|
1
|
|
|
""" |
|
2
|
|
|
High level node object, to access node attribute |
|
3
|
|
|
and browse address space |
|
4
|
|
|
""" |
|
5
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|
6
|
1 |
|
from datetime import timedelta |
|
7
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|
|
8
|
1 |
|
from opcua import ua |
|
9
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|
10
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|
|
11
|
1 |
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class Node(object): |
|
12
|
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|
|
|
13
|
|
|
""" |
|
14
|
|
|
High level node object, to access node attribute, |
|
15
|
|
|
browse and populate address space. |
|
16
|
|
|
Node objects are usefull as-is but they do not expose the entire |
|
17
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|
|
OPC-UA protocol. Feel free to look at Node code and call |
|
18
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|
|
directly UA services methods to optimize your code |
|
19
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|
|
""" |
|
20
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|
|
21
|
1 |
|
def __init__(self, server, nodeid): |
|
22
|
1 |
|
self.server = server |
|
23
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1 |
|
self.nodeid = None |
|
24
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1 |
|
if isinstance(nodeid, ua.NodeId): |
|
25
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1 |
|
self.nodeid = nodeid |
|
26
|
1 |
|
elif type(nodeid) in (str, bytes): |
|
27
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1 |
|
self.nodeid = ua.NodeId.from_string(nodeid) |
|
28
|
|
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elif isinstance(nodeid, int): |
|
29
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|
|
self.nodeid = ua.NodeId(nodeid, 0) |
|
30
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|
|
else: |
|
31
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|
|
raise ua.UaError("argument to node must be a NodeId object or a string defining a nodeid found {} of type {}".format(nodeid, type(nodeid))) |
|
32
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|
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|
|
33
|
1 |
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def __eq__(self, other): |
|
34
|
1 |
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if isinstance(other, Node) and self.nodeid == other.nodeid: |
|
35
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1 |
|
return True |
|
36
|
1 |
|
return False |
|
37
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|
38
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1 |
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def __ne__(self, other): |
|
39
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|
|
return not self.__eq__(other) |
|
40
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|
41
|
1 |
|
def __str__(self): |
|
42
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|
|
return "Node({})".format(self.nodeid) |
|
43
|
1 |
|
__repr__ = __str__ |
|
44
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|
45
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1 |
|
def __hash__(self): |
|
46
|
1 |
|
return self.nodeid.__hash__() |
|
47
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|
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|
|
48
|
1 |
|
def get_browse_name(self): |
|
49
|
|
|
""" |
|
50
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|
|
Get browse name of a node. A browse name is a QualifiedName object |
|
51
|
|
|
composed of a string(name) and a namespace index. |
|
52
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|
|
""" |
|
53
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1 |
|
result = self.get_attribute(ua.AttributeIds.BrowseName) |
|
54
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1 |
|
return result.Value.Value |
|
55
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|
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|
56
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1 |
|
def get_display_name(self): |
|
57
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|
|
""" |
|
58
|
|
|
get description attribute of node |
|
59
|
|
|
""" |
|
60
|
1 |
|
result = self.get_attribute(ua.AttributeIds.DisplayName) |
|
61
|
1 |
|
return result.Value.Value |
|
62
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|
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|
|
63
|
1 |
|
def get_data_type(self): |
|
64
|
|
|
""" |
|
65
|
|
|
get data type of node |
|
66
|
|
|
""" |
|
67
|
1 |
|
result = self.get_attribute(ua.AttributeIds.DataType) |
|
68
|
1 |
|
return result.Value.Value |
|
69
|
|
|
|
|
70
|
1 |
|
def get_node_class(self): |
|
71
|
|
|
""" |
|
72
|
|
|
get node class attribute of node |
|
73
|
|
|
""" |
|
74
|
1 |
|
result = self.get_attribute(ua.AttributeIds.NodeClass) |
|
75
|
1 |
|
return result.Value.Value |
|
76
|
|
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|
|
77
|
1 |
|
def get_description(self): |
|
78
|
|
|
""" |
|
79
|
|
|
get description attribute class of node |
|
80
|
|
|
""" |
|
81
|
1 |
|
result = self.get_attribute(ua.AttributeIds.Description) |
|
82
|
1 |
|
return result.Value.Value |
|
83
|
|
|
|
|
84
|
1 |
|
def get_value(self): |
|
85
|
|
|
""" |
|
86
|
|
|
Get value of a node as a python type. Only variables ( and properties) have values. |
|
87
|
|
|
An exception will be generated for other node types. |
|
88
|
|
|
""" |
|
89
|
1 |
|
result = self.get_data_value() |
|
90
|
1 |
|
return result.Value.Value |
|
91
|
|
|
|
|
92
|
1 |
|
def get_data_value(self): |
|
93
|
|
|
""" |
|
94
|
|
|
Get value of a node as a DataValue object. Only variables (and properties) have values. |
|
95
|
|
|
An exception will be generated for other node types. |
|
96
|
|
|
DataValue contain a variable value as a variant as well as server and source timestamps |
|
97
|
|
|
""" |
|
98
|
1 |
|
return self.get_attribute(ua.AttributeIds.Value) |
|
99
|
|
|
|
|
100
|
1 |
|
def set_array_dimensions(self, value): |
|
101
|
|
|
""" |
|
102
|
|
|
Set attribute ArrayDimensions of node |
|
103
|
|
|
make sure it has the correct data type |
|
104
|
|
|
""" |
|
105
|
1 |
|
v = ua.Variant(value, ua.VariantType.UInt32) |
|
106
|
1 |
|
self.set_attribute(ua.AttributeIds.ArrayDimensions, ua.DataValue(v)) |
|
107
|
|
|
|
|
108
|
1 |
|
def get_array_dimensions(self): |
|
109
|
|
|
""" |
|
110
|
|
|
Read and return ArrayDimensions attribute of node |
|
111
|
|
|
""" |
|
112
|
1 |
|
res = self.get_attribute(ua.AttributeIds.ArrayDimensions) |
|
113
|
1 |
|
return res.Value.Value |
|
114
|
|
|
|
|
115
|
1 |
|
def set_value_rank(self, value): |
|
116
|
|
|
""" |
|
117
|
|
|
Set attribute ArrayDimensions of node |
|
118
|
|
|
""" |
|
119
|
1 |
|
v = ua.Variant(value, ua.VariantType.Int32) |
|
120
|
1 |
|
self.set_attribute(ua.AttributeIds.ValueRank, ua.DataValue(v)) |
|
121
|
|
|
|
|
122
|
1 |
|
def get_value_rank(self): |
|
123
|
|
|
""" |
|
124
|
|
|
Read and return ArrayDimensions attribute of node |
|
125
|
|
|
""" |
|
126
|
1 |
|
res = self.get_attribute(ua.AttributeIds.ValueRank) |
|
127
|
1 |
|
return res.Value.Value |
|
128
|
|
|
|
|
129
|
1 |
|
def set_value(self, value, varianttype=None): |
|
130
|
|
|
""" |
|
131
|
|
|
Set value of a node. Only variables(properties) have values. |
|
132
|
|
|
An exception will be generated for other node types. |
|
133
|
|
|
value argument is either: |
|
134
|
|
|
* a python built-in type, converted to opc-ua |
|
135
|
|
|
optionnaly using the variantype argument. |
|
136
|
|
|
* a ua.Variant, varianttype is then ignored |
|
137
|
|
|
* a ua.DataValue, you then have full control over data send to server |
|
138
|
|
|
""" |
|
139
|
1 |
|
datavalue = None |
|
140
|
1 |
|
if isinstance(value, ua.DataValue): |
|
141
|
1 |
|
datavalue = value |
|
142
|
1 |
|
elif isinstance(value, ua.Variant): |
|
143
|
1 |
|
datavalue = ua.DataValue(value) |
|
144
|
|
|
else: |
|
145
|
1 |
|
datavalue = ua.DataValue(ua.Variant(value, varianttype)) |
|
146
|
1 |
|
self.set_attribute(ua.AttributeIds.Value, datavalue) |
|
147
|
|
|
|
|
148
|
1 |
|
set_data_value = set_value |
|
149
|
|
|
|
|
150
|
1 |
|
def set_writable(self, writable=True): |
|
151
|
|
|
""" |
|
152
|
|
|
Set node as writable by clients. |
|
153
|
|
|
A node is always writable on server side. |
|
154
|
|
|
""" |
|
155
|
1 |
|
if writable: |
|
156
|
1 |
|
self.set_attribute(ua.AttributeIds.AccessLevel, ua.DataValue(ua.Variant(ua.AccessLevelMask.CurrentWrite, ua.VariantType.Byte))) |
|
157
|
1 |
|
self.set_attribute(ua.AttributeIds.UserAccessLevel, ua.DataValue(ua.Variant(ua.AccessLevelMask.CurrentWrite, ua.VariantType.Byte))) |
|
158
|
|
|
else: |
|
159
|
1 |
|
self.set_attribute(ua.AttributeIds.AccessLevel, ua.DataValue(ua.Variant(ua.AccessLevelMask.CurrentRead, ua.VariantType.Byte))) |
|
160
|
1 |
|
self.set_attribute(ua.AttributeIds.AccessLevel, ua.DataValue(ua.Variant(ua.AccessLevelMask.CurrentRead, ua.VariantType.Byte))) |
|
161
|
|
|
|
|
162
|
1 |
|
def set_read_only(self): |
|
163
|
|
|
""" |
|
164
|
|
|
Set a node as read-only for clients. |
|
165
|
|
|
A node is always writable on server side. |
|
166
|
|
|
""" |
|
167
|
|
|
return self.set_writable(False) |
|
168
|
|
|
|
|
169
|
1 |
|
def set_attribute(self, attributeid, datavalue): |
|
170
|
|
|
""" |
|
171
|
|
|
Set an attribute of a node |
|
172
|
|
|
attributeid is a member of ua.AttributeIds |
|
173
|
|
|
datavalue is a ua.DataValue object |
|
174
|
|
|
""" |
|
175
|
1 |
|
attr = ua.WriteValue() |
|
176
|
1 |
|
attr.NodeId = self.nodeid |
|
177
|
1 |
|
attr.AttributeId = attributeid |
|
178
|
1 |
|
attr.Value = datavalue |
|
179
|
1 |
|
params = ua.WriteParameters() |
|
180
|
1 |
|
params.NodesToWrite = [attr] |
|
181
|
1 |
|
result = self.server.write(params) |
|
182
|
1 |
|
result[0].check() |
|
183
|
|
|
|
|
184
|
1 |
|
def get_attribute(self, attr): |
|
185
|
|
|
""" |
|
186
|
|
|
Read one attribute of a node |
|
187
|
|
|
result code from server is checked and an exception is raised in case of error |
|
188
|
|
|
""" |
|
189
|
1 |
|
rv = ua.ReadValueId() |
|
190
|
1 |
|
rv.NodeId = self.nodeid |
|
191
|
1 |
|
rv.AttributeId = attr |
|
192
|
1 |
|
params = ua.ReadParameters() |
|
193
|
1 |
|
params.NodesToRead.append(rv) |
|
194
|
1 |
|
result = self.server.read(params) |
|
195
|
1 |
|
result[0].StatusCode.check() |
|
196
|
1 |
|
return result[0] |
|
197
|
|
|
|
|
198
|
1 |
|
def get_attributes(self, attrs): |
|
199
|
|
|
""" |
|
200
|
|
|
Read several attributes of a node |
|
201
|
|
|
list of DataValue is returned |
|
202
|
|
|
""" |
|
203
|
|
|
params = ua.ReadParameters() |
|
204
|
|
|
for attr in attrs: |
|
205
|
|
|
rv = ua.ReadValueId() |
|
206
|
|
|
rv.NodeId = self.nodeid |
|
207
|
|
|
rv.AttributeId = attr |
|
208
|
|
|
params.NodesToRead.append(rv) |
|
209
|
|
|
|
|
210
|
|
|
results = self.server.read(params) |
|
211
|
|
|
return results |
|
212
|
|
|
|
|
213
|
1 |
|
def get_children(self, refs=ua.ObjectIds.HierarchicalReferences, nodeclassmask=ua.NodeClass.Unspecified): |
|
214
|
|
|
""" |
|
215
|
|
|
Get all children of a node. By default hierarchical references and all node classes are returned. |
|
216
|
|
|
Other reference types may be given: |
|
217
|
|
|
References = 31 |
|
218
|
|
|
NonHierarchicalReferences = 32 |
|
219
|
|
|
HierarchicalReferences = 33 |
|
220
|
|
|
HasChild = 34 |
|
221
|
|
|
Organizes = 35 |
|
222
|
|
|
HasEventSource = 36 |
|
223
|
|
|
HasModellingRule = 37 |
|
224
|
|
|
HasEncoding = 38 |
|
225
|
|
|
HasDescription = 39 |
|
226
|
|
|
HasTypeDefinition = 40 |
|
227
|
|
|
GeneratesEvent = 41 |
|
228
|
|
|
Aggregates = 44 |
|
229
|
|
|
HasSubtype = 45 |
|
230
|
|
|
HasProperty = 46 |
|
231
|
|
|
HasComponent = 47 |
|
232
|
|
|
HasNotifier = 48 |
|
233
|
|
|
HasOrderedComponent = 49 |
|
234
|
|
|
""" |
|
235
|
1 |
|
references = self.get_children_descriptions(refs, nodeclassmask) |
|
236
|
1 |
|
nodes = [] |
|
237
|
1 |
|
for desc in references: |
|
238
|
1 |
|
node = Node(self.server, desc.NodeId) |
|
239
|
1 |
|
nodes.append(node) |
|
240
|
1 |
|
return nodes |
|
241
|
|
|
|
|
242
|
1 |
|
def get_properties(self): |
|
243
|
|
|
""" |
|
244
|
|
|
return properties of node. |
|
245
|
|
|
properties are child nodes with a reference of type HasProperty and a NodeClass of Variable |
|
246
|
|
|
""" |
|
247
|
|
|
return self.get_children(refs=ua.ObjectIds.HasProperty, nodeclassmask=ua.NodeClass.Variable) |
|
248
|
|
|
|
|
249
|
1 |
|
def get_children_descriptions(self, refs=ua.ObjectIds.HierarchicalReferences, nodeclassmask=ua.NodeClass.Unspecified, includesubtypes=True): |
|
250
|
|
|
""" |
|
251
|
|
|
return all attributes of child nodes as UA BrowseResult structs |
|
252
|
|
|
""" |
|
253
|
1 |
|
desc = ua.BrowseDescription() |
|
254
|
1 |
|
desc.BrowseDirection = ua.BrowseDirection.Forward |
|
255
|
1 |
|
desc.ReferenceTypeId = ua.TwoByteNodeId(refs) |
|
256
|
1 |
|
desc.IncludeSubtypes = includesubtypes |
|
257
|
1 |
|
desc.NodeClassMask = nodeclassmask |
|
258
|
1 |
|
desc.ResultMask = ua.BrowseResultMask.All |
|
259
|
|
|
|
|
260
|
1 |
|
desc.NodeId = self.nodeid |
|
261
|
1 |
|
params = ua.BrowseParameters() |
|
262
|
1 |
|
params.View.Timestamp = ua.win_epoch_to_datetime(0) |
|
263
|
1 |
|
params.NodesToBrowse.append(desc) |
|
264
|
1 |
|
results = self.server.browse(params) |
|
265
|
1 |
|
return results[0].References |
|
266
|
|
|
|
|
267
|
1 |
|
def get_child(self, path): |
|
268
|
|
|
""" |
|
269
|
|
|
get a child specified by its path from this node. |
|
270
|
|
|
A path might be: |
|
271
|
|
|
* a string representing a qualified name. |
|
272
|
|
|
* a qualified name |
|
273
|
|
|
* a list of string |
|
274
|
|
|
* a list of qualified names |
|
275
|
|
|
""" |
|
276
|
1 |
|
if type(path) not in (list, tuple): |
|
277
|
1 |
|
path = [path] |
|
278
|
1 |
|
rpath = ua.RelativePath() |
|
279
|
1 |
|
for item in path: |
|
280
|
1 |
|
el = ua.RelativePathElement() |
|
281
|
1 |
|
el.ReferenceTypeId = ua.TwoByteNodeId(ua.ObjectIds.HierarchicalReferences) |
|
282
|
1 |
|
el.IsInverse = False |
|
283
|
1 |
|
el.IncludeSubtypes = True |
|
284
|
1 |
|
if isinstance(item, ua.QualifiedName): |
|
285
|
|
|
el.TargetName = item |
|
286
|
|
|
else: |
|
287
|
1 |
|
el.TargetName = ua.QualifiedName.from_string(item) |
|
288
|
1 |
|
rpath.Elements.append(el) |
|
289
|
1 |
|
bpath = ua.BrowsePath() |
|
290
|
1 |
|
bpath.StartingNode = self.nodeid |
|
291
|
1 |
|
bpath.RelativePath = rpath |
|
292
|
1 |
|
result = self.server.translate_browsepaths_to_nodeids([bpath]) |
|
293
|
1 |
|
result = result[0] |
|
294
|
1 |
|
result.StatusCode.check() |
|
295
|
|
|
# FIXME: seems this method may return several nodes |
|
296
|
1 |
|
return Node(self.server, result.Targets[0].TargetId) |
|
297
|
|
|
|
|
298
|
1 |
|
def read_raw_history(self, starttime=None, endtime=None, numvalues=0, returnbounds=True): |
|
299
|
|
|
""" |
|
300
|
|
|
Read raw history of a node |
|
301
|
|
|
result code from server is checked and an exception is raised in case of error |
|
302
|
|
|
""" |
|
303
|
1 |
|
details = ua.ReadRawModifiedDetails() |
|
304
|
1 |
|
details.IsReadModified = False |
|
305
|
1 |
|
if starttime: |
|
306
|
1 |
|
details.StartTime = starttime |
|
307
|
|
|
else: |
|
308
|
1 |
|
details.StartTime = ua.DateTimeMinValue |
|
309
|
1 |
|
if endtime: |
|
310
|
1 |
|
details.EndTime = endtime |
|
311
|
|
|
else: |
|
312
|
|
|
details.EndTime = ua.DateTimeMinValue |
|
313
|
1 |
|
details.NumValuesPerNode = numvalues |
|
314
|
1 |
|
details.ReturnBounds = returnbounds |
|
315
|
1 |
|
result = self.history_read(details) |
|
316
|
|
|
# FIXME: read continuation point and call again |
|
317
|
1 |
|
return result.HistoryData.DataValues |
|
318
|
|
|
|
|
319
|
1 |
|
def history_read(self, details): |
|
320
|
|
|
""" |
|
321
|
|
|
Read raw history of a node, low-level function |
|
322
|
|
|
result code from server is checked and an exception is raised in case of error |
|
323
|
|
|
""" |
|
324
|
1 |
|
valueid = ua.HistoryReadValueId() |
|
325
|
1 |
|
valueid.NodeId = self.nodeid |
|
326
|
1 |
|
valueid.IndexRange = '' |
|
327
|
|
|
|
|
328
|
1 |
|
params = ua.HistoryReadParameters() |
|
329
|
1 |
|
params.HistoryReadDetails = details |
|
330
|
1 |
|
params.TimestampsToReturn = ua.TimestampsToReturn.Both |
|
331
|
1 |
|
params.ReleaseContinuationPoints = False |
|
332
|
1 |
|
params.NodesToRead.append(valueid) |
|
333
|
1 |
|
result = self.server.history_read(params)[0] |
|
334
|
1 |
|
return result |
|
335
|
|
|
|
|
336
|
|
|
# Hack for convenience methods |
|
337
|
|
|
# local import is ugly but necessary for python2 support |
|
338
|
|
|
# feel fri to propose something better but I want to split all those |
|
339
|
|
|
# create methods fro Node |
|
340
|
|
|
|
|
341
|
1 |
|
def add_folder(*args, **kwargs): |
|
342
|
1 |
|
from opcua.common import manage_nodes |
|
343
|
1 |
|
return manage_nodes.create_folder(*args, **kwargs) |
|
344
|
|
|
|
|
345
|
1 |
|
def add_object(*args, **kwargs): |
|
346
|
1 |
|
from opcua.common import manage_nodes |
|
347
|
1 |
|
return manage_nodes.create_object(*args, **kwargs) |
|
348
|
|
|
|
|
349
|
1 |
|
def add_variable(*args, **kwargs): |
|
350
|
1 |
|
from opcua.common import manage_nodes |
|
351
|
1 |
|
return manage_nodes.create_variable(*args, **kwargs) |
|
352
|
|
|
|
|
353
|
1 |
|
def add_property(*args, **kwargs): |
|
354
|
1 |
|
from opcua.common import manage_nodes |
|
355
|
1 |
|
return manage_nodes.create_property(*args, **kwargs) |
|
356
|
|
|
|
|
357
|
1 |
|
def add_method(*args, **kwargs): |
|
358
|
1 |
|
from opcua.common import manage_nodes |
|
359
|
1 |
|
return manage_nodes.create_method(*args, **kwargs) |
|
360
|
|
|
|
|
361
|
1 |
|
def call_method(*args, **kwargs): |
|
362
|
1 |
|
from opcua.common import methods |
|
363
|
|
|
return methods.call_method(*args, **kwargs) |
|
364
|
|
|
|
FreeOpcUa /
python-opcua
