diff --git a/opcua_config.json b/opcua_config.json new file mode 100644 index 0000000..16771a3 --- /dev/null +++ b/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" + ] +} \ No newline at end of file diff --git a/python b/python new file mode 100644 index 0000000..e69de29 diff --git a/recipes/ros-humble-unilabos-msgs/bld_ament_cmake.bat b/recipes/ros-humble-unilabos-msgs/bld_ament_cmake.bat new file mode 100644 index 0000000..9bf0155 --- /dev/null +++ b/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 diff --git a/recipes/ros-humble-unilabos-msgs/build_ament_cmake.sh b/recipes/ros-humble-unilabos-msgs/build_ament_cmake.sh new file mode 100644 index 0000000..52baa99 --- /dev/null +++ b/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 diff --git a/recipes/ros-humble-unilabos-msgs/recipe.yaml b/recipes/ros-humble-unilabos-msgs/recipe.yaml new file mode 100644 index 0000000..e476d1b --- /dev/null +++ b/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') }} diff --git a/test/experiments/opcua_example.json b/test/experiments/opcua_example.json new file mode 100644 index 0000000..a563628 --- /dev/null +++ b/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": { + } + } + ] +} \ No newline at end of file diff --git a/unilabos/device_comms/opcua_client/README.md b/unilabos/device_comms/opcua_client/README.md new file mode 100644 index 0000000..a32735e --- /dev/null +++ b/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 + diff --git a/unilabos/device_comms/opcua_client/__init__.py b/unilabos/device_comms/opcua_client/__init__.py new file mode 100644 index 0000000..97e8bdc --- /dev/null +++ b/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', +] \ No newline at end of file diff --git a/unilabos/device_comms/opcua_client/client.py b/unilabos/device_comms/opcua_client/client.py new file mode 100644 index 0000000..011ce07 --- /dev/null +++ b/unilabos/device_comms/opcua_client/client.py @@ -0,0 +1,1380 @@ +import json +import time +import traceback +from typing import Any, Union, List, Dict, Callable, Optional, Tuple +from pydantic import BaseModel + +from opcua import Client, ua +from opcua.ua import NodeClass +import pandas as pd +import os + +from unilabos.device_comms.opcua_client.node.uniopcua import Base as OpcUaNodeBase +from unilabos.device_comms.opcua_client.node.uniopcua import Variable, Method, NodeType, DataType +from unilabos.device_comms.universal_driver import UniversalDriver +from unilabos.utils.log import logger + + +class OpcUaNode(BaseModel): + name: str + node_type: NodeType + node_id: str = "" + data_type: Optional[DataType] = None + parent_node_id: Optional[str] = None + + +class OpcUaWorkflow(BaseModel): + name: str + actions: List[ + Union[ + "OpcUaWorkflow", + Callable[ + [Callable[[str], OpcUaNodeBase]], + None + ]] + ] + + +class Action(BaseModel): + name: str + rw: bool # read是0 write是1 + + +class WorkflowAction(BaseModel): + init: Optional[Callable[[Callable[[str], OpcUaNodeBase]], bool]] = None + start: Optional[Callable[[Callable[[str], OpcUaNodeBase]], bool]] = None + stop: Optional[Callable[[Callable[[str], OpcUaNodeBase]], bool]] = None + cleanup: Optional[Callable[[Callable[[str], OpcUaNodeBase]], None]] = None + + +class OpcUaWorkflowModel(BaseModel): + name: str + actions: List[Union["OpcUaWorkflowModel", WorkflowAction]] + parameters: Optional[List[str]] = None + description: Optional[str] = None + + +""" 前后端Json解析用 """ +class NodeFunctionJson(BaseModel): + func_name: str + node_name: str + mode: str # read, write, call + value: Any = None + + +class InitFunctionJson(NodeFunctionJson): + pass + + +class StartFunctionJson(NodeFunctionJson): + write_functions: List[str] + condition_functions: List[str] + stop_condition_expression: str + + +class StopFunctionJson(NodeFunctionJson): + pass + + +class CleanupFunctionJson(NodeFunctionJson): + pass + + +class ActionJson(BaseModel): + node_function_to_create: List[NodeFunctionJson] + create_init_function: Optional[InitFunctionJson] = None + create_start_function: Optional[StartFunctionJson] = None + create_stop_function: Optional[StopFunctionJson] = None + create_cleanup_function: Optional[CleanupFunctionJson] = None + + +class SimplifiedActionJson(BaseModel): + """简化的动作JSON格式，直接定义节点列表和函数""" + nodes: Optional[Dict[str, Dict[str, Any]]] = None # 节点定义，格式为 {func_name: {node_name, mode, value}} + init_function: Optional[Dict[str, Any]] = None + start_function: Optional[Dict[str, Any]] = None + stop_function: Optional[Dict[str, Any]] = None + cleanup_function: Optional[Dict[str, Any]] = None + + +class WorkflowCreateJson(BaseModel): + name: str + action: List[Union[ActionJson, SimplifiedActionJson, 'WorkflowCreateJson', str]] + parameters: Optional[List[str]] = None + description: Optional[str] = None + + +class ExecuteProcedureJson(BaseModel): + register_node_list_from_csv_path: Optional[Dict[str, Any]] = None + create_flow: List[WorkflowCreateJson] + execute_flow: List[str] + + +class BaseClient(UniversalDriver): + client: Optional[Client] = None + _node_registry: Dict[str, OpcUaNodeBase] = {} + DEFAULT_ADDRESS_PATH = "" + _variables_to_find: Dict[str, Dict[str, Any]] = {} + _name_mapping: Dict[str, str] = {} # 英文名到中文名的映射 + _reverse_mapping: Dict[str, str] = {} # 中文名到英文名的映射 + + def __init__(self): + super().__init__() + # 自动查找节点功能默认开启 + self._auto_find_nodes = True + # 初始化名称映射字典 + self._name_mapping = {} + self._reverse_mapping = {} + + def _set_client(self, client: Optional[Client]) -> None: + if client is None: + raise ValueError('client is not valid') + self.client = client + + def _connect(self) -> None: + logger.info('try to connect client...') + if self.client: + try: + self.client.connect() + logger.info('client connected!') + + # 连接后开始查找节点 + if self._variables_to_find: + self._find_nodes() + except Exception as e: + logger.error(f'client connect failed: {e}') + raise + else: + raise ValueError('client is not initialized') + + def _find_nodes(self) -> None: + """查找服务器中的节点""" + if not self.client: + raise ValueError('client is not connected') + + logger.info('开始查找节点...') + try: + # 获取根节点 + root = self.client.get_root_node() + objects = root.get_child(["0:Objects"]) + + # 查找节点 + self._find_nodes_recursive(objects) + + # 检查是否所有节点都已找到 + not_found = [] + for var_name, var_info in self._variables_to_find.items(): + if var_name not in self._node_registry: + not_found.append(var_name) + + if not_found: + logger.warning(f"以下节点未找到: {', '.join(not_found)}") + else: + logger.info("所有节点均已找到") + + except Exception as e: + logger.error(f"查找节点失败: {e}") + traceback.print_exc() + + def _find_nodes_recursive(self, node) -> None: + """递归查找节点""" + try: + # 获取当前节点的浏览名称 + browse_name = node.get_browse_name() + node_name = browse_name.Name + + # 检查是否是我们要找的变量 + if node_name in self._variables_to_find and node_name not in self._node_registry: + var_info = self._variables_to_find[node_name] + node_type = var_info.get("node_type") + data_type = var_info.get("data_type") + + # 根据节点类型创建相应的对象 + if node_type == NodeType.VARIABLE: + self._node_registry[node_name] = Variable(self.client, node_name, str(node.nodeid), data_type) + logger.info(f"找到变量节点: {node_name}") + elif node_type == NodeType.METHOD: + # 对于方法节点，需要获取父节点ID + parent_node = node.get_parent() + parent_node_id = str(parent_node.nodeid) + self._node_registry[node_name] = Method(self.client, node_name, str(node.nodeid), parent_node_id, data_type) + logger.info(f"找到方法节点: {node_name}") + + # 递归处理子节点 + for child in node.get_children(): + self._find_nodes_recursive(child) + + except Exception as e: + # 忽略处理单个节点时的错误，继续处理其他节点 + pass + + @classmethod + def load_csv(cls, file_path: str) -> List[OpcUaNode]: + """ + 从CSV文件加载节点定义 + CSV文件需包含Name,NodeType,DataType列 + 可选包含EnglishName和NodeLanguage列 + """ + df = pd.read_csv(file_path) + df = df.drop_duplicates(subset='Name', keep='first') # 重复的数据应该报错 + nodes = [] + + # 检查是否包含英文名称列和节点语言列 + has_english_name = 'EnglishName' in df.columns + has_node_language = 'NodeLanguage' in df.columns + + # 如果存在英文名称列，创建名称映射字典 + name_mapping = {} + reverse_mapping = {} + + for _, row in df.iterrows(): + name = row.get('Name') + node_type_str = row.get('NodeType') + data_type_str = row.get('DataType') + + # 获取英文名称和节点语言（如果有） + english_name = row.get('EnglishName') if has_english_name else None + node_language = row.get('NodeLanguage') if has_node_language else 'English' # 默认为英文 + + # 如果有英文名称，添加到映射字典 + if english_name and not pd.isna(english_name) and node_language == 'Chinese': + name_mapping[english_name] = name + reverse_mapping[name] = english_name + + if not name or not node_type_str: + logger.warning(f"跳过无效行: 名称或节点类型缺失") + continue + + # 只支持VARIABLE和METHOD两种类型 + if node_type_str not in ['VARIABLE', 'METHOD']: + logger.warning(f"不支持的节点类型: {node_type_str}，仅支持VARIABLE和METHOD") + continue + + try: + node_type = NodeType[node_type_str] + except KeyError: + logger.warning(f"无效的节点类型: {node_type_str}") + continue + + # 对于VARIABLE节点，必须指定数据类型 + if node_type == NodeType.VARIABLE: + if not data_type_str or pd.isna(data_type_str): + logger.warning(f"变量节点 {name} 必须指定数据类型") + continue + + try: + data_type = DataType[data_type_str] + except KeyError: + logger.warning(f"无效的数据类型: {data_type_str}") + continue + else: + # 对于METHOD节点，数据类型可选 + data_type = None + if data_type_str and not pd.isna(data_type_str): + try: + data_type = DataType[data_type_str] + except KeyError: + logger.warning(f"无效的数据类型: {data_type_str}，将使用默认值") + + # 创建节点对象，节点ID留空，将通过自动查找功能获取 + nodes.append(OpcUaNode( + name=name, + node_type=node_type, + data_type=data_type + )) + + # 返回节点列表和名称映射字典 + return nodes, name_mapping, reverse_mapping + + def use_node(self, name: str) -> OpcUaNodeBase: + """ + 获取已注册的节点 + 如果节点尚未找到，会尝试再次查找 + 支持使用英文名称访问中文节点 + """ + # 检查是否使用英文名称访问中文节点 + if name in self._name_mapping: + chinese_name = self._name_mapping[name] + if chinese_name in self._node_registry: + return self._node_registry[chinese_name] + elif chinese_name in self._variables_to_find: + logger.warning(f"节点 {chinese_name} (英文名: {name}) 尚未找到，尝试重新查找") + if self.client: + self._find_nodes() + if chinese_name in self._node_registry: + return self._node_registry[chinese_name] + raise ValueError(f'节点 {chinese_name} (英文名: {name}) 未注册或未找到') + + # 直接使用原始名称查找 + if name not in self._node_registry: + if name in self._variables_to_find: + logger.warning(f"节点 {name} 尚未找到，尝试重新查找") + if self.client: + self._find_nodes() + if name in self._node_registry: + return self._node_registry[name] + raise ValueError(f'节点 {name} 未注册或未找到') + return self._node_registry[name] + + def get_node_registry(self) -> Dict[str, OpcUaNodeBase]: + return self._node_registry + + def register_node_list_from_csv_path(self, path: str = None) -> "BaseClient": + """从CSV文件注册节点""" + if path is None: + path = self.DEFAULT_ADDRESS_PATH + nodes, name_mapping, reverse_mapping = self.load_csv(path) + self._name_mapping.update(name_mapping) + self._reverse_mapping.update(reverse_mapping) + return self.register_node_list(nodes) + + def register_node_list(self, node_list: List[OpcUaNode]) -> "BaseClient": + """注册节点列表""" + if not node_list or len(node_list) == 0: + logger.warning('节点列表为空') + return self + + logger.info(f'开始注册 {len(node_list)} 个节点...') + for node in node_list: + if node is None: + continue + + if node.name in self._node_registry: + logger.info(f'节点 {node.name} 已存在') + exist = self._node_registry[node.name] + if exist.type != node.node_type: + raise ValueError(f'节点 {node.name} 类型 {node.node_type} 与已存在的类型 {exist.type} 不一致') + continue + + # 将节点添加到待查找列表 + self._variables_to_find[node.name] = { + "node_type": node.node_type, + "data_type": node.data_type + } + logger.info(f'添加节点 {node.name} 到待查找列表') + + logger.info('节点注册完成') + + # 如果客户端已连接，立即开始查找 + if self.client: + self._find_nodes() + + return self + + def run_opcua_workflow(self, workflow: OpcUaWorkflow) -> None: + if not self.client: + raise ValueError('client is not connected') + + logger.info(f'start to run workflow {workflow.name}...') + + for action in workflow.actions: + if isinstance(action, OpcUaWorkflow): + self.run_opcua_workflow(action) + elif callable(action): + action(self.use_node) + else: + raise ValueError(f'invalid action {action}') + + def call_lifecycle_fn( + self, + workflow: OpcUaWorkflowModel, + fn: Optional[Callable[[Callable], bool]], + ) -> bool: + if not fn: + raise ValueError('fn is not valid in call_lifecycle_fn') + try: + result = fn(self.use_node) + # 处理函数返回值可能是元组的情况 + if isinstance(result, tuple) and len(result) == 2: + # 第二个元素是错误标志，True表示出错，False表示成功 + value, error_flag = result + return not error_flag # 转换成True表示成功，False表示失败 + return result + except Exception as e: + traceback.print_exc() + logger.error(f'execute {workflow.name} lifecycle failed, err: {e}') + return False + + def run_opcua_workflow_model(self, workflow: OpcUaWorkflowModel) -> bool: + if not self.client: + raise ValueError('client is not connected') + + logger.info(f'start to run workflow {workflow.name}...') + + for action in workflow.actions: + if isinstance(action, OpcUaWorkflowModel): + if self.run_opcua_workflow_model(action): + logger.info(f"{action.name} workflow done.") + continue + else: + logger.error(f"{action.name} workflow failed") + return False + elif isinstance(action, WorkflowAction): + init = action.init + start = action.start + stop = action.stop + cleanup = action.cleanup + if not init and not start and not stop: + raise ValueError(f'invalid action {action}') + + is_err = False + try: + if init and not self.call_lifecycle_fn(workflow, init): + raise ValueError(f"{workflow.name} init action failed") + if not self.call_lifecycle_fn(workflow, start): + raise ValueError(f"{workflow.name} start action failed") + if not self.call_lifecycle_fn(workflow, stop): + raise ValueError(f"{workflow.name} stop action failed") + logger.info(f"{workflow.name} action done.") + except Exception as e: + is_err = True + traceback.print_exc() + logger.error(f"{workflow.name} action failed, err: {e}") + finally: + logger.info(f"{workflow.name} try to run cleanup") + if cleanup: + self.call_lifecycle_fn(workflow, cleanup) + else: + logger.info(f"{workflow.name} cleanup is not defined") + if is_err: + return False + return True + else: + raise ValueError(f'invalid action type {type(action)}') + + return True + + function_name: Dict[str, Callable[[Callable[[str], OpcUaNodeBase]], bool]] = {} + + def create_node_function(self, func_name: str = None, node_name: str = None, mode: str = None, value: Any = None, **kwargs) -> Callable[[Callable[[str], OpcUaNodeBase]], bool]: + def execute_node_function(use_node: Callable[[str], OpcUaNodeBase]) -> Union[bool, Tuple[Any, bool]]: + target_node = use_node(node_name) + + # 检查是否有对应的参数值可用 + current_value = value + if hasattr(self, '_workflow_params') and func_name in self._workflow_params: + current_value = self._workflow_params[func_name] + print(f"使用参数值 {func_name} = {current_value}") + else: + print(f"执行 {node_name}, {type(target_node).__name__}, {target_node.node_id}, {mode}, {current_value}") + + if mode == 'read': + result_str = self.read_node(node_name) + + try: + # 将字符串转换为字典 + result_str = result_str.replace("'", '"') # 替换单引号为双引号以便JSON解析 + result_dict = json.loads(result_str) + + # 从字典获取值和错误标志 + val = result_dict.get("value") + err = result_dict.get("error") + + print(f"读取 {node_name} 返回值 = {val} (类型: {type(val).__name__}), 错误 = {err}") + return val, err + except Exception as e: + print(f"解析读取结果失败: {e}, 原始结果: {result_str}") + return None, True + elif mode == 'write': + # 构造完整的JSON输入，包含node_name和value + input_json = json.dumps({"node_name": node_name, "value": current_value}) + result_str = self.write_node(input_json) + + try: + # 解析返回的字符串为字典 + result_str = result_str.replace("'", '"') # 替换单引号为双引号以便JSON解析 + result = json.loads(result_str) + success = result.get("success", False) + print(f"写入 {node_name} = {current_value}, 结果 = {success}") + return success + except Exception as e: + print(f"解析写入结果失败: {e}, 原始结果: {result_str}") + return False + elif mode == 'call' and hasattr(target_node, 'call'): + args = current_value if isinstance(current_value, list) else [current_value] + result = target_node.call(*args) + print(f"调用方法 {node_name} 参数 = {args}, 返回值 = {result}") + return result + return False + + if func_name is None: + func_name = f"{node_name}_{mode}_{str(value)}" + + print(f"创建 node function: {mode}, {func_name}") + self.function_name[func_name] = execute_node_function + + return execute_node_function + + def create_init_function(self, func_name: str = None, write_nodes: Union[Dict[str, Any], List[str]] = None): + """ + 创建初始化函数 + + 参数: + func_name: 函数名称 + write_nodes: 写节点配置，可以是节点名列表[节点1,节点2]或节点值映射{节点1:值1,节点2:值2} + 值可以是具体值，也可以是参数名称字符串（将从_workflow_params中查找） + """ + if write_nodes is None: + raise ValueError("必须提供write_nodes参数") + + def execute_init_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool: + if isinstance(write_nodes, list): + # 处理节点列表 + for node_name in write_nodes: + # 尝试从参数中获取同名参数的值 + current_value = True # 默认值 + if hasattr(self, '_workflow_params') and node_name in self._workflow_params: + current_value = self._workflow_params[node_name] + print(f"初始化函数: 从参数获取值 {node_name} = {current_value}") + + print(f"初始化函数: 写入节点 {node_name} = {current_value}") + input_json = json.dumps({"node_name": node_name, "value": current_value}) + result_str = self.write_node(input_json) + try: + result_str = result_str.replace("'", '"') + result = json.loads(result_str) + success = result.get("success", False) + print(f"初始化函数: 写入结果 = {success}") + except Exception as e: + print(f"初始化函数: 解析写入结果失败: {e}, 原始结果: {result_str}") + elif isinstance(write_nodes, dict): + # 处理节点字典，使用指定的值 + for node_name, node_value in write_nodes.items(): + # 检查值是否是字符串类型的参数名 + current_value = node_value + if isinstance(node_value, str) and hasattr(self, '_workflow_params') and node_value in self._workflow_params: + current_value = self._workflow_params[node_value] + print(f"初始化函数: 从参数获取值 {node_value} = {current_value}") + + print(f"初始化函数: 写入节点 {node_name} = {current_value}") + input_json = json.dumps({"node_name": node_name, "value": current_value}) + result_str = self.write_node(input_json) + try: + result_str = result_str.replace("'", '"') + result = json.loads(result_str) + success = result.get("success", False) + print(f"初始化函数: 写入结果 = {success}") + except Exception as e: + print(f"初始化函数: 解析写入结果失败: {e}, 原始结果: {result_str}") + return True + + if func_name is None: + func_name = f"init_function_{str(time.time())}" + + print(f"创建初始化函数: {func_name}") + self.function_name[func_name] = execute_init_function + return execute_init_function + + def create_stop_function(self, func_name: str = None, write_nodes: Union[Dict[str, Any], List[str]] = None): + """ + 创建停止函数 + + 参数: + func_name: 函数名称 + write_nodes: 写节点配置，可以是节点名列表[节点1,节点2]或节点值映射{节点1:值1,节点2:值2} + """ + if write_nodes is None: + raise ValueError("必须提供write_nodes参数") + + def execute_stop_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool: + if isinstance(write_nodes, list): + # 处理节点列表，默认值都是False + for node_name in write_nodes: + # 直接写入False + print(f"停止函数: 写入节点 {node_name} = False") + input_json = json.dumps({"node_name": node_name, "value": False}) + result_str = self.write_node(input_json) + try: + result_str = result_str.replace("'", '"') + result = json.loads(result_str) + success = result.get("success", False) + print(f"停止函数: 写入结果 = {success}") + except Exception as e: + print(f"停止函数: 解析写入结果失败: {e}, 原始结果: {result_str}") + elif isinstance(write_nodes, dict): + # 处理节点字典，使用指定的值 + for node_name, node_value in write_nodes.items(): + print(f"停止函数: 写入节点 {node_name} = {node_value}") + input_json = json.dumps({"node_name": node_name, "value": node_value}) + result_str = self.write_node(input_json) + try: + result_str = result_str.replace("'", '"') + result = json.loads(result_str) + success = result.get("success", False) + print(f"停止函数: 写入结果 = {success}") + except Exception as e: + print(f"停止函数: 解析写入结果失败: {e}, 原始结果: {result_str}") + return True + + if func_name is None: + func_name = f"stop_function_{str(time.time())}" + + print(f"创建停止函数: {func_name}") + self.function_name[func_name] = execute_stop_function + return execute_stop_function + + def create_cleanup_function(self, func_name: str = None, write_nodes: Union[Dict[str, Any], List[str]] = None): + """ + 创建清理函数 + + 参数: + func_name: 函数名称 + write_nodes: 写节点配置，可以是节点名列表[节点1,节点2]或节点值映射{节点1:值1,节点2:值2} + """ + if write_nodes is None: + raise ValueError("必须提供write_nodes参数") + + def execute_cleanup_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool: + if isinstance(write_nodes, list): + # 处理节点列表，默认值都是False + for node_name in write_nodes: + # 直接写入False + print(f"清理函数: 写入节点 {node_name} = False") + input_json = json.dumps({"node_name": node_name, "value": False}) + result_str = self.write_node(input_json) + try: + result_str = result_str.replace("'", '"') + result = json.loads(result_str) + success = result.get("success", False) + print(f"清理函数: 写入结果 = {success}") + except Exception as e: + print(f"清理函数: 解析写入结果失败: {e}, 原始结果: {result_str}") + elif isinstance(write_nodes, dict): + # 处理节点字典，使用指定的值 + for node_name, node_value in write_nodes.items(): + print(f"清理函数: 写入节点 {node_name} = {node_value}") + input_json = json.dumps({"node_name": node_name, "value": node_value}) + result_str = self.write_node(input_json) + try: + result_str = result_str.replace("'", '"') + result = json.loads(result_str) + success = result.get("success", False) + print(f"清理函数: 写入结果 = {success}") + except Exception as e: + print(f"清理函数: 解析写入结果失败: {e}, 原始结果: {result_str}") + return True + + if func_name is None: + func_name = f"cleanup_function_{str(time.time())}" + + print(f"创建清理函数: {func_name}") + self.function_name[func_name] = execute_cleanup_function + return execute_cleanup_function + + def create_start_function(self, func_name: str, stop_condition_expression: str = "True", write_nodes: Union[Dict[str, Any], List[str]] = None, condition_nodes: Union[Dict[str, str], List[str]] = None): + """ + 创建开始函数 + + 参数: + func_name: 函数名称 + stop_condition_expression: 停止条件表达式，可直接引用节点名称 + write_nodes: 写节点配置，可以是节点名列表[节点1,节点2]或节点值映射{节点1:值1,节点2:值2} + condition_nodes: 条件节点列表 [节点名1, 节点名2] + """ + def execute_start_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool: + # 直接处理写入节点 + if write_nodes: + if isinstance(write_nodes, list): + # 处理节点列表，默认值都是True + for i, node_name in enumerate(write_nodes): + # 尝试获取与节点对应的参数值 + param_name = f"write_{i}" + + # 获取参数值（如果有） + current_value = True # 默认值 + if hasattr(self, '_workflow_params') and param_name in self._workflow_params: + current_value = self._workflow_params[param_name] + + # 直接写入节点 + print(f"直接写入节点 {node_name} = {current_value}") + input_json = json.dumps({"node_name": node_name, "value": current_value}) + result_str = self.write_node(input_json) + try: + result_str = result_str.replace("'", '"') + result = json.loads(result_str) + success = result.get("success", False) + print(f"直接写入 {node_name} = {current_value}, 结果: {success}") + except Exception as e: + print(f"解析直接写入结果失败: {e}, 原始结果: {result_str}") + elif isinstance(write_nodes, dict): + # 处理节点字典，值是指定的 + for node_name, node_value in write_nodes.items(): + # 尝试获取参数值（如果节点名与参数名匹配） + current_value = node_value # 使用指定的默认值 + if hasattr(self, '_workflow_params') and node_name in self._workflow_params: + current_value = self._workflow_params[node_name] + + # 直接写入节点 + print(f"直接写入节点 {node_name} = {current_value}") + input_json = json.dumps({"node_name": node_name, "value": current_value}) + result_str = self.write_node(input_json) + try: + result_str = result_str.replace("'", '"') + result = json.loads(result_str) + success = result.get("success", False) + print(f"直接写入 {node_name} = {current_value}, 结果: {success}") + except Exception as e: + print(f"解析直接写入结果失败: {e}, 原始结果: {result_str}") + + # 如果没有条件节点，立即返回 + if not condition_nodes: + return True + + # 处理条件检查和等待 + while True: + next_loop = False + condition_source = {} + + # 直接读取条件节点 + if isinstance(condition_nodes, list): + # 处理节点列表 + for i, node_name in enumerate(condition_nodes): + # 直接读取节点 + result_str = self.read_node(node_name) + try: + result_str = result_str.replace("'", '"') + result_dict = json.loads(result_str) + read_res = result_dict.get("value") + read_err = result_dict.get("error", False) + print(f"直接读取 {node_name} 返回值 = {read_res}, 错误 = {read_err}") + + if read_err: + next_loop = True + break + + # 将节点值存入条件源字典，使用节点名称作为键 + condition_source[node_name] = read_res + # 为了向后兼容，也保留read_i格式 + condition_source[f"read_{i}"] = read_res + except Exception as e: + print(f"解析直接读取结果失败: {e}, 原始结果: {result_str}") + read_res, read_err = None, True + next_loop = True + break + elif isinstance(condition_nodes, dict): + # 处理节点字典 + for condition_func, node_name in condition_nodes.items(): + # 直接读取节点 + result_str = self.read_node(node_name) + try: + result_str = result_str.replace("'", '"') + result_dict = json.loads(result_str) + read_res = result_dict.get("value") + read_err = result_dict.get("error", False) + print(f"直接读取 {node_name} 返回值 = {read_res}, 错误 = {read_err}") + + if read_err: + next_loop = True + break + + # 将节点值存入条件源字典 + condition_source[node_name] = read_res + # 也保存使用函数名作为键 + condition_source[condition_func] = read_res + except Exception as e: + print(f"解析直接读取结果失败: {e}, 原始结果: {result_str}") + next_loop = True + break + + if not next_loop: + if stop_condition_expression: + # 添加调试信息 + print(f"条件源数据: {condition_source}") + condition_source["__RESULT"] = None + + # 确保安全地执行条件表达式 + try: + # 先尝试使用eval更安全的方式计算表达式 + result = eval(stop_condition_expression, {}, condition_source) + condition_source["__RESULT"] = result + except Exception as e: + print(f"使用eval执行表达式失败: {e}") + try: + # 回退到exec方式 + exec(f"__RESULT = {stop_condition_expression}", {}, condition_source) + except Exception as e2: + print(f"使用exec执行表达式也失败: {e2}") + condition_source["__RESULT"] = False + + res = condition_source["__RESULT"] + print(f"取得计算结果: {res}, 条件表达式: {stop_condition_expression}") + + if res: + print("满足停止条件，结束工作流") + break + else: + # 如果没有停止条件，直接退出 + break + else: + time.sleep(0.3) + + return True + + self.function_name[func_name] = execute_start_function + return execute_start_function + + create_action_from_json = None + + def create_action_from_json(self, data: Union[Dict, Any]) -> WorkflowAction: + """ + 从JSON配置创建工作流动作 + + 参数: + data: 动作JSON数据 + + 返回: + WorkflowAction对象 + """ + # 初始化所需变量 + start_function = None + write_nodes = {} + condition_nodes = [] + stop_function = None + init_function = None + cleanup_function = None + + # 提取start_function相关信息 + if hasattr(data, "start_function") and data.start_function: + start_function = data.start_function + if "write_nodes" in start_function: + write_nodes = start_function["write_nodes"] + if "condition_nodes" in start_function: + condition_nodes = start_function["condition_nodes"] + elif isinstance(data, dict) and data.get("start_function"): + start_function = data.get("start_function") + if "write_nodes" in start_function: + write_nodes = start_function["write_nodes"] + if "condition_nodes" in start_function: + condition_nodes = start_function["condition_nodes"] + + # 提取stop_function信息 + if hasattr(data, "stop_function") and data.stop_function: + stop_function = data.stop_function + elif isinstance(data, dict) and data.get("stop_function"): + stop_function = data.get("stop_function") + + # 提取init_function信息 + if hasattr(data, "init_function") and data.init_function: + init_function = data.init_function + elif isinstance(data, dict) and data.get("init_function"): + init_function = data.get("init_function") + + # 提取cleanup_function信息 + if hasattr(data, "cleanup_function") and data.cleanup_function: + cleanup_function = data.cleanup_function + elif isinstance(data, dict) and data.get("cleanup_function"): + cleanup_function = data.get("cleanup_function") + + # 创建工作流动作组件 + init = None + start = None + stop = None + cleanup = None + + # 处理init function + if init_function: + init_params = {"func_name": init_function.get("func_name")} + if "write_nodes" in init_function: + init_params["write_nodes"] = init_function["write_nodes"] + else: + # 如果没有write_nodes，创建一个空字典 + init_params["write_nodes"] = {} + + init = self.create_init_function(**init_params) + + # 处理start function + if start_function: + start_params = { + "func_name": start_function.get("func_name"), + "stop_condition_expression": start_function.get("stop_condition_expression", "True"), + "write_nodes": write_nodes, + "condition_nodes": condition_nodes + } + start = self.create_start_function(**start_params) + + # 处理stop function + if stop_function: + stop_params = { + "func_name": stop_function.get("func_name"), + "write_nodes": stop_function.get("write_nodes", {}) + } + stop = self.create_stop_function(**stop_params) + + # 处理cleanup function + if cleanup_function: + cleanup_params = { + "func_name": cleanup_function.get("func_name"), + "write_nodes": cleanup_function.get("write_nodes", {}) + } + cleanup = self.create_cleanup_function(**cleanup_params) + + return WorkflowAction(init=init, start=start, stop=stop, cleanup=cleanup) + + workflow_name: Dict[str, OpcUaWorkflowModel] = {} + + def create_workflow_from_json(self, data: List[Dict]) -> None: + """ + 从JSON配置创建工作流程序 + + 参数: + data: 工作流配置列表 + """ + for ind, flow_dict in enumerate(data): + print(f"正在创建 workflow {ind}, {flow_dict['name']}") + actions = [] + + for i in flow_dict["action"]: + if isinstance(i, str): + print(f"沿用已有 workflow 作为 action: {i}") + action = self.workflow_name[i] + else: + print("创建 action") + # 直接将字典转换为SimplifiedActionJson对象或直接使用字典 + action = self.create_action_from_json(i) + + actions.append(action) + + # 获取参数 + parameters = flow_dict.get("parameters", []) + + flow_instance = OpcUaWorkflowModel( + name=flow_dict["name"], + actions=actions, + parameters=parameters, + description=flow_dict.get("description", "") + ) + print(f"创建完成 workflow: {flow_dict['name']}") + self.workflow_name[flow_dict["name"]] = flow_instance + + def execute_workflow_from_json(self, data: List[str]) -> None: + for i in data: + print(f"正在执行 workflow: {i}") + self.run_opcua_workflow_model(self.workflow_name[i]) + + def execute_procedure_from_json(self, data: Union[ExecuteProcedureJson, Dict]) -> None: + """从JSON配置执行工作流程序""" + if isinstance(data, dict): + # 处理字典类型 + register_params = data.get("register_node_list_from_csv_path") + create_flow = data.get("create_flow", []) + execute_flow = data.get("execute_flow", []) + else: + # 处理Pydantic模型类型 + register_params = data.register_node_list_from_csv_path + create_flow = data.create_flow + execute_flow = data.execute_flow if hasattr(data, "execute_flow") else [] + + # 注册节点 + if register_params: + print(f"注册节点 csv: {register_params}") + self.register_node_list_from_csv_path(**register_params) + + # 创建工作流 + print("创建工作流") + self.create_workflow_from_json(create_flow) + + # 注册工作流为实例方法 + self.register_workflows_as_methods() + + # 如果存在execute_flow字段，则执行指定的工作流（向后兼容） + if execute_flow: + print("执行工作流") + self.execute_workflow_from_json(execute_flow) + + def register_workflows_as_methods(self) -> None: + """将工作流注册为实例方法""" + for workflow_name, workflow in self.workflow_name.items(): + # 获取工作流的参数信息（如果存在） + workflow_params = getattr(workflow, 'parameters', []) or [] + workflow_desc = getattr(workflow, 'description', None) or f"执行工作流: {workflow_name}" + + # 创建执行工作流的方法 + def create_workflow_method(wf_name=workflow_name, wf=workflow, params=workflow_params): + def workflow_method(*args, **kwargs): + logger.info(f"执行工作流: {wf_name}, 参数: {args}, {kwargs}") + + # 处理传入的参数 + if params and (args or kwargs): + # 将位置参数转换为关键字参数 + params_dict = {} + for i, param_name in enumerate(params): + if i < len(args): + params_dict[param_name] = args[i] + + # 合并关键字参数 + params_dict.update(kwargs) + + # 保存参数，供节点函数使用 + self._workflow_params = params_dict + else: + self._workflow_params = {} + + # 执行工作流 + result = self.run_opcua_workflow_model(wf) + + # 清理参数 + self._workflow_params = {} + + return result + + # 设置方法的文档字符串 + workflow_method.__doc__ = workflow_desc + if params: + param_doc = ", ".join(params) + workflow_method.__doc__ += f"\n参数: {param_doc}" + + return workflow_method + + # 注册为实例方法 + method = create_workflow_method() + setattr(self, workflow_name, method) + logger.info(f"已将工作流 '{workflow_name}' 注册为实例方法") + + def read_node(self, node_name: str) -> Dict[str, Any]: + """ + 读取节点值的便捷方法 + 返回包含result字段的字典 + """ + try: + node = self.use_node(node_name) + value, error = node.read() + + # 创建结果字典 + result = { + "value": value, + "error": error, + "node_name": node_name, + "timestamp": time.time() + } + + # 返回JSON字符串 + return json.dumps(result) + except Exception as e: + logger.error(f"读取节点 {node_name} 失败: {e}") + # 创建错误结果字典 + result = { + "value": None, + "error": True, + "node_name": node_name, + "error_message": str(e), + "timestamp": time.time() + } + return json.dumps(result) + + def write_node(self, json_input: str) -> str: + """ + 写入节点值的便捷方法 + 接受单个JSON格式的字符串作为输入，包含节点名称和值 + eg:'{\"node_name\":\"反应罐号码\",\"value\":\"2\"}' + 返回JSON格式的字符串，包含操作结果 + """ + try: + # 解析JSON格式的输入 + if not isinstance(json_input, str): + json_input = str(json_input) + + try: + input_data = json.loads(json_input) + if not isinstance(input_data, dict): + return json.dumps({"error": True, "error_message": "输入必须是包含node_name和value的JSON对象", "success": False}) + + # 从JSON中提取节点名称和值 + node_name = input_data.get("node_name") + value = input_data.get("value") + + if node_name is None: + return json.dumps({"error": True, "error_message": "JSON中缺少node_name字段", "success": False}) + except json.JSONDecodeError as e: + return json.dumps({"error": True, "error_message": f"JSON解析错误: {str(e)}", "success": False}) + + node = self.use_node(node_name) + error = node.write(value) + + # 创建结果字典 + result = { + "value": value, + "error": error, + "node_name": node_name, + "timestamp": time.time(), + "success": not error + } + + return json.dumps(result) + except Exception as e: + logger.error(f"写入节点失败: {e}") + result = { + "error": True, + "error_message": str(e), + "timestamp": time.time(), + "success": False + } + return json.dumps(result) + + def call_method(self, node_name: str, *args) -> Tuple[Any, bool]: + """ + 调用方法节点的便捷方法 + 返回 (返回值, 是否出错) + """ + try: + node = self.use_node(node_name) + if hasattr(node, 'call'): + return node.call(*args) + else: + logger.error(f"节点 {node_name} 不是方法节点") + return None, True + except Exception as e: + logger.error(f"调用方法 {node_name} 失败: {e}") + return None, True + + +class OpcUaClient(BaseClient): + def __init__(self, url: str, config_path: str = None, username: str = None, password: str = None, refresh_interval: float = 1.0): + # 降低OPCUA库的日志级别 + import logging + logging.getLogger("opcua").setLevel(logging.WARNING) + + super().__init__() + + client = Client(url) + + if username and password: + client.set_user(username) + client.set_password(password) + + self._set_client(client) + self._connect() + + # 节点值缓存和刷新相关属性 + self._node_values = {} # 缓存节点值 + self._refresh_interval = refresh_interval # 刷新间隔(秒) + self._refresh_running = False + self._refresh_thread = None + + # 如果提供了配置文件路径，则加载配置并注册工作流 + if config_path: + self.load_config(config_path) + + # 启动节点值刷新线程 + self.start_node_refresh() + + def _register_nodes_as_attributes(self): + """将所有节点注册为实例属性，可以通过self.node_name访问""" + for node_name, node in self._node_registry.items(): + # 检查是否有对应的英文名称 + eng_name = self._reverse_mapping.get(node_name) + if eng_name: + # 如果有对应的英文名称，使用英文名称作为属性名 + attr_name = eng_name + else: + # 如果没有对应的英文名称，使用原始名称，但替换空格和特殊字符 + attr_name = node_name.replace(' ', '_').replace('-', '_') + + # 创建获取节点值的属性方法，使用中文名称获取节点值 + def create_property_getter(node_key): + def getter(self): + # 优先从缓存获取值 + if node_key in self._node_values: + return self._node_values[node_key] + # 缓存中没有则直接读取 + value, _ = self.use_node(node_key).read() + return value + return getter + + # 使用property装饰器将方法注册为类属性 + setattr(OpcUaClient, attr_name, property(create_property_getter(node_name))) + logger.info(f"已注册节点 '{node_name}' 为属性 '{attr_name}'") + + def refresh_node_values(self): + """刷新所有节点的值到缓存""" + if not self.client: + logger.warning("客户端未初始化，无法刷新节点值") + return + + try: + # 简单检查连接状态，如果不连接会抛出异常 + self.client.get_namespace_array() + except Exception as e: + logger.warning(f"客户端连接异常，无法刷新节点值: {e}") + return + + for node_name, node in self._node_registry.items(): + try: + if hasattr(node, 'read'): + value, error = node.read() + if not error: + self._node_values[node_name] = value + #logger.debug(f"已刷新节点 '{node_name}' 的值: {value}") + except Exception as e: + logger.error(f"刷新节点 '{node_name}' 失败: {e}") + + def get_node_value(self, name): + """获取节点值，支持中文名和英文名""" + # 如果提供的是英文名，转换为中文名 + if name in self._name_mapping: + chinese_name = self._name_mapping[name] + # 优先从缓存获取值 + if chinese_name in self._node_values: + return self._node_values[chinese_name] + # 缓存中没有则直接读取 + value, _ = self.use_node(chinese_name).read() + return value + # 如果提供的是中文名，直接使用 + elif name in self._node_registry: + # 优先从缓存获取值 + if name in self._node_values: + return self._node_values[name] + # 缓存中没有则直接读取 + value, _ = self.use_node(name).read() + return value + else: + raise ValueError(f"未找到名称为 '{name}' 的节点") + + def set_node_value(self, name, value): + """设置节点值，支持中文名和英文名""" + # 如果提供的是英文名，转换为中文名 + if name in self._name_mapping: + chinese_name = self._name_mapping[name] + node = self.use_node(chinese_name) + # 如果提供的是中文名，直接使用 + elif name in self._node_registry: + node = self.use_node(name) + else: + raise ValueError(f"未找到名称为 '{name}' 的节点") + + # 写入值 + error = node.write(value) + if not error: + # 更新缓存 + if hasattr(node, 'name'): + self._node_values[node.name] = value + return True + return False + + def _refresh_worker(self): + """节点值刷新线程的工作函数""" + self._refresh_running = True + logger.info(f"节点值刷新线程已启动，刷新间隔: {self._refresh_interval}秒") + + while self._refresh_running: + try: + self.refresh_node_values() + except Exception as e: + logger.error(f"节点值刷新过程出错: {e}") + + # 等待下一次刷新 + time.sleep(self._refresh_interval) + + def start_node_refresh(self): + """启动节点值刷新线程""" + if self._refresh_thread is not None and self._refresh_thread.is_alive(): + logger.warning("节点值刷新线程已在运行") + return + + import threading + self._refresh_thread = threading.Thread(target=self._refresh_worker, daemon=True) + self._refresh_thread.start() + + def stop_node_refresh(self): + """停止节点值刷新线程""" + self._refresh_running = False + if self._refresh_thread and self._refresh_thread.is_alive(): + self._refresh_thread.join(timeout=2.0) + logger.info("节点值刷新线程已停止") + + def load_config(self, config_path: str) -> None: + """从JSON配置文件加载并注册工作流""" + try: + with open(config_path, 'r', encoding='utf-8') as f: + config_data = json.load(f) + + # 处理节点注册 + if "register_node_list_from_csv_path" in config_data: + # 获取配置文件所在目录 + config_dir = os.path.dirname(os.path.abspath(config_path)) + + # 处理CSV路径，如果是相对路径，则相对于配置文件所在目录 + if "path" in config_data["register_node_list_from_csv_path"]: + csv_path = config_data["register_node_list_from_csv_path"]["path"] + if not os.path.isabs(csv_path): + # 转换为绝对路径 + csv_path = os.path.join(config_dir, csv_path) + config_data["register_node_list_from_csv_path"]["path"] = csv_path + + # 直接使用字典 + self.register_node_list_from_csv_path(**config_data["register_node_list_from_csv_path"]) + + # 处理工作流创建 + if "create_flow" in config_data: + # 直接传递字典列表 + self.create_workflow_from_json(config_data["create_flow"]) + # 将工作流注册为实例方法 + self.register_workflows_as_methods() + + # 将所有节点注册为属性 + self._register_nodes_as_attributes() + + logger.info(f"成功从 {config_path} 加载配置") + except Exception as e: + logger.error(f"加载配置文件 {config_path} 失败: {e}") + traceback.print_exc() + + def disconnect(self): + # 停止刷新线程 + self.stop_node_refresh() + + if self.client: + self.client.disconnect() + logger.info("OPC UA client disconnected") + + +if __name__ == '__main__': + # 示例用法 + + # 使用配置文件创建客户端并自动注册工作流 + import os + current_dir = os.path.dirname(os.path.abspath(__file__)) + config_path = os.path.join(current_dir, "opcua_huairou.json") + + # 创建OPC UA客户端并加载配置 + try: + client = OpcUaClient( + url="opc.tcp://localhost:4840/freeopcua/server/", # 替换为实际的OPC UA服务器地址 + config_path=config_path # 传入配置文件路径 + ) + + # 列出所有已注册的工作流 + print("\n已注册的工作流：") + for workflow_name in client.workflow_name: + print(f" - {workflow_name}") + + # 测试trigger_grab_action工作流 - 使用英文参数名 + print("\n测试trigger_grab_action工作流 - 使用英文参数名:") + client.trigger_grab_action(reaction_tank_number=2, raw_tank_number=3) + + # 读取节点值 - 使用英文节点名 + grab_complete = client.get_node_value("grab_complete") + reaction_tank = client.get_node_value("reaction_tank_number") + raw_tank = client.get_node_value("raw_tank_number") + + print(f"\n执行后状态检查 (使用英文节点名):") + print(f" - 抓取完成状态: {grab_complete}") + print(f" - 当前反应罐号码: {reaction_tank}") + print(f" - 当前原料罐号码: {raw_tank}") + + # 测试节点值写入 - 使用英文节点名 + print("\n测试节点值写入 (使用英文节点名):") + success = client.set_node_value("atomization_fast_speed", 150.5) + print(f" - 写入搅拌浆雾化快速 = 150.5, 结果: {success}") + + # 读取写入的值 + atomization_speed = client.get_node_value("atomization_fast_speed") + print(f" - 读取搅拌浆雾化快速: {atomization_speed}") + + # 断开连接 + client.disconnect() + + except Exception as e: + print(f"错误: {e}") + traceback.print_exc() + + diff --git a/unilabos/device_comms/opcua_client/node/__init__.py b/unilabos/device_comms/opcua_client/node/__init__.py new file mode 100644 index 0000000..968e905 --- /dev/null +++ b/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', +] \ No newline at end of file diff --git a/unilabos/device_comms/opcua_client/node/uniopcua.py b/unilabos/device_comms/opcua_client/node/uniopcua.py new file mode 100644 index 0000000..ce16cfc --- /dev/null +++ b/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 \ No newline at end of file diff --git a/unilabos/device_comms/opcua_client/opcua_nodes_example.csv b/unilabos/device_comms/opcua_client/opcua_nodes_example.csv new file mode 100644 index 0000000..42458f1 --- /dev/null +++ b/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 diff --git a/unilabos/device_comms/opcua_client/opcua_workflow_example.json b/unilabos/device_comms/opcua_client/opcua_workflow_example.json new file mode 100644 index 0000000..d728639 --- /dev/null +++ b/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} + } + } + ] + } + ] +} \ No newline at end of file diff --git a/unilabos/device_comms/opcua_client/server.py b/unilabos/device_comms/opcua_client/server.py new file mode 100644 index 0000000..481fd6b --- /dev/null +++ b/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() \ No newline at end of file diff --git a/unilabos/device_mesh/devices/benyao_arm/config/initial_positions.yaml b/unilabos/device_mesh/devices/benyao_arm/config/initial_positions.yaml new file mode 100644 index 0000000..94fb9f5 --- /dev/null +++ b/unilabos/device_mesh/devices/benyao_arm/config/initial_positions.yaml @@ -0,0 +1,9 @@ +# Default initial positions for full_dev's ros2_control fake system + +initial_positions: + arm_base_joint: 0 + arm_link_1_joint: 0 + arm_link_2_joint: 0 + arm_link_3_joint: 0 + gripper_base_joint: 0 + gripper_right_joint: 0.03 \ No newline at end of file diff --git a/unilabos/device_mesh/devices/benyao_arm/config/joint_limits.yaml b/unilabos/device_mesh/devices/benyao_arm/config/joint_limits.yaml new file mode 100644 index 0000000..d4dffc3 --- /dev/null +++ b/unilabos/device_mesh/devices/benyao_arm/config/joint_limits.yaml @@ -0,0 +1,40 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed + +# For beginners, we downscale velocity and acceleration limits. +# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. +default_velocity_scaling_factor: 0.1 +default_acceleration_scaling_factor: 0.1 + +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + arm_base_joint: + has_velocity_limits: true + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + arm_link_1_joint: + has_velocity_limits: true + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + arm_link_2_joint: + has_velocity_limits: true + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + arm_link_3_joint: + has_velocity_limits: true + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + gripper_base_joint: + has_velocity_limits: true + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + gripper_right_joint: + has_velocity_limits: true + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml b/unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml new file mode 100644 index 0000000..c9a5d60 --- /dev/null +++ b/unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml @@ -0,0 +1,4 @@ +arm: + kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin + kinematics_solver_search_resolution: 0.0050000000000000001 + kinematics_solver_timeout: 0.0050000000000000001 diff --git a/unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro b/unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro new file mode 100644 index 0000000..70f8634 --- /dev/null +++ b/unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro @@ -0,0 +1,56 @@ + + + + + + + + + mock_components/GenericSystem + + + + + ${initial_positions['arm_base_joint']} + + + + + + + ${initial_positions['arm_link_1_joint']} + + + + + + + ${initial_positions['arm_link_2_joint']} + + + + + + + ${initial_positions['arm_link_3_joint']} + + + + + + + ${initial_positions['gripper_base_joint']} + + + + + + + ${initial_positions['gripper_right_joint']} + + + + + + + diff --git a/unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro b/unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro new file mode 100644 index 0000000..aeb5677 --- /dev/null +++ b/unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/unilabos/device_mesh/devices/benyao_arm/config/move_group.json b/unilabos/device_mesh/devices/benyao_arm/config/move_group.json new file mode 100644 index 0000000..5be9ad3 --- /dev/null +++ b/unilabos/device_mesh/devices/benyao_arm/config/move_group.json @@ -0,0 +1,14 @@ +{ + "arm": + { + "joint_names": [ + "arm_base_joint", + "arm_link_1_joint", + "arm_link_2_joint", + "arm_link_3_joint", + "gripper_base_joint" + ], + "base_link_name": "device_link", + "end_effector_name": "gripper_base" + } +} \ No newline at end of file diff --git a/unilabos/device_mesh/devices/benyao_arm/config/moveit_controllers.yaml b/unilabos/device_mesh/devices/benyao_arm/config/moveit_controllers.yaml new file mode 100644 index 0000000..70a1b55 --- /dev/null +++ b/unilabos/device_mesh/devices/benyao_arm/config/moveit_controllers.yaml @@ -0,0 +1,29 @@ +# MoveIt uses this configuration for controller management + +moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager + +moveit_simple_controller_manager: + controller_names: + - arm_controller + - gripper_controller + + arm_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - arm_base_joint + - arm_link_1_joint + - arm_link_2_joint + - arm_link_3_joint + - gripper_base_joint + action_ns: follow_joint_trajectory + default: true + gripper_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - gripper_right_joint + action_ns: follow_joint_trajectory + default: true \ No newline at end of file diff --git a/unilabos/device_mesh/devices/benyao_arm/config/moveit_planners.yaml b/unilabos/device_mesh/devices/benyao_arm/config/moveit_planners.yaml new file mode 100644 index 0000000..8560e1c --- /dev/null +++ b/unilabos/device_mesh/devices/benyao_arm/config/moveit_planners.yaml @@ -0,0 +1,2 @@ +planner_configs: + - ompl_interface/OMPLPlanner \ No newline at end of file diff --git a/unilabos/device_mesh/devices/benyao_arm/config/pilz_cartesian_limits.yaml b/unilabos/device_mesh/devices/benyao_arm/config/pilz_cartesian_limits.yaml new file mode 100644 index 0000000..b2997ca --- /dev/null +++ b/unilabos/device_mesh/devices/benyao_arm/config/pilz_cartesian_limits.yaml @@ -0,0 +1,6 @@ +# Limits for the Pilz planner +cartesian_limits: + max_trans_vel: 1.0 + max_trans_acc: 2.25 + max_trans_dec: -5.0 + max_rot_vel: 1.57 diff --git a/unilabos/device_mesh/devices/benyao_arm/config/ros2_controllers.yaml b/unilabos/device_mesh/devices/benyao_arm/config/ros2_controllers.yaml new file mode 100644 index 0000000..9c68cbf --- /dev/null +++ b/unilabos/device_mesh/devices/benyao_arm/config/ros2_controllers.yaml @@ -0,0 +1,39 @@ +# This config file is used by ros2_control +controller_manager: + ros__parameters: + update_rate: 100 # Hz + + arm_controller: + type: joint_trajectory_controller/JointTrajectoryController + + + gripper_controller: + type: joint_trajectory_controller/JointTrajectoryController + + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + +arm_controller: + ros__parameters: + joints: + - arm_base_joint + - arm_link_1_joint + - arm_link_2_joint + - arm_link_3_joint + - gripper_base_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + +gripper_controller: + ros__parameters: + joints: + - gripper_right_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity \ No newline at end of file diff --git a/unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml b/unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml new file mode 100644 index 0000000..b141262 --- /dev/null +++ b/unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml @@ -0,0 +1,44 @@ +joint_limits: + + arm_base_joint: + effort: 50 + velocity: 1.0 + lower: 0 + upper: 1.5 + + arm_link_1_joint: + effort: 50 + velocity: 1.0 + lower: 0 + upper: 0.6 + + arm_link_2_joint: + effort: 50 + velocity: 1.0 + lower: !degrees -95 + upper: !degrees 95 + + arm_link_3_joint: + effort: 50 + velocity: 1.0 + lower: !degrees -195 + upper: !degrees 195 + + gripper_base_joint: + effort: 50 + velocity: 1.0 + lower: !degrees -95 + upper: !degrees 95 + + + gripper_right_joint: + effort: 50 + velocity: 1.0 + lower: 0 + upper: 0.03 + + gripper_left_joint: + effort: 50 + velocity: 1.0 + lower: 0 + upper: 0.03 diff --git a/unilabos/device_mesh/devices/benyao_arm/macro_device.xacro b/unilabos/device_mesh/devices/benyao_arm/macro_device.xacro new file mode 100644 index 0000000..137c916 --- /dev/null +++ b/unilabos/device_mesh/devices/benyao_arm/macro_device.xacro @@ -0,0 +1,293 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_base.STL b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_base.STL new file mode 100644 index 0000000..804e1c6 Binary files /dev/null and b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_base.STL differ diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_1.STL b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_1.STL new file mode 100644 index 0000000..dd1d7c1 Binary files /dev/null and b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_1.STL differ diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_2.STL b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_2.STL new file mode 100644 index 0000000..6042fa0 Binary files /dev/null and b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_2.STL differ diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_3.STL b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_3.STL new file mode 100644 index 0000000..e8510fb Binary files /dev/null and b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_3.STL differ diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_slideway.STL b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_slideway.STL new file mode 100644 index 0000000..65737ab Binary files /dev/null and b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_slideway.STL differ diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_base.STL b/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_base.STL new file mode 100644 index 0000000..5de88d0 Binary files /dev/null and b/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_base.STL differ diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_left.STL b/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_left.STL new file mode 100644 index 0000000..0a5fd52 Binary files /dev/null and b/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_left.STL differ diff --git a/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_right.STL b/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_right.STL new file mode 100644 index 0000000..0c5ac69 Binary files /dev/null and b/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_right.STL differ diff --git a/unilabos/registry/devices/opcua_example.yaml b/unilabos/registry/devices/opcua_example.yaml new file mode 100644 index 0000000..fad9844 --- /dev/null +++ b/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: {}