标准化opcua设备接入unilab (#78)

* 初始提交，只保留工作区当前状态

* remove redundant arm_slider meshes

---------

Co-authored-by: Junhan Chang <changjh@dp.tech>

unilabos/device_comms/opcua_client/server.py

@@ -0,0 +1,311 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+OPC UA测试服务器
+用于测试OPC UA客户端功能，特别是temperature_control和valve_control工作流
+"""
+
+import sys
+import time
+import logging
+from opcua import Server, ua
+import threading
+
+# 设置日志
+logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s')
+logger = logging.getLogger(__name__)
+
+class OpcUaTestServer:
+    """OPC UA测试服务器类"""
+    
+    def __init__(self, endpoint="opc.tcp://localhost:4840/freeopcua/server/"):
+        """
+        初始化OPC UA服务器
+        
+        Args:
+            endpoint: 服务器端点URL
+        """
+        self.server = Server()
+        self.server.set_endpoint(endpoint)
+        
+        # 设置服务器名称
+        self.server.set_server_name("UniLabOS OPC UA Test Server")
+        
+        # 设置服务器命名空间
+        self.idx = self.server.register_namespace("http://unilabos.com/opcua/test")
+        
+        # 获取Objects节点
+        self.objects = self.server.get_objects_node()
+        
+        # 创建设备对象
+        self.device = self.objects.add_object(self.idx, "TestDevice")
+        
+        # 存储所有节点的字典
+        self.nodes = {}
+        
+        # 初始化标志
+        self.running = False
+        
+        # 控制标志
+        self.simulation_active = True
+    
+    def add_variable(self, name, value, data_type=None):
+        """
+        添加变量节点
+        
+        Args:
+            name: 变量名称
+            value: 初始值
+            data_type: 数据类型 (可选)
+        """
+        if data_type is None:
+            var = self.device.add_variable(self.idx, name, value)
+        else:
+            var = self.device.add_variable(self.idx, name, value, data_type)
+        
+        # 设置变量可写
+        var.set_writable()
+        
+        # 存储节点
+        self.nodes[name] = var
+        logger.info(f"添加变量节点: {name}, 初始值: {value}")
+        return var
+    
+    def add_method(self, name, callback, inputs=None, outputs=None):
+        """
+        添加方法节点
+        
+        Args:
+            name: 方法名称
+            callback: 回调函数
+            inputs: 输入参数列表 [(name, type), ...]
+            outputs: 输出参数列表 [(name, type), ...]
+        """
+        if inputs is None:
+            inputs = []
+        if outputs is None:
+            outputs = []
+        
+        # 创建输入参数
+        input_args = []
+        for arg_name, arg_type in inputs:
+            input_args.append(ua.Argument())
+            input_args[-1].Name = arg_name
+            input_args[-1].DataType = arg_type
+            input_args[-1].ValueRank = -1
+        
+        # 创建输出参数
+        output_args = []
+        for arg_name, arg_type in outputs:
+            output_args.append(ua.Argument())
+            output_args[-1].Name = arg_name
+            output_args[-1].DataType = arg_type
+            output_args[-1].ValueRank = -1
+        
+        # 添加方法
+        method = self.device.add_method(
+            self.idx, 
+            name, 
+            callback, 
+            input_args, 
+            output_args
+        )
+        
+        # 存储节点
+        self.nodes[name] = method
+        logger.info(f"添加方法节点: {name}")
+        return method
+    
+    def start(self):
+        """启动服务器"""
+        if not self.running:
+            self.server.start()
+            self.running = True
+            logger.info("OPC UA服务器已启动")
+            
+            # 启动模拟线程
+            self.simulation_thread = threading.Thread(target=self.run_simulation)
+            self.simulation_thread.daemon = True
+            self.simulation_thread.start()
+    
+    def stop(self):
+        """停止服务器"""
+        if self.running:
+            self.simulation_active = False
+            if hasattr(self, 'simulation_thread'):
+                self.simulation_thread.join(timeout=2)
+            self.server.stop()
+            self.running = False
+            logger.info("OPC UA服务器已停止")
+    
+    def get_node(self, name):
+        """获取节点"""
+        if name in self.nodes:
+            return self.nodes[name]
+        return None
+    
+    def update_variable(self, name, value):
+        """更新变量值"""
+        if name in self.nodes:
+            self.nodes[name].set_value(value)
+            logger.debug(f"更新变量 {name} = {value}")
+            return True
+        logger.warning(f"变量 {name} 不存在")
+        return False
+    
+    def run_simulation(self):
+        """运行模拟线程"""
+        logger.info("启动模拟线程")
+        
+        temp = 20.0
+        valve_position = 0.0
+        flow_rate = 0.0
+        
+        while self.simulation_active and self.running:
+            try:
+                # 温度控制模拟
+                heating_enabled = self.get_node("HeatingEnabled").get_value()
+                setpoint = self.get_node("Setpoint").get_value()
+                
+                if heating_enabled:
+                    self.update_variable("HeatingStatus", True)
+                    if temp < setpoint:
+                        temp += 0.5  # 加快温度上升速度
+                    else:
+                        temp -= 0.1
+                else:
+                    self.update_variable("HeatingStatus", False)
+                    if temp > 20.0:
+                        temp -= 0.2
+                
+                # 更新温度
+                self.update_variable("Temperature", round(temp, 2))
+                
+                # 阀门控制模拟
+                valve_control = self.get_node("ValveControl").get_value()
+                valve_setpoint = self.get_node("ValveSetpoint").get_value()
+                
+                if valve_control:
+                    if valve_position < valve_setpoint:
+                        valve_position += 5.0  # 加快阀门开启速度
+                        if valve_position > valve_setpoint:
+                            valve_position = valve_setpoint
+                    else:
+                        valve_position -= 1.0
+                        if valve_position < 0:
+                            valve_position = 0
+                else:
+                    if valve_position > 0:
+                        valve_position -= 5.0
+                        if valve_position < 0:
+                            valve_position = 0
+                
+                # 更新阀门位置
+                self.update_variable("ValvePosition", round(valve_position, 2))
+                
+                # 流量模拟 - 与阀门位置成正比
+                flow_rate = valve_position * 0.2  # 简单线性关系
+                self.update_variable("FlowRate", round(flow_rate, 2))
+                
+                # 更新系统状态
+                status = []
+                if heating_enabled:
+                    status.append("Heating")
+                if valve_control:
+                    status.append("Valve_Open")
+                
+                if status:
+                    self.update_variable("SystemStatus", "_".join(status))
+                else:
+                    self.update_variable("SystemStatus", "Idle")
+                
+                # 每200毫秒更新一次
+                time.sleep(0.2)
+                
+            except Exception as e:
+                logger.error(f"模拟线程错误: {e}")
+                time.sleep(1)  # 出错时稍等一会再继续
+        
+        logger.info("模拟线程已停止")
+
+def reset_alarm_callback(parent, *args):
+    """重置报警的回调函数"""
+    logger.info("调用了重置报警方法")
+    return True
+
+def start_process_callback(parent, *args):
+    """启动流程的回调函数"""
+    process_id = args[0] if args else 0
+    logger.info(f"启动流程 ID: {process_id}")
+    return process_id
+
+def stop_process_callback(parent, *args):
+    """停止流程的回调函数"""
+    process_id = args[0] if args else 0
+    logger.info(f"停止流程 ID: {process_id}")
+    return True
+
+def main():
+    """主函数"""
+    try:
+        # 创建服务器
+        server = OpcUaTestServer()
+        
+        # 添加变量节点 - 温度控制相关
+        server.add_variable("Temperature", 20.0, ua.VariantType.Float)
+        server.add_variable("Setpoint", 22.0, ua.VariantType.Float)
+        server.add_variable("HeatingEnabled", False, ua.VariantType.Boolean)
+        server.add_variable("HeatingStatus", False, ua.VariantType.Boolean)
+        
+        # 添加变量节点 - 阀门控制相关
+        server.add_variable("ValvePosition", 0.0, ua.VariantType.Float)
+        server.add_variable("ValveSetpoint", 0.0, ua.VariantType.Float)
+        server.add_variable("ValveControl", False, ua.VariantType.Boolean)
+        server.add_variable("FlowRate", 0.0, ua.VariantType.Float)
+        
+        # 其他状态变量
+        server.add_variable("SystemStatus", "Idle", ua.VariantType.String)
+        
+        # 添加方法节点
+        server.add_method(
+            "ResetAlarm", 
+            reset_alarm_callback, 
+            [], 
+            [("Result", ua.VariantType.Boolean)]
+        )
+        
+        server.add_method(
+            "StartProcess", 
+            start_process_callback, 
+            [("ProcessId", ua.VariantType.Int32)], 
+            [("Result", ua.VariantType.Int32)]
+        )
+        
+        server.add_method(
+            "StopProcess", 
+            stop_process_callback, 
+            [("ProcessId", ua.VariantType.Int32)], 
+            [("Result", ua.VariantType.Boolean)]
+        )
+        
+        # 启动服务器
+        server.start()
+        logger.info("服务器已启动，按Ctrl+C停止")
+        
+        # 保持服务器运行
+        try:
+            while True:
+                time.sleep(1)
+        except KeyboardInterrupt:
+            logger.info("收到键盘中断，正在停止服务器...")
+        
+        # 停止服务器
+        server.stop()
+        
+    except Exception as e:
+        logger.error(f"服务器错误: {e}")
+        import traceback
+        traceback.print_exc()
+
+if __name__ == "__main__":
+    main()