UASocketClient

Complexity

Total Complexity

32

Size/Duplication

Total Lines	173
Duplicated Lines	0 %

Test Coverage

Coverage

91.27%

Importance

Changes	2
Bugs	0	Features	0

14 Methods

Rating	Name	Duplication	Size	Complexity
A	start()	0	8	1
B	_send_request()	0	24	4
A	send_request()	0	11	2
A	_call_callback()	0	6	3
A	check_answer()	0	9	2
A	_create_request_header()	0	7	1
A	__init__()	0	12	1
B	_receive()	0	12	5
A	_run()	0	11	4
A	connect_socket()	0	9	1
A	send_hello()	0	12	2
A	open_secure_channel()	0	12	1
A	disconnect_socket()	0	9	3
A	close_secure_channel()	0	13	2

"""
Low level binary client
"""

import logging
import socket
from threading import Thread, Lock
from concurrent.futures import Future
from functools import partial

from opcua import ua
from opcua.ua.ua_binary import struct_from_binary, uatcp_to_binary, struct_to_binary, nodeid_from_binary
from opcua.ua.uaerrors import UaError, BadTimeout, BadNoSubscription, BadSessionClosed
from opcua.common.connection import SecureConnection


class UASocketClient(object):
    """
    handle socket connection and send ua messages
    timeout is the timeout used while waiting for an ua answer from server
    """
    def __init__(self, timeout=1, security_policy=ua.SecurityPolicy()):
        self.logger = logging.getLogger(__name__ + ".Socket")
        self._thread = None
        self._lock = Lock()
        self.timeout = timeout
        self._socket = None
        self._do_stop = False
        self.authentication_token = ua.NodeId()
        self._request_id = 0
        self._request_handle = 0
        self._callbackmap = {}
        self._connection = SecureConnection(security_policy)

    def start(self):
        """
        Start receiving thread.
        this is called automatically in connect and
        should not be necessary to call directly
        """
        self._thread = Thread(target=self._run)
        self._thread.start()

    def _send_request(self, request, callback=None, timeout=1000, message_type=ua.MessageType.SecureMessage):
        """
        send request to server, lower-level method
        timeout is the timeout written in ua header
        returns future
        """
        with self._lock:
            request.RequestHeader = self._create_request_header(timeout)
            self.logger.debug("Sending: %s", request)
            try:
                binreq = struct_to_binary(request)
            except:
                # reset reqeust handle if any error
                # see self._create_request_header
                self._request_handle -= 1
                raise
            self._request_id += 1
            future = Future()
            if callback:
                future.add_done_callback(callback)
            self._callbackmap[self._request_id] = future
            msg = self._connection.message_to_binary(binreq, message_type=message_type, request_id=self._request_id)
            self._socket.write(msg)
        return future

    def send_request(self, request, callback=None, timeout=1000, message_type=ua.MessageType.SecureMessage):
        """
        send request to server.
        timeout is the timeout written in ua header
        returns response object if no callback is provided
        """
        future = self._send_request(request, callback, timeout, message_type)
        if not callback:
            data = future.result(self.timeout)
            self.check_answer(data, " in response to " + request.__class__.__name__)
            return data

    def check_answer(self, data, context):
        data = data.copy()
        typeid = nodeid_from_binary(data)
        if typeid == ua.FourByteNodeId(ua.ObjectIds.ServiceFault_Encoding_DefaultBinary):
            self.logger.warning("ServiceFault from server received %s", context)
            hdr = struct_from_binary(ua.ResponseHeader, data)
            hdr.ServiceResult.check()
            return False
        return True

    def _run(self):
        self.logger.info("Thread started")
        while not self._do_stop:
            try:
                self._receive()
            except ua.utils.SocketClosedException:
                self.logger.info("Socket has closed connection")
                break
            except UaError:
                self.logger.exception("Protocol Error")
        self.logger.info("Thread ended")

    def _receive(self):
        msg = self._connection.receive_from_socket(self._socket)
        if msg is None:
            return
        elif isinstance(msg, ua.Message):
            self._call_callback(msg.request_id(), msg.body())
        elif isinstance(msg, ua.Acknowledge):
            self._call_callback(0, msg)
        elif isinstance(msg, ua.ErrorMessage):
            self.logger.warning("Received an error: %s", msg)
        else:
            raise ua.UaError("Unsupported message type: %s", msg)

    def _call_callback(self, request_id, body):
        with self._lock:
            future = self._callbackmap.pop(request_id, None)
            if future is None:
                raise ua.UaError("No future object found for request: {0}, callbacks in list are {1}".format(request_id, self._callbackmap.keys()))
        future.set_result(body)

    def _create_request_header(self, timeout=1000):
        hdr = ua.RequestHeader()
        hdr.AuthenticationToken = self.authentication_token
        self._request_handle += 1
        hdr.RequestHandle = self._request_handle
        hdr.TimeoutHint = timeout
        return hdr

    def connect_socket(self, host, port):
        """
        connect to server socket and start receiving thread
        """
        self.logger.info("opening connection")
        sock = socket.create_connection((host, port))
        sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)  # nodelay ncessary to avoid packing in one frame, some servers do not like it
        self._socket = ua.utils.SocketWrapper(sock)
        self.start()

    def disconnect_socket(self):
        self.logger.info("Request to close socket received")
        self._do_stop = True
        self._socket.socket.shutdown(socket.SHUT_RDWR)
        self._socket.socket.close()
        self.logger.info("Socket closed, waiting for receiver thread to terminate...")
        if self._thread and self._thread.is_alive():
            self._thread.join()
        self.logger.info("Done closing socket: Receiving thread terminated, socket disconnected")

    def send_hello(self, url, max_messagesize = 0, max_chunkcount = 0):
        hello = ua.Hello()
        hello.EndpointUrl = url
        hello.MaxMessageSize = max_messagesize
        hello.MaxChunkCount = max_chunkcount
        future = Future()
        with self._lock:
            self._callbackmap[0] = future
        binmsg = uatcp_to_binary(ua.MessageType.Hello, hello)
        self._socket.write(binmsg)
        ack = future.result(self.timeout)
        return ack

    def open_secure_channel(self, params):
        self.logger.info("open_secure_channel")
        request = ua.OpenSecureChannelRequest()
        request.Parameters = params
        future = self._send_request(request, message_type=ua.MessageType.SecureOpen)
        
        # FIXME: we have a race condition here
        # we can get a packet with the new token id before we reach to store it..
        response = struct_from_binary(ua.OpenSecureChannelResponse, future.result(self.timeout))
        response.ResponseHeader.ServiceResult.check()
        self._connection.set_channel(response.Parameters)
        return response.Parameters

    def close_secure_channel(self):
        """
        close secure channel. It seems to trigger a shutdown of socket
        in most servers, so be prepare to reconnect.
        OPC UA specs Part 6, 7.1.4 say that Server does not send a CloseSecureChannel response and should just close socket
        """
        self.logger.info("close_secure_channel")
        request = ua.CloseSecureChannelRequest()
        future = self._send_request(request, message_type=ua.MessageType.SecureClose)
        with self._lock:
            # don't expect any more answers
            future.cancel()
            self._callbackmap.clear()

        # some servers send a response here, most do not ... so we ignore


class UaClient(object):

    """
    low level OPC-UA client.

    It implements (almost) all methods defined in opcua spec
    taking in argument the structures defined in opcua spec.

    In this Python implementation  most of the structures are defined in
    uaprotocol_auto.py and uaprotocol_hand.py available under opcua.ua
    """

    def __init__(self, timeout=1):
        self.logger = logging.getLogger(__name__)
        # _publishcallbacks should be accessed in recv thread only
        self._publishcallbacks = {}
        self._timeout = timeout
        self._uasocket = None
        self.security_policy = ua.SecurityPolicy()

    def set_security(self, policy):
        self.security_policy = policy

    def connect_socket(self, host, port):
        """
        connect to server socket and start receiving thread
        """
        self._uasocket = UASocketClient(self._timeout, security_policy=self.security_policy)
        return self._uasocket.connect_socket(host, port)

    def disconnect_socket(self):
        return self._uasocket.disconnect_socket()

    def send_hello(self, url, max_messagesize = 0, max_chunkcount = 0):
        return self._uasocket.send_hello(url, max_messagesize, max_chunkcount)

    def open_secure_channel(self, params):
        return self._uasocket.open_secure_channel(params)

    def close_secure_channel(self):
        """
        close secure channel. It seems to trigger a shutdown of socket
        in most servers, so be prepare to reconnect
        """
        return self._uasocket.close_secure_channel()

    def create_session(self, parameters):
        self.logger.info("create_session")
        request = ua.CreateSessionRequest()
        request.Parameters = parameters
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.CreateSessionResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        self._uasocket.authentication_token = response.Parameters.AuthenticationToken
        return response.Parameters

    def activate_session(self, parameters):
        self.logger.info("activate_session")
        request = ua.ActivateSessionRequest()
        request.Parameters = parameters
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.ActivateSessionResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Parameters

    def close_session(self, deletesubscriptions):
        self.logger.info("close_session")
        request = ua.CloseSessionRequest()
        request.DeleteSubscriptions = deletesubscriptions
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.CloseSessionResponse, data)
        try:
            response.ResponseHeader.ServiceResult.check()
        except BadSessionClosed:
            # Problem: closing the session with open publish requests leads to BadSessionClosed responses
            #          we can just ignore it therefore.
            #          Alternatively we could make sure that there are no publish requests in flight when
            #          closing the session.
            pass

    def browse(self, parameters):
        self.logger.info("browse")
        request = ua.BrowseRequest()
        request.Parameters = parameters
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.BrowseResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Results

    def browse_next(self, parameters):
        self.logger.info("browse next")
        request = ua.BrowseNextRequest()
        request.Parameters = parameters
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.BrowseNextResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Parameters.Results

    def read(self, parameters):
        self.logger.info("read")
        request = ua.ReadRequest()
        request.Parameters = parameters
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.ReadResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        # cast to Enum attributes that need to
        for idx, rv in enumerate(parameters.NodesToRead):
            if rv.AttributeId == ua.AttributeIds.NodeClass:
                dv = response.Results[idx]
                if dv.StatusCode.is_good():
                    dv.Value.Value = ua.NodeClass(dv.Value.Value)
            elif rv.AttributeId == ua.AttributeIds.ValueRank:
                dv = response.Results[idx]
                if dv.StatusCode.is_good() and dv.Value.Value in (-3, -2, -1, 0, 1, 2, 3, 4):
                    dv.Value.Value = ua.ValueRank(dv.Value.Value)
        return response.Results

    def write(self, params):
        self.logger.info("read")
        request = ua.WriteRequest()
        request.Parameters = params
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.WriteResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Results

    def get_endpoints(self, params):
        self.logger.info("get_endpoint")
        request = ua.GetEndpointsRequest()
        request.Parameters = params
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.GetEndpointsResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Endpoints

    def find_servers(self, params):
        self.logger.info("find_servers")
        request = ua.FindServersRequest()
        request.Parameters = params
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.FindServersResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Servers

    def find_servers_on_network(self, params):
        self.logger.info("find_servers_on_network")
        request = ua.FindServersOnNetworkRequest()
        request.Parameters = params
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.FindServersOnNetworkResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Parameters

    def register_server(self, registered_server):
        self.logger.info("register_server")
        request = ua.RegisterServerRequest()
        request.Server = registered_server
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.RegisterServerResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        # nothing to return for this service

    def register_server2(self, params):
        self.logger.info("register_server2")
        request = ua.RegisterServer2Request()
        request.Parameters = params
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.RegisterServer2Response, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.ConfigurationResults

    def translate_browsepaths_to_nodeids(self, browsepaths):
        self.logger.info("translate_browsepath_to_nodeid")
        request = ua.TranslateBrowsePathsToNodeIdsRequest()
        request.Parameters.BrowsePaths = browsepaths
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.TranslateBrowsePathsToNodeIdsResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Results

    def create_subscription(self, params, callback):
        self.logger.info("create_subscription")
        request = ua.CreateSubscriptionRequest()
        request.Parameters = params
        resp_fut = Future()
        mycallbak = partial(self._create_subscription_callback, callback, resp_fut)
        self._uasocket.send_request(request, mycallbak)
        return resp_fut.result(self._timeout)

    def _create_subscription_callback(self, pub_callback, resp_fut, data_fut):
        self.logger.info("_create_subscription_callback")
        data = data_fut.result()
        response = struct_from_binary(ua.CreateSubscriptionResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        self._publishcallbacks[response.Parameters.SubscriptionId] = pub_callback
        resp_fut.set_result(response.Parameters)

    def delete_subscriptions(self, subscriptionids):
        self.logger.info("delete_subscription")
        request = ua.DeleteSubscriptionsRequest()
        request.Parameters.SubscriptionIds = subscriptionids
        resp_fut = Future()
        mycallbak = partial(self._delete_subscriptions_callback, subscriptionids, resp_fut)
        self._uasocket.send_request(request, mycallbak)
        return resp_fut.result(self._timeout)

    def _delete_subscriptions_callback(self, subscriptionids, resp_fut, data_fut):
        self.logger.info("_delete_subscriptions_callback")
        data = data_fut.result()
        response = struct_from_binary(ua.DeleteSubscriptionsResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        for sid in subscriptionids:
            self._publishcallbacks.pop(sid)
        resp_fut.set_result(response.Results)

    def publish(self, acks=None):
        self.logger.info("publish")
        if acks is None:
            acks = []
        request = ua.PublishRequest()
        request.Parameters.SubscriptionAcknowledgements = acks
        self._uasocket.send_request(request, self._call_publish_callback, timeout=0)

    def _call_publish_callback(self, future):
        self.logger.info("call_publish_callback")
        data = future.result()

        # check if answer looks ok
        try:
            self._uasocket.check_answer(data, "while waiting for publish response")
        except BadTimeout: # Spec Part 4, 7.28
            self.publish()
            return
        except BadNoSubscription: # Spec Part 5, 13.8.1
            # BadNoSubscription is expected after deleting the last subscription.
            #
            # We should therefore also check for len(self._publishcallbacks) == 0, but
            # this gets us into trouble if a Publish response arrives before the
            # DeleteSubscription response.
            #
            # We could remove the callback already when sending the DeleteSubscription request,
            # but there are some legitimate reasons to keep them around, such as when the server
            # responds with "BadTimeout" and we should try again later instead of just removing
            # the subscription client-side.
            #
            # There are a variety of ways to act correctly, but the most practical solution seems
            # to be to just ignore any BadNoSubscription responses.
            self.logger.info("BadNoSubscription received, ignoring because it's probably valid.")
            return

        # parse publish response
        try:
            response = struct_from_binary(ua.PublishResponse, data)
            self.logger.debug(response)
        except Exception:
            # INFO: catching the exception here might be obsolete because we already
            #       catch BadTimeout above. However, it's not really clear what this code
            #       does so it stays in, doesn't seem to hurt.
            self.logger.exception("Error parsing notificatipn from server")
            self.publish([]) #send publish request ot server so he does stop sending notifications
            return

        # look for callback
        try:
            callback = self._publishcallbacks[response.Parameters.SubscriptionId]
        except KeyError:
            self.logger.warning("Received data for unknown subscription: %s ", response.Parameters.SubscriptionId)
            return

        # do callback
        try:
            callback(response.Parameters)
        except Exception:  # we call client code, catch everything!
            self.logger.exception("Exception while calling user callback: %s")

    def create_monitored_items(self, params):
        self.logger.info("create_monitored_items")
        request = ua.CreateMonitoredItemsRequest()
        request.Parameters = params
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.CreateMonitoredItemsResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Results

    def delete_monitored_items(self, params):
        self.logger.info("delete_monitored_items")
        request = ua.DeleteMonitoredItemsRequest()
        request.Parameters = params
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.DeleteMonitoredItemsResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Results

    def add_nodes(self, nodestoadd):
        self.logger.info("add_nodes")
        request = ua.AddNodesRequest()
        request.Parameters.NodesToAdd = nodestoadd
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.AddNodesResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Results

    def add_references(self, refs):
        self.logger.info("add_references")
        request = ua.AddReferencesRequest()
        request.Parameters.ReferencesToAdd = refs
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.AddReferencesResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Results

    def delete_references(self, refs):
        self.logger.info("delete")
        request = ua.DeleteReferencesRequest()
        request.Parameters.ReferencesToDelete = refs
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.DeleteReferencesResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Parameters.Results


    def delete_nodes(self, params):
        self.logger.info("delete_nodes")
        request = ua.DeleteNodesRequest()
        request.Parameters = params
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.DeleteNodesResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Results

    def call(self, methodstocall):
        request = ua.CallRequest()
        request.Parameters.MethodsToCall = methodstocall
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.CallResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Results

    def history_read(self, params):
        self.logger.info("history_read")
        request = ua.HistoryReadRequest()
        request.Parameters = params
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.HistoryReadResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Results

    def modify_monitored_items(self, params):
        self.logger.info("modify_monitored_items")
        request = ua.ModifyMonitoredItemsRequest()
        request.Parameters = params
        data = self._uasocket.send_request(request)
        response = struct_from_binary(ua.ModifyMonitoredItemsResponse, data)
        self.logger.debug(response)
        response.ResponseHeader.ServiceResult.check()
        return response.Results