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>

opcua_config.json

@@ -0,0 +1,98 @@
+{
+    "register_node_list_from_csv_path": {
+        "path": "simple_opcua_nodes.csv"
+    },
+    "create_flow": [
+        {
+            "name": "温度控制流程",
+            "action": [
+                {
+                    "name": "温度控制动作",
+                    "node_function_to_create": [
+                        {
+                            "func_name": "read_temperature",
+                            "node_name": "Temperature",
+                            "mode": "read"
+                        },
+                        {
+                            "func_name": "read_heating_status",
+                            "node_name": "HeatingStatus",
+                            "mode": "read"
+                        },
+                        {
+                            "func_name": "set_heating",
+                            "node_name": "HeatingEnabled",
+                            "mode": "write",
+                            "value": true
+                        }
+                    ],
+                    "create_init_function": {
+                        "func_name": "init_setpoint",
+                        "node_name": "Setpoint",
+                        "mode": "write",
+                        "value": 25.0
+                    },
+                    "create_start_function": {
+                        "func_name": "start_heating_control",
+                        "node_name": "HeatingEnabled",
+                        "mode": "write",
+                        "write_functions": [
+                            "set_heating"
+                        ],
+                        "condition_functions": [
+                            "read_temperature",
+                            "read_heating_status"
+                        ],
+                        "stop_condition_expression": "read_temperature >= 25.0 and read_heating_status"
+                    },
+                    "create_stop_function": {
+                        "func_name": "stop_heating",
+                        "node_name": "HeatingEnabled",
+                        "mode": "write",
+                        "value": false
+                    },
+                    "create_cleanup_function": null
+                }
+            ]
+        },
+        {
+            "name": "报警重置流程",
+            "action": [
+                {
+                    "name": "报警重置动作",
+                    "node_function_to_create": [
+                        {
+                            "func_name": "reset_alarm",
+                            "node_name": "ResetAlarm",
+                            "mode": "call",
+                            "value": []
+                        }
+                    ],
+                    "create_init_function": null,
+                    "create_start_function": {
+                        "func_name": "start_reset_alarm",
+                        "node_name": "ResetAlarm",
+                        "mode": "call",
+                        "write_functions": [],
+                        "condition_functions": [
+                            "reset_alarm"
+                        ],
+                        "stop_condition_expression": "True"
+                    },
+                    "create_stop_function": null,
+                    "create_cleanup_function": null
+                }
+            ]
+        },
+        {
+            "name": "完整控制流程",
+            "action": [
+                "温度控制流程",
+                "报警重置流程"
+            ]
+        }
+    ],
+    "execute_flow": [
+        "完整控制流程"
+    ]
+}

recipes/ros-humble-unilabos-msgs/bld_ament_cmake.bat

@@ -0,0 +1,41 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal EnableDelayedExpansion
+
+set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
+
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
+rd /s /q build
+mkdir build
+pushd build
+
+:: set "CMAKE_GENERATOR=Ninja"
+
+:: try to fix long paths issues by using default generator
+set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%"
+set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%"
+
+set PYTHON="%PREFIX%\python.exe"
+
+cmake ^
+    -G "%CMAKE_GENERATOR%" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^
+    -DPYTHON_EXECUTABLE=%PYTHON% ^
+    -DPython_EXECUTABLE=%PYTHON% ^
+    -DPython3_EXECUTABLE=%PYTHON% ^
+    -DSETUPTOOLS_DEB_LAYOUT=OFF ^
+    -DBUILD_SHARED_LIBS=ON ^
+    -DBUILD_TESTING=OFF ^
+    -DCMAKE_OBJECT_PATH_MAX=255 ^
+    -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^
+    --compile-no-warning-as-error ^
+    %SRC_DIR%\%PKG_NAME%\src\work
+if errorlevel 1 exit 1
+
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1

recipes/ros-humble-unilabos-msgs/build_ament_cmake.sh

@@ -0,0 +1,71 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+
+rm -rf build
+mkdir build
+cd build
+
+# necessary for correctly linking SIP files (from python_qt_bindings)
+export LINK=$CXX
+
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then
+  PYTHON_EXECUTABLE=$PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="10.15"
+else
+  PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="11.0"
+fi
+
+echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}"
+echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
+
+export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
+echo "Using Python ${ROS_PYTHON_VERSION}"
+# Fix up SP_DIR which for some reason might contain a path to a wrong Python version
+FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/")
+echo "Using site-package dir ${FIXED_SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then
+  find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
+  find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
+  find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
+  find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true
+fi
+
+if [[ $target_platform =~ linux.* ]]; then
+    export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1"
+    export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1"
+fi;
+
+# Needed for qt-gui-cpp ..
+if [[ $target_platform =~ linux.* ]]; then
+  ln -s $GCC ${BUILD_PREFIX}/bin/gcc
+  ln -s $GXX ${BUILD_PREFIX}/bin/g++
+fi;
+
+cmake \
+    -G "Ninja" \
+    -DCMAKE_INSTALL_PREFIX=$PREFIX \
+    -DCMAKE_PREFIX_PATH=$PREFIX \
+    -DAMENT_PREFIX_PATH=$PREFIX \
+    -DCMAKE_INSTALL_LIBDIR=lib \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython3_FIND_STRATEGY=LOCATION \
+    -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \
+    -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    --compile-no-warning-as-error \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install

recipes/ros-humble-unilabos-msgs/recipe.yaml

@@ -0,0 +1,61 @@
+package:
+  name: ros-humble-unilabos-msgs
+  version: 0.9.7
+source:
+  path: ../../unilabos_msgs
+  folder: ros-humble-unilabos-msgs/src/work
+
+build:
+  script:
+    sel(win): bld_ament_cmake.bat
+    sel(unix): build_ament_cmake.sh
+  number: 5
+about:
+  home: https://www.ros.org/
+  license: BSD-3-Clause
+  summary: |
+    Robot Operating System
+
+extra:
+  recipe-maintainers:
+    - ros-forge
+
+requirements:
+  build:
+    - "{{ compiler('cxx') }}"
+    - "{{ compiler('c') }}"
+    - sel(linux64): sysroot_linux-64 2.17
+    - ninja
+    - setuptools
+    - sel(unix): make
+    - sel(unix): coreutils
+    - sel(osx): tapi
+    - sel(build_platform != target_platform): pkg-config
+    - cmake
+    - cython
+    - sel(win): vs2022_win-64
+    - sel(build_platform != target_platform): python
+    - sel(build_platform != target_platform): cross-python_{{ target_platform }}
+    - sel(build_platform != target_platform): numpy
+  host:
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - robostack-staging::ros-humble-action-msgs
+    - robostack-staging::ros-humble-ament-cmake
+    - robostack-staging::ros-humble-ament-lint-auto
+    - robostack-staging::ros-humble-ament-lint-common
+    - robostack-staging::ros-humble-ros-environment
+    - robostack-staging::ros-humble-ros-workspace
+    - robostack-staging::ros-humble-rosidl-default-generators
+    - robostack-staging::ros-humble-std-msgs
+    - robostack-staging::ros-humble-geometry-msgs
+    - robostack-staging::ros2-distro-mutex=0.5.*
+  run:
+    - robostack-staging::ros-humble-action-msgs
+    - robostack-staging::ros-humble-ros-workspace
+    - robostack-staging::ros-humble-rosidl-default-runtime
+    - robostack-staging::ros-humble-std-msgs
+    - robostack-staging::ros-humble-geometry-msgs
+#    - robostack-staging::ros2-distro-mutex=0.6.*
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

test/experiments/opcua_example.json

@@ -0,0 +1,19 @@
+{
+    "nodes": [
+        {
+            "id": "id",
+            "name": "name",
+            "children": [
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "opcua_example",
+            "config": {
+                "url": "url",
+                "config_path": "unilabos/device_comms/opcua_client/opcua_workflow_example.json"
+            },
+            "data": {
+            }
+        }
+    ]
+}

unilabos/device_comms/opcua_client/README.md

@@ -0,0 +1,19 @@
+# OPC UA 通用客户端
+
+本模块提供了一个通用的 OPC UA 客户端实现，可以通过外部配置（CSV文件）来定义节点，并通过JSON配置来执行工作流。
+
+## 特点
+
+- 支持通过 CSV 文件配置 OPC UA 节点（只需提供名称、类型和数据类型,支持节点为中文名，需指定NodeLanguage）
+- 自动查找服务器中的节点，无需知道确切的节点ID
+- 提供工作流机制
+- 支持通过 JSON 配置创建工作流
+
+## 使用方法
+
+step1: 准备opcua_nodes.csv文件
+step2: 编写opcua_workflow_example.json,以定义工作流。指定opcua_nodes.csv
+step3: 编写工作流对应action
+step4: 编写opcua_example.yaml注册表
+step5: 编写opcua_example.json组态图。指定opcua_workflow_example.json定义工作流文件
+

unilabos/device_comms/opcua_client/__init__.py

@@ -0,0 +1,12 @@
+from unilabos.device_comms.opcua_client.client_o import OpcUaClient, BaseClient
+from unilabos.device_comms.opcua_client.node.uniopcua import Variable, Method, Object, NodeType, DataType
+
+__all__ = [
+    'OpcUaClient',
+    'BaseClient',
+    'Variable',
+    'Method',
+    'Object',
+    'NodeType',
+    'DataType',
+] 

unilabos/device_comms/opcua_client/node/__init__.py

@@ -0,0 +1,10 @@
+from unilabos.device_comms.opcua_client.node.uniopcua import Variable, Method, Object, NodeType, DataType, Base
+
+__all__ = [
+    'Variable',
+    'Method',
+    'Object',
+    'NodeType',
+    'DataType',
+    'Base',
+] 

unilabos/device_comms/opcua_client/node/uniopcua.py

@@ -0,0 +1,180 @@
+# coding=utf-8
+from enum import Enum
+from abc import ABC, abstractmethod
+from typing import Tuple, Union, Optional, Any, List
+
+from opcua import Client, Node
+from opcua.ua import NodeId, NodeClass, VariantType
+
+
+class DataType(Enum):
+    BOOLEAN = VariantType.Boolean
+    SBYTE = VariantType.SByte
+    BYTE = VariantType.Byte
+    INT16 = VariantType.Int16
+    UINT16 = VariantType.UInt16
+    INT32 = VariantType.Int32
+    UINT32 = VariantType.UInt32
+    INT64 = VariantType.Int64
+    UINT64 = VariantType.UInt64
+    FLOAT = VariantType.Float
+    DOUBLE = VariantType.Double
+    STRING = VariantType.String
+    DATETIME = VariantType.DateTime
+    BYTESTRING = VariantType.ByteString
+
+
+class NodeType(Enum):
+    VARIABLE = NodeClass.Variable
+    OBJECT = NodeClass.Object
+    METHOD = NodeClass.Method
+    OBJECTTYPE = NodeClass.ObjectType
+    VARIABLETYPE = NodeClass.VariableType
+    REFERENCETYPE = NodeClass.ReferenceType
+    DATATYPE = NodeClass.DataType
+    VIEW = NodeClass.View
+
+
+class Base(ABC):
+    def __init__(self, client: Client, name: str, node_id: str, typ: NodeType, data_type: DataType):
+        self._node_id: str = node_id
+        self._client = client
+        self._name = name
+        self._type = typ
+        self._data_type = data_type
+        self._node: Optional[Node] = None
+        
+    def _get_node(self) -> Node:
+        if self._node is None:
+            try:
+                # 检查是否是NumericNodeId(ns=X;i=Y)格式
+                if "NumericNodeId" in self._node_id:
+                    # 从字符串中提取命名空间和标识符
+                    import re
+                    match = re.search(r'ns=(\d+);i=(\d+)', self._node_id)
+                    if match:
+                        ns = int(match.group(1))
+                        identifier = int(match.group(2))
+                        node_id = NodeId(identifier, ns)
+                        self._node = self._client.get_node(node_id)
+                    else:
+                        raise ValueError(f"无法解析节点ID: {self._node_id}")
+                else:
+                    # 直接使用节点ID字符串
+                    self._node = self._client.get_node(self._node_id)
+            except Exception as e:
+                print(f"获取节点失败: {self._node_id}, 错误: {e}")
+                raise
+        return self._node
+
+    @abstractmethod
+    def read(self) -> Tuple[Any, bool]:
+        """读取节点值，返回(值, 是否出错)"""
+        pass
+    
+    @abstractmethod
+    def write(self, value: Any) -> bool:
+        """写入节点值，返回是否出错"""
+        pass
+    
+    @property
+    def type(self) -> NodeType:
+        return self._type
+    
+    @property
+    def node_id(self) -> str:
+        return self._node_id
+
+    @property
+    def name(self) -> str:
+        return self._name
+
+
+class Variable(Base):
+    def __init__(self, client: Client, name: str, node_id: str, data_type: DataType):
+        super().__init__(client, name, node_id, NodeType.VARIABLE, data_type)
+
+    def read(self) -> Tuple[Any, bool]:
+        try:
+            value = self._get_node().get_value()
+            return value, False
+        except Exception as e:
+            print(f"读取变量 {self._name} 失败: {e}")
+            return None, True
+
+    def write(self, value: Any) -> bool:
+        try:
+            self._get_node().set_value(value)
+            return False
+        except Exception as e:
+            print(f"写入变量 {self._name} 失败: {e}")
+            return True
+
+
+class Method(Base):
+    def __init__(self, client: Client, name: str, node_id: str, parent_node_id: str, data_type: DataType):
+        super().__init__(client, name, node_id, NodeType.METHOD, data_type)
+        self._parent_node_id = parent_node_id
+        self._parent_node = None
+        
+    def _get_parent_node(self) -> Node:
+        if self._parent_node is None:
+            try:
+                # 检查是否是NumericNodeId(ns=X;i=Y)格式
+                if "NumericNodeId" in self._parent_node_id:
+                    # 从字符串中提取命名空间和标识符
+                    import re
+                    match = re.search(r'ns=(\d+);i=(\d+)', self._parent_node_id)
+                    if match:
+                        ns = int(match.group(1))
+                        identifier = int(match.group(2))
+                        node_id = NodeId(identifier, ns)
+                        self._parent_node = self._client.get_node(node_id)
+                    else:
+                        raise ValueError(f"无法解析父节点ID: {self._parent_node_id}")
+                else:
+                    # 直接使用节点ID字符串
+                    self._parent_node = self._client.get_node(self._parent_node_id)
+            except Exception as e:
+                print(f"获取父节点失败: {self._parent_node_id}, 错误: {e}")
+                raise
+        return self._parent_node
+
+    def read(self) -> Tuple[Any, bool]:
+        """方法节点不支持读取操作"""
+        return None, True
+
+    def write(self, value: Any) -> bool:
+        """方法节点不支持写入操作"""
+        return True
+        
+    def call(self, *args) -> Tuple[Any, bool]:
+        """调用方法，返回(返回值, 是否出错)"""
+        try:
+            result = self._get_parent_node().call_method(self._get_node(), *args)
+            return result, False
+        except Exception as e:
+            print(f"调用方法 {self._name} 失败: {e}")
+            return None, True
+
+
+class Object(Base):
+    def __init__(self, client: Client, name: str, node_id: str):
+        super().__init__(client, name, node_id, NodeType.OBJECT, None)
+        
+    def read(self) -> Tuple[Any, bool]:
+        """对象节点不支持直接读取操作"""
+        return None, True
+
+    def write(self, value: Any) -> bool:
+        """对象节点不支持直接写入操作"""
+        return True
+    
+    def get_children(self) -> Tuple[List[Node], bool]:
+        """获取子节点列表，返回(子节点列表, 是否出错)"""
+        try:
+            children = self._get_node().get_children()
+            return children, False
+        except Exception as e:
+            print(f"获取对象 {self._name} 的子节点失败: {e}")
+            return [], True 

unilabos/device_comms/opcua_client/opcua_nodes_example.csv

@@ -0,0 +1,2 @@
+Name,EnglishName,NodeType,DataType,NodeLanguage
+中文名,EnglishName,VARIABLE,INT32,Chinese

unilabos/device_comms/opcua_client/opcua_workflow_example.json

@@ -0,0 +1,30 @@
+{
+    "register_node_list_from_csv_path": {
+        "path": "opcua_nodes_example.csv"
+    },
+    "create_flow": [
+        {
+            "name": "name",
+            "description": "description",
+            "parameters": ["parameter1", "parameter2"],
+            "action": [
+                {
+                    "init_function": {
+                        "func_name": "init_grab_params",
+                        "write_nodes": ["parameter1", "parameter2"]
+                    },
+                    "start_function": {
+                        "func_name": "start_grab",
+                        "write_nodes": {"parameter_start": true},
+                        "condition_nodes": ["parameter_condition"],
+                        "stop_condition_expression": "parameter_condition == True"
+                    },
+                    "stop_function": {
+                        "func_name": "stop_grab",
+                        "write_nodes": {"parameter_start": false}
+                    }
+                }
+            ]
+        }       
+    ]
+} 

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() 

unilabos/registry/devices/opcua_example.yaml

@@ -0,0 +1,12 @@
+opcua_example:
+  class:
+    action_value_mappings:
+      
+    module: unilabos.device_comms.opcua_client.client:OpcUaClient
+    status_types:
+
+    type: python
+  description: 
+  handles: []
+  icon: ''
+  init_param_schema: {}