first

client.py

@@ -0,0 +1,71 @@
+
+import sys
+import opcua
+from opcua import Client, ua
+
+
+class SubHandler():
+
+    def datachange_notification(node, val, data):
+        print(node, ":", val)
+        pass
+
+def main():
+
+    url = "opc.tcp://localhost:4841/"
+
+    client = Client(url)
+    client.set_user("Admin")
+    client.set_password("Basic256Sha256")
+    client.connect()
+    base = client.get_objects_node()
+
+
+
+    anlage_status = client.get_node("ns=1;i=12")
+    komponente_1_status = client.get_node("ns=1;i=21")
+    lichtschranke_l1 = client.get_node("ns=1;i=23")
+    initiator_1 = client.get_node("ns=1;i=24")
+    lichtschranke_l2 = client.get_node("ns=1;i=25")
+    fließband_1_status = client.get_node("ns=1;i=34")
+    fließband_2_status = client.get_node("ns=1;i=33")
+    fließband_2_puffer = client.get_node("ns=1;i=32")
+    fahrstuhldockingstation_status = client.get_node("ns=1;i=42")
+    lichtschranke_l3 = client.get_node("ns=1;i=41")
+    roboter =  client.get_node("ns=1;i=51")
+    freie_roboter =  client.get_node("ns=1;i=52")
+    freie_lagerplaetze =  client.get_node("ns=1;i=53")
+    werkstueck =  client.get_node("ns=1;i=6")
+    werkstueck_status = client.get_node('ns=1;i=61')
+    werkstueck_typ =  client.get_node("ns=1;i=62")
+    werkstueck_position =  client.get_node("ns=1;i=65")
+
+
+    sub = client.create_subscription(1, SubHandler)
+
+    sub.subscribe_data_change(anlage_status)
+    sub.subscribe_data_change(komponente_1_status)
+    sub.subscribe_data_change(lichtschranke_l1)
+    sub.subscribe_data_change(initiator_1)
+    sub.subscribe_data_change(lichtschranke_l2)
+    sub.subscribe_data_change(fließband_1_status)
+    sub.subscribe_data_change(fließband_2_puffer)
+    sub.subscribe_data_change(fließband_2_status)
+    sub.subscribe_data_change(fahrstuhldockingstation_status)
+    sub.subscribe_data_change(lichtschranke_l3)
+    sub.subscribe_data_change(roboter)
+    sub.subscribe_data_change(freie_roboter)
+    sub.subscribe_data_change(freie_lagerplaetze)
+    sub.subscribe_data_change(werkstueck_status)
+    sub.subscribe_data_change(werkstueck_typ)
+    sub.subscribe_data_change(werkstueck_position)
+    method_change_machinestate = client.get_node("ns=1;i=2001")
+    method_program = client.get_node("ns=1;i=2007")
+
+    base.call_method(method_program, "default")
+
+    pass
+
+
+if __name__ == "__main__":
+    main()

server.py

@@ -0,0 +1,140 @@
+from pickle import FALSE
+from opcua import Server, ua, uamethod
+from opcua.common.manage_nodes import create_method
+from simulation import MController
+
+
+server = Server()
+
+    # opcua server setup
+url = "opc.tcp://localhost:4841/"
+server.set_endpoint(url)
+server.set_security_IDs(["Anonymous", "Basic256Sha256", "Admin"])
+server.allow_remote_admin("allow")
+uri = "localhost/ptp_programmierprojekt"
+namespace = server.register_namespace(uri)
+objects = server.get_objects_node()
+server.start()
+print("Server started at {}".format(url))
+
+
+anlage = objects.add_object("ns=1;i=1", "Machine")
+anlage_status = anlage.add_variable("ns=1;i=12", "machine_status", False)
+
+komponente_1 = objects.add_object("ns=1;i=2", "komponente_1")
+komponente_1_status = komponente_1.add_variable("ns=1;i=21", "komponente_1_status", False)
+lichtschranke_l1 = komponente_1.add_variable("ns=1;i=23", "lichtschranke_l1", False)
+initiator_1 = komponente_1.add_variable("ns=1;i=24", "initiator_1", False)
+lichtschranke_l2 = komponente_1.add_variable("ns=1;i=25", "lichtschranke_l2", False)
+
+
+fließband_1 = objects.add_object("ns=1;i=3", "fließband_1")
+fließband_1_status = fließband_1.add_variable("ns=1;i=34", "fließband_1_status", False)
+
+fließband_2 = objects.add_object("ns=1;i=31", "fließband_2")
+fließband_2_puffer = fließband_2.add_variable("ns=1;i=32", "fließband_2_puffer", False)
+fließband_2_status = fließband_2.add_variable("ns=1;i=33", "fließband_2_status", False)
+
+fahrstuhldockingstation = objects.add_object("ns=1;i=4", "fahrstuhldockingstation")
+fahrstuhldockingstation_status = fahrstuhldockingstation.add_variable("ns=1;i=42", "fahrstuhldockingstation_status", False)
+lichtschranke_l3 = fahrstuhldockingstation.add_variable("ns=1;i=41", "lichtschranke_l3", False)
+
+hochregallager = objects.add_object("ns=1;i=5", "hochregallager")
+roboter = hochregallager.add_variable("ns=1;i=51", "roboter", False)
+freie_roboter = hochregallager.add_variable("ns=1;i=52", "freie_roboter", 6)
+freie_lagerplaetze = hochregallager.add_variable("ns=1;i=53", "freie_lagerplaetze", 20000)
+
+werkstueck = objects.add_object("ns=1;i=6", "werkstueck")
+werkstueck_status = werkstueck.add_variable("ns=1;i=61", "werkstueck_status",  False)
+werkstueck_typ = werkstueck.add_variable("ns=1;i=62", "werkstueck_typ",  False)
+werkstueck_position = werkstueck.add_variable("ns=1;i=65", "werkstueck_position", False)
+
+task = objects.add_object("ns=1;i=8", "task")
+task_status = task.add_variable("ns=1;i=81", "task_status", False)
+task_starttime = task.add_variable("ns=1;i=82", "task_starttime", False)
+task_stoptime = task.add_variable("ns=1;i=83", "task_stoptime", False)
+current_task = task.add_variable("ns=1;i=84", "current_task", False)
+
+programm = objects.add_object("ns=1;i=7", "Programm")
+program_name = programm.add_variable("ns=1;i=71", "Programm", True)
+
+
+
+class DataObserver():
+
+    def update(self, args):
+        for key, value in args.items():
+            print(key, value)
+            output = globals()[key]
+            output.set_value(value)
+        pass
+
+
+
+
+machine_controller = MController()
+obs = DataObserver()
+controller = machine_controller.setup(obs, globals())
+
+    # ua args for method "change_machine_state"
+statusUA = ua.Argument()
+statusUA.Name = "StatusUA"
+statusUA.DataType = ua.NodeId(ua.ObjectIds.Boolean)
+statusUA.ArrayDimensions = []
+statusUA.Description = ua.LocalizedText("Status change")
+statusoutput = ua.Argument()
+statusoutput.Name = "StatusOutputUA"
+statusoutput.DataType = ua.NodeId(ua.ObjectIds.Boolean)
+statusoutput.ArrayDimensions = []
+statusoutput.Description = ua.LocalizedText("Status change output")
+
+taskUA = ua.Argument()
+taskUA.Name = "TaskUA"
+taskUA.DataType = ua.NodeId(ua.ObjectIds.String)
+taskUA.ArrayDimensions = []
+taskUA.Description = ua.LocalizedText("task execution")
+
+taskUAinstruction = ua.Argument()
+taskUAinstruction.Name = "TaskUAInstruction"
+taskUAinstruction.DataType = ua.NodeId(ua.ObjectIds.Integer)
+taskUAinstruction.ArrayDimensions = []
+taskUAinstruction.Description = ua.LocalizedText("task execution")
+
+taskoutput = ua.Argument()
+taskoutput.Name = "TaskOutputUA"
+taskoutput.DataType = ua.NodeId(ua.ObjectIds.String)
+taskoutput.ArrayDimensions = []
+taskoutput.Description = ua.LocalizedText("task execution result")
+
+programUA = ua.Argument()
+programUA.Name = "ProgramUA"
+programUA.DataType = ua.NodeId(ua.ObjectIds.String)
+programUA.ArrayDimensions = []
+programUA.Description = ua.LocalizedText("Program")
+
+programoutputUA = ua.Argument()
+programoutputUA.Name = "ProgramUA"
+programoutputUA.DataType = ua.NodeId(ua.ObjectIds.String)
+programoutputUA.ArrayDimensions = []
+programoutputUA.Description = ua.LocalizedText("Program")
+
+    #Callable ua methods
+@uamethod
+def change_machine_status(status):
+    if status == True:
+        controller.startmachine()
+        return status
+
+    elif status == False:
+        controller.stopmachine()
+        return status
+
+@uamethod
+def startprogram(parent, name):
+    program = controller.runprogram(name)
+    return program
+
+      #Register methods in namespace
+anlage.add_method(1, "change machine status", change_machine_status, [statusUA], [statusoutput])
+anlage.add_method(1, "run program", startprogram, [programUA], [programoutputUA])
+