
if variant.VariantType == ua.VariantType.ExtensionObject: |
|
512
|
1 |
|
if variant.Value is None: |
|
513
|
|
|
raise Exception("Cannot guess DataType from Null ExtensionObject") |
|
514
|
1 |
|
if type(variant.Value) in (list, tuple): |
|
515
|
1 |
|
if len(variant.Value) == 0: |
|
516
|
|
|
raise Exception("Cannot guess DataType from Null ExtensionObject") |
|
517
|
1 |
|
extobj = variant.Value[0] |
|
518
|
|
|
else: |
|
519
|
|
|
extobj = variant.Value |
|
520
|
1 |
|
objectidname = ua.ObjectIdsInv[extobj.TypeId.Identifier] |
|
521
|
1 |
|
classname = objectidname.split("_")[0] |
|
522
|
1 |
|
return ua.NodeId(getattr(ua.ObjectIds, classname)) |
|
523
|
|
|
else: |
|
524
|
1 |
|
return ua.NodeId(getattr(ua.ObjectIds, variant.VariantType.name)) |
|
525
|
|
|
|
|
526
|
|
|
|
|
527
|
1 |
|
def _parse_add_args(*args): |
|
528
|
1 |
|
if isinstance(args[0], ua.NodeId): |
|
529
|
1 |
|
return args[0], args[1] |
|
530
|
1 |
|
elif isinstance(args[0], str): |
|
531
|
1 |
|
return ua.NodeId.from_string(args[0]), ua.QualifiedName.from_string(args[1]) |
|
532
|
1 |
|
elif isinstance(args[0], int): |
|
533
|
1 |
|
return ua.generate_nodeid(args[0]), ua.QualifiedName(args[1], args[0]) |
|
534
|
|
|
else: |
|
535
|
|
|
raise TypeError("Add methods takes a nodeid and a qualifiedname as argument, received %s" % args) |
|
536
|
|
|
|
FreeOpcUa /
python-opcua
