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# Copyright (c) 2020-2021 Andreas Heine, AFOTEK Anlagen für Oberflächentechnik GmbH
# Copyright (c) 2021 Fabian Beitler, konzeptpark GmbH
# Copyright (c) 2021 Moritz Walker, ISW University of Stuttagart (for umati and VDW e.V.)
# Copyright (c) 2021-2022 Goetz Goerisch, VDW - Verein Deutscher Werkzeugmaschinenfabriken e.V.
# Copyright (c) 2021-2022 Harald Weber, VDMA e.V.
# Copyright (c) 2024 Sebastian Friedl, interop4X - FVA GmbH
# Imports
import os
import asyncio
import logging
import time
import random
from datetime import datetime, timezone
from asyncua import Server, ua
from asyncua.common.ua_utils import value_to_datavalue
from asyncua.common.instantiate_util import instantiate
from importer import CSV_IMPORTER
from datavalue_parser import parse_to_datavalue
logging.basicConfig(level=logging.WARNING)
_logger = logging.getLogger('asyncua')
BASE_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
build_date = datetime(2022, 6, 15, 17, 00)
time_value = None
async def import_xml_file(server, file_path, strict_mode=True):
"""
Imports an XML file into the server.
Args:
server: The OPC UA server instance.
file_path: The path to the XML file to import.
strict_mode: Specifies whether to use strict mode during import.
"""
try:
await server.import_xml(file_path, strict_mode=strict_mode)
print(f"Successfully imported {file_path}")
except Exception as e:
print(f"Failed to import {file_path}: {e}")
async def setup_server():
print("Start setup...")
server = Server()
server.name = "umati-Sample-Server-asyncio"
await server.init()
await server.set_build_info(
product_uri="https://github.com/umati/Sample-Server-asyncio",
product_name="umati Sample-Server-asyncio",
manufacturer_name="umati community",
software_version="alpha",
build_number="202206151700",
build_date=build_date,
)
server.set_security_policy([
ua.SecurityPolicyType.NoSecurity,
])
server.set_security_IDs([
"Anonymous",
])
server.set_endpoint("opc.tcp://0.0.0.0:4840")
return server
async def import_models(server):
print("Importing companion spec. XML...")
xml_files = [
("deps/UA-Nodeset/DI/Opc.Ua.Di.NodeSet2.xml", True),
("deps/UA-Nodeset/IA/Opc.Ua.IA.NodeSet2.xml", True),
("deps/UA-Nodeset/AMB/Opc.Ua.AMB.NodeSet2.xml", True),
("deps/UA-Nodeset/Machinery/Opc.Ua.Machinery.NodeSet2.xml", True),
#("deps/UA-Nodeset/Machinery/Result/Opc.Ua.Machinery_Result.NodeSet2.xml", True),
("deps/UA-Nodeset/PackML/Opc.Ua.PackML.NodeSet2.xml", True),
("deps/UA-Nodeset/Robotics/Opc.Ua.Robotics.NodeSet2.xml", True),
#("deps/UA-Nodeset/ISA95-JOBCONTROL/opc.ua.isa95-jobcontrol.nodeset2.xml", True),
#("deps/UA-Nodeset/Machinery/Jobs/Opc.Ua.Machinery.Jobs.Nodeset2.xml", True),
("deps/UA-Nodeset/Woodworking/Opc.Ua.Woodworking.NodeSet2.xml", True),
("deps/UA-Nodeset/Mining/General/1.0.0/Opc.Ua.Mining.General.NodeSet2.xml", False),
("deps/UA-Nodeset/Mining/TransportDumping/General/1.0.0/Opc.Ua.Mining.TransportDumping.General.NodeSet2.xml", False),
("deps/UA-Nodeset/PlasticsRubber/GeneralTypes/1.03/Opc.Ua.PlasticsRubber.GeneralTypes.NodeSet2.xml", True),
("deps/UA-Nodeset/PlasticsRubber/IMM2MES/1.01/Opc.Ua.PlasticsRubber.IMM2MES.NodeSet2.xml", True),
("nodeset/Opc.Ua.SurfaceTechnology.NodeSet2.xml", True),
("nodeset/Opc.Ua.Ijt.Tightening.NodeSet2.xml", True),
("src/models/CoatingLine-example.xml", True),
("src/models/ConveyorGunsAxes.xml", True),
("src/models/Materialsupplyroom.xml", True),
("src/models/dosingsystem.xml", True),
("src/models/ovenbooth.xml", True),
("src/models/Pretreatment.xml", True),
("src/models/ijt_tightening_server.xml", True),
("src/models/opcroboticstestserver.xml", True),
("src/models/Opc.Ua.Eumabois.Nodeset2.xml", True),
("src/models/WWM_Basic.xml", True),
("src/models/WWM_Full.xml", True),
("src/models/umati_opc40077_sample_instance.xml", True),
("deps/UA-Nodeset/Scales/Opc.Ua.Scales.NodeSet2.xml", True),
("deps/UA-Nodeset/Pumps/Opc.Ua.Pumps.NodeSet2.xml", True),
("deps/UA-Nodeset/Pumps/instanceexample.xml", True)
]
# missing namespaces
# await server.import_xml(os.path.join(BASE_DIR, "nodeset", "Opc.Ua.PlasticsRubber.GeneralTypes.NodeSet2.xml"), strict_mode=False)
# await server.import_xml(os.path.join(BASE_DIR, "deps", "UA-Nodeset", "IA", "Opc.Ua.IA.NodeSet2.xml"))
# await server.import_xml(os.path.join(BASE_DIR, "deps", "UA-Nodeset", "MachineTool", "Opc.Ua.MachineTool.Nodeset2.xml"))
# TODO disables until upstream is fixed
# await server.import_xml(os.path.join(BASE_DIR, "deps", "UA-Nodeset", "Woodworking", "Opc.Ua.Eumabois.Nodeset2.xml"))
#
for rel_path, strict_mode in xml_files:
# Construct the full file path, ensuring OS compatibility
file_path = os.path.join(BASE_DIR, *rel_path.split('/'))
await import_xml_file(server, file_path, strict_mode)
async def main():
time_value = time.time()
server = await setup_server()
print(f"Setup done! {time.time()-time_value}s")
await import_models(server)
print(f"All imports completed in {time.time() - time_value} seconds.")
##################################################################################################################
time_value = time.time()
print("Create TypeDefinitions from XML...")
# Load TypeDefinitions
await server.load_data_type_definitions()
print(f"TypeDefinitions created! {time.time()-time_value}s")
scale_node = await create_scale_instance(server)
await init_scale_identification_values(server,scale_node)
truck_node = await create_mining_instance(server)
await init_truck_identification_values(server, truck_node)
time_value = time.time()
print("Start importing CSV-Data...")
# read csv and generate data
imp = CSV_IMPORTER(server=server)
await imp.read_csv(os.path.join(BASE_DIR, "src", "data", "data.csv"))
data = []
data = await imp.get_rows()
print(f"Import done! {time.time()-time_value}s")
print("Starting Server...")
async with server:
print(f"Server is now running!")
# calling fucntion that updates robotics nodes in a parallel task
await robotvariableupdater(server)
time_value = time.time()
i = 0
while 1:
for row in data:
await updateSimpleScale(server,scale_node)
await update_truck_values(server, truck_node,i)
i = (1 + i) % 62
await asyncio.sleep(1)
for item in row:
# item = ((node, dtype, bname), val)
try:
dv = await parse_to_datavalue(item, time_value, build_date)
except Exception as e:
print(item, e)
dv = None
if dv is not None:
new_dv = ua.DataValue(
Value=dv.Value,
StatusCode=dv.StatusCode,
SourceTimestamp=dv.SourceTimestamp,
ServerTimestamp=datetime.now(timezone.utc)
)
await server.write_attribute_value(item[0][0].nodeid, new_dv, ua.AttributeIds.Value)
async def robotvariableupdater(server):
# prepare a list of variables to be updated
nsindex= await server.get_namespace_index("http://vdma.org/OPCRoboticsTestServer/")
nodesToUpdate=[]
nodesToUpdate.append(server.get_node(f"ns={nsindex};i=6022"))
nodesToUpdate.append(server.get_node(f"ns={nsindex};i=6020"))
nodesToUpdate.append(server.get_node(f"ns={nsindex};i=6024"))
nodesToUpdate.append(server.get_node(f"ns={nsindex};i=6031"))
nodesToUpdate.append(server.get_node(f"ns={nsindex};i=6027"))
nodesToUpdate.append(server.get_node(f"ns={nsindex};i=6033"))
nodesToUpdate.append(server.get_node(f"ns={nsindex};i=6054"))
loop = asyncio.get_event_loop()
loop.create_task(randomvaluesimulator(nodesToUpdate))
async def randomvaluesimulator(nodes):
while True:
await asyncio.sleep(2)
#print("Simulating...")
for node in nodes:
value = round(random.uniform(10,20),2)
await node.write_value(value)
async def create_scale_instance(server):
print("Create Scale example")
idx = await server.register_namespace("http://interop4x.de/example/scale")
machinery_idx = await server.get_namespace_index('http://opcfoundation.org/UA/Machinery/')
scale_idx = await server.get_namespace_index('http://opcfoundation.org/UA/Scales/V2/')
simpleScale_type_nodeid = f"ns={scale_idx};i=3"
simpleScale_type_node = server.get_node(simpleScale_type_nodeid)
displayname = ua.LocalizedText("mySimpleScale")
machines_node = await server.nodes.objects.get_child(f"{machinery_idx}:Machines")
await instantiate(machines_node, simpleScale_type_node, bname=f"{idx}:mySimpleScale", dname=displayname)
scale_node = await server.nodes.objects.get_child([f"{machinery_idx}:Machines",f"{idx}:mySimpleScale"])
print(scale_node)
return scale_node
async def init_scale_identification_values(server,scale_node):
di_idx = await server.get_namespace_index("http://opcfoundation.org/UA/DI/")
manufacturer = await scale_node.get_child([f"{di_idx}:Identification", f"{di_idx}:Manufacturer"])
await manufacturer.write_value(ua.LocalizedText("interop4X - FVA GmbH"))
serialNumber = await scale_node.get_child([f"{di_idx}:Identification", f"{di_idx}:SerialNumber"])
await serialNumber.write_value(("12-34-56"))
productInstanceUri = await scale_node.get_child([f"{di_idx}:Identification", f"{di_idx}:ProductInstanceUri"])
await productInstanceUri.write_value(
("http://interop4x.de/12-34-56"))
async def updateSimpleScale(server, scale_node):
scale_idx = await server.get_namespace_index('http://opcfoundation.org/UA/Scales/V2/')
currentWeight = await scale_node.get_child(f"{scale_idx}:CurrentWeight")
value = await currentWeight.read_value()
value.Gross = (value.Gross + 0.2) % 10
value.Net = value.Gross - value.Tare
await currentWeight.write_value(value)
async def create_mining_instance(server):
print("Create Minng example")
idx = await server.register_namespace("http://interop4x.de/example/mining")
machinery_idx = await server.get_namespace_index('http://opcfoundation.org/UA/Machinery/')
mining_idx = await server.get_namespace_index("http://opcfoundation.org/UA/Mining/TransportDumping/General/")
HaulageMachineType_nid = f"ns={mining_idx};i=1003"
HaulageMachineType_node = server.get_node(HaulageMachineType_nid)
displayname = ua.LocalizedText("myTruck")
machines_node = await server.nodes.objects.get_child(f"{machinery_idx}:Machines")
await instantiate(machines_node, HaulageMachineType_node, bname=f"{idx}:myTruck", dname=displayname)
truck_node = await server.nodes.objects.get_child([f"{machinery_idx}:Machines", f"{idx}:myTruck"])
return truck_node
async def init_truck_identification_values(server, truck_node):
di_idx = await server.get_namespace_index("http://opcfoundation.org/UA/DI/")
mining_general_idx = await server.get_namespace_index('http://opcfoundation.org/UA/Mining/General/')
manufacturer = await truck_node.get_child([f"{mining_general_idx}:MiningEquipmentIdentification", f"{di_idx}:Manufacturer"])
await manufacturer.write_value(ua.LocalizedText("interop4X - FVA GmbH"))
serialNumber = await truck_node.get_child([f"{mining_general_idx}:MiningEquipmentIdentification", f"{di_idx}:SerialNumber"])
await serialNumber.write_value(("t-12-34-56"))
productInstanceUri = await truck_node.get_child([f"{mining_general_idx}:MiningEquipmentIdentification", f"{di_idx}:ProductInstanceUri"])
await productInstanceUri.write_value(
("http://interop4x.de/t-12-34-56"))
async def update_truck_values(server, truck_node,i):
di_idx = await server.get_namespace_index("http://opcfoundation.org/UA/DI/")
mining_general_idx = await server.get_namespace_index('http://opcfoundation.org/UA/Mining/General/')
mining_idx = await server.get_namespace_index('http://opcfoundation.org/UA/Mining/TransportDumping/General/')
payload = await truck_node.get_child([f"{di_idx}:ParameterSet",f"{mining_idx}:CurrentPayload"])
speed = await truck_node.get_child([f"{di_idx}:ParameterSet",f"{mining_idx}:MachineVelocity",f"{mining_general_idx}:Speed"])
if i < 10:
await payload.write_value((await payload.read_value() + 0.5))
await speed.write_value(0.0)
elif i < 15:
await payload.write_value(await payload.read_value())
await speed.write_value(await speed.read_value()+ 0.1)
elif i < 20:
await payload.write_value(await payload.read_value())
await speed.write_value(await speed.read_value())
elif i < 25:
await payload.write_value(await payload.read_value())
await speed.write_value(await speed.read_value() - 0.1)
elif i < 30:
await payload.write_value(await payload.read_value() - 0.5)
await speed.write_value(0.0)
elif i < 40:
await payload.write_value(0.0)
await speed.write_value(await speed.read_value()+ 0.2)
elif i < 50:
await payload.write_value(0.0)
await speed.write_value(await speed.read_value()- 0.2)
elif i < 60:
await payload.write_value(0.0)
await speed.write_value(0.0)
# Start Server
if __name__ == "__main__":
asyncio.run(main())