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from threading import RLock |
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import logging |
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import pickle |
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from datetime import datetime |
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from opcua import ua |
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from opcua.users import User |
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9
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10
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class AttributeValue(object): |
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12
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def __init__(self, value): |
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self.value = value |
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self.value_callback = None |
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15
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self.datachange_callbacks = {} |
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def __str__(self): |
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return "AttributeValue({})".format(self.value) |
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__repr__ = __str__ |
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22
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class NodeData(object): |
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def __init__(self, nodeid): |
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self.nodeid = nodeid |
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self.attributes = {} |
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self.references = [] |
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self.call = None |
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def __str__(self): |
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return "NodeData(id:{}, attrs:{}, refs:{})".format(self.nodeid, self.attributes, self.references) |
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32
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__repr__ = __str__ |
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34
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35
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class AttributeService(object): |
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def __init__(self, aspace): |
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self.logger = logging.getLogger(__name__) |
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39
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self._aspace = aspace |
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40
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41
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def read(self, params): |
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self.logger.debug("read %s", params) |
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res = [] |
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for readvalue in params.NodesToRead: |
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res.append(self._aspace.get_attribute_value(readvalue.NodeId, readvalue.AttributeId)) |
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46
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return res |
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48
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def write(self, params, user=User.Admin): |
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49
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self.logger.debug("write %s as user %s", params, user) |
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50
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res = [] |
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51
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for writevalue in params.NodesToWrite: |
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52
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if user != User.Admin: |
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53
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if writevalue.AttributeId != ua.AttributeIds.Value: |
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54
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res.append(ua.StatusCode(ua.StatusCodes.BadUserAccessDenied)) |
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55
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continue |
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56
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al = self._aspace.get_attribute_value(writevalue.NodeId, ua.AttributeIds.AccessLevel) |
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57
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ual = self._aspace.get_attribute_value(writevalue.NodeId, ua.AttributeIds.UserAccessLevel) |
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58
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if not al.Value.Value & ua.AccessLevelMask.CurrentWrite or not ual.Value.Value & ua.AccessLevelMask.CurrentWrite: |
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res.append(ua.StatusCode(ua.StatusCodes.BadUserAccessDenied)) |
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60
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continue |
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61
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res.append(self._aspace.set_attribute_value(writevalue.NodeId, writevalue.AttributeId, writevalue.Value)) |
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62
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return res |
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64
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65
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class ViewService(object): |
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def __init__(self, aspace): |
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self.logger = logging.getLogger(__name__) |
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69
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self._aspace = aspace |
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70
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71
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def browse(self, params): |
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72
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self.logger.debug("browse %s", params) |
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73
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res = [] |
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74
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for desc in params.NodesToBrowse: |
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res.append(self._browse(desc)) |
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return res |
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77
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78
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def _browse(self, desc): |
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res = ua.BrowseResult() |
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80
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if desc.NodeId not in self._aspace: |
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81
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res.StatusCode = ua.StatusCode(ua.StatusCodes.BadNodeIdInvalid) |
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82
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return res |
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83
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node = self._aspace[desc.NodeId] |
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84
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for ref in node.references: |
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85
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if not self._is_suitable_ref(desc, ref): |
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86
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continue |
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87
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res.References.append(ref) |
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return res |
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89
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90
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def _is_suitable_ref(self, desc, ref): |
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91
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if not self._suitable_direction(desc.BrowseDirection, ref.IsForward): |
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92
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self.logger.debug("%s is not suitable due to direction", ref) |
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93
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return False |
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94
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if not self._suitable_reftype(desc.ReferenceTypeId, ref.ReferenceTypeId, desc.IncludeSubtypes): |
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self.logger.debug("%s is not suitable due to type", ref) |
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96
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return False |
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if desc.NodeClassMask and ((desc.NodeClassMask & ref.NodeClass) == 0): |
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98
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self.logger.debug("%s is not suitable due to class", ref) |
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return False |
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100
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self.logger.debug("%s is a suitable ref for desc %s", ref, desc) |
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return True |
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102
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103
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def _suitable_reftype(self, ref1, ref2, subtypes): |
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104
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""" |
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105
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""" |
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106
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if ref1.Identifier == ref2.Identifier: |
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107
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return True |
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108
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if not subtypes and ref2.Identifier == ua.ObjectIds.HasSubtype: |
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return False |
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110
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oktypes = self._get_sub_ref(ref1) |
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111
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return ref2 in oktypes |
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112
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113
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def _get_sub_ref(self, ref): |
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res = [] |
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115
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nodedata = self._aspace[ref] |
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116
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for ref in nodedata.references: |
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117
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if ref.ReferenceTypeId.Identifier == ua.ObjectIds.HasSubtype: |
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res.append(ref.NodeId) |
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119
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res += self._get_sub_ref(ref.NodeId) |
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120
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return res |
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121
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122
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def _suitable_direction(self, desc, isforward): |
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if desc == ua.BrowseDirection.Both: |
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return True |
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125
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if desc == ua.BrowseDirection.Forward and isforward: |
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return True |
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return False |
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129
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def translate_browsepaths_to_nodeids(self, browsepaths): |
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self.logger.debug("translate browsepath: %s", browsepaths) |
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131
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results = [] |
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for path in browsepaths: |
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results.append(self._translate_browsepath_to_nodeid(path)) |
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return results |
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136
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def _translate_browsepath_to_nodeid(self, path): |
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self.logger.debug("looking at path: %s", path) |
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138
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res = ua.BrowsePathResult() |
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139
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if path.StartingNode not in self._aspace: |
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140
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res.StatusCode = ua.StatusCode(ua.StatusCodes.BadNodeIdInvalid) |
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141
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return res |
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current = path.StartingNode |
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143
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for el in path.RelativePath.Elements: |
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nodeid = self._find_element_in_node(el, current) |
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if not nodeid: |
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146
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res.StatusCode = ua.StatusCode(ua.StatusCodes.BadNoMatch) |
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147
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return res |
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148
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current = nodeid |
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149
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target = ua.BrowsePathTarget() |
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150
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target.TargetId = current |
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151
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target.RemainingPathIndex = 4294967295 |
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152
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res.Targets = [target] |
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153
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return res |
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154
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155
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def _find_element_in_node(self, el, nodeid): |
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156
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nodedata = self._aspace[nodeid] |
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157
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1 |
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for ref in nodedata.references: |
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158
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# FIXME: here we should check other arguments!! |
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159
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1 |
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if ref.BrowseName == el.TargetName: |
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160
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1 |
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return ref.NodeId |
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161
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1 |
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self.logger.info("element %s was not found in node %s", el, nodeid) |
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162
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1 |
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return None |
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163
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164
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165
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1 |
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class NodeManagementService(object): |
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166
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167
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1 |
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def __init__(self, aspace): |
|
168
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1 |
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self.logger = logging.getLogger(__name__) |
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169
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1 |
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self._aspace = aspace |
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170
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171
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1 |
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def add_nodes(self, addnodeitems, user=User.Admin): |
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172
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1 |
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results = [] |
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173
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1 |
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for item in addnodeitems: |
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174
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1 |
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results.append(self._add_node(item, user)) |
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175
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1 |
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return results |
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176
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177
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1 |
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def _add_node(self, item, user): |
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178
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1 |
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result = ua.AddNodesResult() |
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179
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|
180
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1 |
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if item.RequestedNewNodeId in self._aspace: |
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181
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1 |
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self.logger.warning("AddNodeItem: node already exists") |
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182
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1 |
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result.StatusCode = ua.StatusCode(ua.StatusCodes.BadNodeIdExists) |
|
183
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1 |
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return result |
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184
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1 |
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nodedata = NodeData(item.RequestedNewNodeId) |
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185
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# add common attrs |
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186
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1 |
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nodedata.attributes[ua.AttributeIds.NodeId] = AttributeValue(ua.DataValue(ua.Variant(item.RequestedNewNodeId, ua.VariantType.NodeId))) |
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187
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1 |
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nodedata.attributes[ua.AttributeIds.BrowseName] = AttributeValue(ua.DataValue(ua.Variant(item.BrowseName, ua.VariantType.QualifiedName))) |
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188
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1 |
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nodedata.attributes[ua.AttributeIds.NodeClass] = AttributeValue(ua.DataValue(ua.Variant(item.NodeClass, ua.VariantType.Int32))) |
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189
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# add requested attrs |
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190
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1 |
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self._add_nodeattributes(item.NodeAttributes, nodedata) |
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191
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192
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# add parent |
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193
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1 |
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if item.ParentNodeId == ua.NodeId(): |
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194
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#self.logger.warning("add_node: creating node %s without parent", item.RequestedNewNodeId) |
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195
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1 |
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pass |
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196
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1 |
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elif item.ParentNodeId not in self._aspace: |
|
197
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#self.logger.warning("add_node: while adding node %s, requested parent node %s does not exists", item.RequestedNewNodeId, item.ParentNodeId) |
|
198
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result.StatusCode = ua.StatusCode(ua.StatusCodes.BadParentNodeIdInvalid) |
|
199
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return result |
|
200
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else: |
|
201
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1 |
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if not user == User.Admin: |
|
202
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1 |
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result.StatusCode = ua.StatusCode(ua.StatusCodes.BadUserAccessDenied) |
|
203
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1 |
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return result |
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204
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|
205
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1 |
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desc = ua.ReferenceDescription() |
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206
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1 |
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desc.ReferenceTypeId = item.ReferenceTypeId |
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207
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1 |
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desc.NodeId = item.RequestedNewNodeId |
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208
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1 |
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desc.NodeClass = item.NodeClass |
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209
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1 |
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desc.BrowseName = item.BrowseName |
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210
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1 |
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desc.DisplayName = ua.LocalizedText(item.BrowseName.Name) |
|
211
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1 |
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desc.TypeDefinition = item.TypeDefinition |
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212
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1 |
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desc.IsForward = True |
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213
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1 |
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self._aspace[item.ParentNodeId].references.append(desc) |
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214
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|
215
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# now add our node to db |
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216
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1 |
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self._aspace[item.RequestedNewNodeId] = nodedata |
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217
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|
218
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# add type definition |
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219
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1 |
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if item.TypeDefinition != ua.NodeId(): |
|
220
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1 |
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addref = ua.AddReferencesItem() |
|
221
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1 |
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addref.SourceNodeId = item.RequestedNewNodeId |
|
222
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1 |
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addref.IsForward = True |
|
223
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1 |
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addref.ReferenceTypeId = ua.NodeId(ua.ObjectIds.HasTypeDefinition) |
|
224
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1 |
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addref.TargetNodeId = item.TypeDefinition |
|
225
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1 |
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addref.TargetNodeClass = ua.NodeClass.DataType |
|
226
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1 |
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self._add_reference(addref, user) |
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227
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|
228
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1 |
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result.StatusCode = ua.StatusCode() |
|
229
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1 |
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result.AddedNodeId = item.RequestedNewNodeId |
|
230
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231
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1 |
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return result |
|
232
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|
233
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1 |
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def add_references(self, refs, user=User.Admin): |
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234
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1 |
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result = [] |
|
235
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1 |
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for ref in refs: |
|
236
|
1 |
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result.append(self._add_reference(ref, user)) |
|
237
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1 |
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return result |
|
238
|
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|
239
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1 |
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def _add_reference(self, addref, user): |
|
240
|
1 |
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if addref.SourceNodeId not in self._aspace: |
|
241
|
|
|
return ua.StatusCode(ua.StatusCodes.BadSourceNodeIdInvalid) |
|
242
|
1 |
|
if addref.TargetNodeId not in self._aspace: |
|
243
|
1 |
|
return ua.StatusCode(ua.StatusCodes.BadTargetNodeIdInvalid) |
|
244
|
1 |
|
if not user == User.Admin: |
|
245
|
|
|
return ua.StatusCode(ua.StatusCodes.BadUserAccessDenied) |
|
246
|
1 |
|
rdesc = ua.ReferenceDescription() |
|
247
|
1 |
|
rdesc.ReferenceTypeId = addref.ReferenceTypeId |
|
248
|
1 |
|
rdesc.IsForward = addref.IsForward |
|
249
|
1 |
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rdesc.NodeId = addref.TargetNodeId |
|
250
|
1 |
|
rdesc.NodeClass = addref.TargetNodeClass |
|
251
|
1 |
|
bname = self._aspace.get_attribute_value(addref.TargetNodeId, ua.AttributeIds.BrowseName).Value.Value |
|
252
|
1 |
|
if bname: |
|
253
|
1 |
|
rdesc.BrowseName = bname |
|
254
|
1 |
|
dname = self._aspace.get_attribute_value(addref.TargetNodeId, ua.AttributeIds.DisplayName).Value.Value |
|
255
|
1 |
|
if dname: |
|
256
|
1 |
|
rdesc.DisplayName = dname |
|
257
|
1 |
|
self._aspace[addref.SourceNodeId].references.append(rdesc) |
|
258
|
1 |
|
return ua.StatusCode() |
|
259
|
|
|
|
|
260
|
1 |
|
def _add_node_attr(self, item, nodedata, name, vtype=None): |
|
261
|
1 |
|
if item.SpecifiedAttributes & getattr(ua.NodeAttributesMask, name): |
|
262
|
1 |
|
dv = ua.DataValue(ua.Variant(getattr(item, name), vtype)) |
|
263
|
1 |
|
dv.ServerTimestamp = datetime.now() |
|
264
|
1 |
|
dv.SourceTimestamp = datetime.now() |
|
265
|
1 |
|
nodedata.attributes[getattr(ua.AttributeIds, name)] = AttributeValue(dv) |
|
266
|
|
|
|
|
267
|
1 |
|
def _add_nodeattributes(self, item, nodedata): |
|
268
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1 |
|
self._add_node_attr(item, nodedata, "AccessLevel", ua.VariantType.Byte) |
|
269
|
1 |
|
self._add_node_attr(item, nodedata, "ArrayDimensions", ua.VariantType.Int32) |
|
270
|
1 |
|
self._add_node_attr(item, nodedata, "BrowseName", ua.VariantType.QualifiedName) |
|
271
|
1 |
|
self._add_node_attr(item, nodedata, "ContainsNoLoops", ua.VariantType.Boolean) |
|
272
|
1 |
|
self._add_node_attr(item, nodedata, "DataType", ua.VariantType.NodeId) |
|
273
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1 |
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self._add_node_attr(item, nodedata, "Description", ua.VariantType.LocalizedText) |
|
274
|
1 |
|
self._add_node_attr(item, nodedata, "DisplayName", ua.VariantType.LocalizedText) |
|
275
|
1 |
|
self._add_node_attr(item, nodedata, "EventNotifier", ua.VariantType.Byte) |
|
276
|
1 |
|
self._add_node_attr(item, nodedata, "Executable", ua.VariantType.Boolean) |
|
277
|
1 |
|
self._add_node_attr(item, nodedata, "Historizing", ua.VariantType.Boolean) |
|
278
|
1 |
|
self._add_node_attr(item, nodedata, "InverseName", ua.VariantType.LocalizedText) |
|
279
|
1 |
|
self._add_node_attr(item, nodedata, "IsAbstract", ua.VariantType.Boolean) |
|
280
|
1 |
|
self._add_node_attr(item, nodedata, "MinimumSamplingInterval", ua.VariantType.Double) |
|
281
|
1 |
|
self._add_node_attr(item, nodedata, "NodeClass", ua.VariantType.UInt32) |
|
282
|
1 |
|
self._add_node_attr(item, nodedata, "NodeId", ua.VariantType.NodeId) |
|
283
|
1 |
|
self._add_node_attr(item, nodedata, "Symmetric", ua.VariantType.Boolean) |
|
284
|
1 |
|
self._add_node_attr(item, nodedata, "UserAccessLevel", ua.VariantType.Byte) |
|
285
|
1 |
|
self._add_node_attr(item, nodedata, "UserExecutable", ua.VariantType.Byte) |
|
286
|
1 |
|
self._add_node_attr(item, nodedata, "UserWriteMask", ua.VariantType.Byte) |
|
287
|
1 |
|
self._add_node_attr(item, nodedata, "ValueRank", ua.VariantType.Int32) |
|
288
|
1 |
|
self._add_node_attr(item, nodedata, "WriteMask", ua.VariantType.Byte) |
|
289
|
1 |
|
self._add_node_attr(item, nodedata, "UserWriteMask", ua.VariantType.Byte) |
|
290
|
1 |
|
self._add_node_attr(item, nodedata, "Value") |
|
291
|
|
|
|
|
292
|
|
|
|
|
293
|
1 |
|
class MethodService(object): |
|
294
|
|
|
|
|
295
|
1 |
|
def __init__(self, aspace): |
|
296
|
1 |
|
self.logger = logging.getLogger(__name__) |
|
297
|
1 |
|
self._aspace = aspace |
|
298
|
|
|
|
|
299
|
1 |
|
def call(self, methods): |
|
300
|
1 |
|
results = [] |
|
301
|
1 |
|
for method in methods: |
|
302
|
1 |
|
results.append(self._call(method)) |
|
303
|
1 |
|
return results |
|
304
|
|
|
|
|
305
|
1 |
|
def _call(self, method): |
|
306
|
1 |
|
res = ua.CallMethodResult() |
|
307
|
1 |
|
if method.ObjectId not in self._aspace or method.MethodId not in self._aspace: |
|
308
|
1 |
|
res.StatusCode = ua.StatusCode(ua.StatusCodes.BadNodeIdInvalid) |
|
309
|
|
|
else: |
|
310
|
1 |
|
node = self._aspace[method.MethodId] |
|
311
|
1 |
|
if node.call is None: |
|
312
|
|
|
res.StatusCode = ua.StatusCode(ua.StatusCodes.BadNothingToDo) |
|
313
|
|
|
else: |
|
314
|
1 |
|
try: |
|
315
|
1 |
|
res.OutputArguments = node.call(method.ObjectId, *method.InputArguments) |
|
316
|
1 |
|
for _ in method.InputArguments: |
|
317
|
1 |
|
res.InputArgumentResults.append(ua.StatusCode()) |
|
318
|
1 |
|
except Exception: |
|
319
|
1 |
|
self.logger.exception("Error executing method call %s, an exception was raised: ", method) |
|
320
|
1 |
|
res.StatusCode = ua.StatusCode(ua.StatusCodes.BadUnexpectedError) |
|
321
|
1 |
|
return res |
|
322
|
|
|
|
|
323
|
|
|
|
|
324
|
1 |
|
class AddressSpace(object): |
|
325
|
|
|
|
|
326
|
|
|
""" |
|
327
|
|
|
The address space object stores all the nodes og the OPC-UA server |
|
328
|
|
|
and helper methods. |
|
329
|
|
|
The methods are threadsafe |
|
330
|
|
|
""" |
|
331
|
|
|
|
|
332
|
1 |
|
def __init__(self): |
|
333
|
1 |
|
self.logger = logging.getLogger(__name__) |
|
334
|
1 |
|
self._nodes = {} |
|
335
|
1 |
|
self._lock = RLock() # FIXME: should use multiple reader, one writter pattern |
|
336
|
1 |
|
self._datachange_callback_counter = 200 |
|
337
|
1 |
|
self._handle_to_attribute_map = {} |
|
338
|
|
|
|
|
339
|
1 |
|
def __getitem__(self, nodeid): |
|
340
|
1 |
|
with self._lock: |
|
341
|
1 |
|
return self._nodes.__getitem__(nodeid) |
|
342
|
|
|
|
|
343
|
1 |
|
def __setitem__(self, nodeid, value): |
|
344
|
1 |
|
with self._lock: |
|
345
|
1 |
|
return self._nodes.__setitem__(nodeid, value) |
|
346
|
|
|
|
|
347
|
1 |
|
def __contains__(self, nodeid): |
|
348
|
1 |
|
with self._lock: |
|
349
|
1 |
|
return self._nodes.__contains__(nodeid) |
|
350
|
|
|
|
|
351
|
1 |
|
def dump(self, path): |
|
352
|
|
|
""" |
|
353
|
|
|
dump address space as binary to file |
|
354
|
|
|
""" |
|
355
|
|
|
with open(path, 'wb') as f: |
|
356
|
|
|
pickle.dump(self._nodes, f) |
|
357
|
|
|
|
|
358
|
1 |
|
def load(self, path): |
|
359
|
|
|
""" |
|
360
|
|
|
load address space from file, overwritting everything current address space |
|
361
|
|
|
""" |
|
362
|
|
|
with open(path, 'rb') as f: |
|
363
|
|
|
self._nodes = pickle.load(f) |
|
364
|
|
|
|
|
365
|
1 |
|
def get_attribute_value(self, nodeid, attr): |
|
366
|
1 |
|
with self._lock: |
|
367
|
|
|
#self.logger.debug("get attr val: %s %s", nodeid, attr) |
|
368
|
1 |
|
if nodeid not in self._nodes: |
|
369
|
1 |
|
dv = ua.DataValue() |
|
370
|
1 |
|
dv.StatusCode = ua.StatusCode(ua.StatusCodes.BadNodeIdUnknown) |
|
371
|
1 |
|
return dv |
|
372
|
1 |
|
node = self._nodes[nodeid] |
|
373
|
1 |
|
if attr not in node.attributes: |
|
374
|
1 |
|
dv = ua.DataValue() |
|
375
|
1 |
|
dv.StatusCode = ua.StatusCode(ua.StatusCodes.BadAttributeIdInvalid) |
|
376
|
1 |
|
return dv |
|
377
|
1 |
|
attval = node.attributes[attr] |
|
378
|
1 |
|
if attval.value_callback: |
|
379
|
|
|
return attval.value_callback() |
|
380
|
1 |
|
return attval.value |
|
381
|
|
|
|
|
382
|
1 |
|
def set_attribute_value(self, nodeid, attr, value): |
|
383
|
1 |
|
with self._lock: |
|
384
|
1 |
|
self.logger.debug("set attr val: %s %s %s", nodeid, attr, value) |
|
385
|
1 |
|
if nodeid not in self._nodes: |
|
386
|
1 |
|
return ua.StatusCode(ua.StatusCodes.BadNodeIdUnknown) |
|
387
|
1 |
|
node = self._nodes[nodeid] |
|
388
|
1 |
|
if attr not in node.attributes: |
|
389
|
1 |
|
return ua.StatusCode(ua.StatusCodes.BadAttributeIdInvalid) |
|
390
|
1 |
|
if not value.SourceTimestamp: |
|
391
|
1 |
|
value.SourceTimestamp = datetime.now() |
|
392
|
1 |
|
if not value.ServerTimestamp: |
|
393
|
1 |
|
value.ServerTimestamp = datetime.now() |
|
394
|
|
|
|
|
395
|
1 |
|
attval = node.attributes[attr] |
|
396
|
1 |
|
old = attval.value |
|
397
|
1 |
|
attval.value = value |
|
398
|
1 |
|
cbs = [] |
|
399
|
1 |
|
if old.Value != value.Value: # only send call callback when a value change has happend |
|
400
|
1 |
|
cbs = list(attval.datachange_callbacks.items()) |
|
401
|
|
|
|
|
402
|
1 |
|
for k, v in cbs: |
|
403
|
1 |
|
try: |
|
404
|
1 |
|
v(k, value) |
|
405
|
|
|
except Exception as ex: |
|
406
|
|
|
self.logger.exception("Error calling datachange callback %s, %s, %s", k, v, ex) |
|
407
|
|
|
|
|
408
|
1 |
|
return ua.StatusCode() |
|
409
|
|
|
|
|
410
|
1 |
|
def add_datachange_callback(self, nodeid, attr, callback): |
|
411
|
1 |
|
with self._lock: |
|
412
|
1 |
|
self.logger.debug("set attr callback: %s %s %s", nodeid, attr, callback) |
|
413
|
1 |
|
if nodeid not in self._nodes: |
|
414
|
|
|
return ua.StatusCode(ua.StatusCodes.BadNodeIdUnknown), 0 |
|
415
|
1 |
|
node = self._nodes[nodeid] |
|
416
|
1 |
|
if attr not in node.attributes: |
|
417
|
1 |
|
return ua.StatusCode(ua.StatusCodes.BadAttributeIdInvalid), 0 |
|
418
|
1 |
|
attval = node.attributes[attr] |
|
419
|
1 |
|
self._datachange_callback_counter += 1 |
|
420
|
1 |
|
handle = self._datachange_callback_counter |
|
421
|
1 |
|
attval.datachange_callbacks[handle] = callback |
|
422
|
1 |
|
self._handle_to_attribute_map[handle] = (nodeid, attr) |
|
423
|
1 |
|
return ua.StatusCode(), handle |
|
424
|
|
|
|
|
425
|
1 |
|
def delete_datachange_callback(self, handle): |
|
426
|
1 |
|
with self._lock: |
|
427
|
1 |
|
nodeid, attr = self._handle_to_attribute_map.pop(handle) |
|
428
|
1 |
|
self._nodes[nodeid].attributes[attr].datachange_callbacks.pop(handle) |
|
429
|
|
|
|
|
430
|
1 |
|
def add_method_callback(self, methodid, callback): |
|
431
|
1 |
|
with self._lock: |
|
432
|
1 |
|
node = self._nodes[methodid] |
|
433
|
|
|
node.call = callback |
|
434
|
|
|
|
FreeOpcUa /
python-opcua
