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a242253145
* 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>
311 lines
10 KiB
Python
311 lines
10 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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OPC UA测试服务器
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用于测试OPC UA客户端功能，特别是temperature_control和valve_control工作流
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"""
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import sys
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import time
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import logging
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from opcua import Server, ua
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import threading
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# 设置日志
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logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s')
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logger = logging.getLogger(__name__)
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class OpcUaTestServer:
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"""OPC UA测试服务器类"""
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def __init__(self, endpoint="opc.tcp://localhost:4840/freeopcua/server/"):
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"""
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初始化OPC UA服务器
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Args:
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endpoint: 服务器端点URL
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"""
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self.server = Server()
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self.server.set_endpoint(endpoint)
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# 设置服务器名称
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self.server.set_server_name("UniLabOS OPC UA Test Server")
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# 设置服务器命名空间
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self.idx = self.server.register_namespace("http://unilabos.com/opcua/test")
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# 获取Objects节点
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self.objects = self.server.get_objects_node()
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# 创建设备对象
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self.device = self.objects.add_object(self.idx, "TestDevice")
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# 存储所有节点的字典
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self.nodes = {}
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# 初始化标志
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self.running = False
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# 控制标志
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self.simulation_active = True
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def add_variable(self, name, value, data_type=None):
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"""
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添加变量节点
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Args:
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name: 变量名称
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value: 初始值
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data_type: 数据类型 (可选)
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"""
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if data_type is None:
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var = self.device.add_variable(self.idx, name, value)
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else:
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var = self.device.add_variable(self.idx, name, value, data_type)
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# 设置变量可写
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var.set_writable()
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# 存储节点
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self.nodes[name] = var
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logger.info(f"添加变量节点: {name}, 初始值: {value}")
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return var
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def add_method(self, name, callback, inputs=None, outputs=None):
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"""
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添加方法节点
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Args:
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name: 方法名称
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callback: 回调函数
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inputs: 输入参数列表 [(name, type), ...]
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outputs: 输出参数列表 [(name, type), ...]
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"""
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if inputs is None:
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inputs = []
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if outputs is None:
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outputs = []
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# 创建输入参数
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input_args = []
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for arg_name, arg_type in inputs:
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input_args.append(ua.Argument())
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input_args[-1].Name = arg_name
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input_args[-1].DataType = arg_type
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input_args[-1].ValueRank = -1
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# 创建输出参数
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output_args = []
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for arg_name, arg_type in outputs:
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output_args.append(ua.Argument())
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output_args[-1].Name = arg_name
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output_args[-1].DataType = arg_type
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output_args[-1].ValueRank = -1
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# 添加方法
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method = self.device.add_method(
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self.idx,
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name,
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callback,
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input_args,
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output_args
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)
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# 存储节点
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self.nodes[name] = method
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logger.info(f"添加方法节点: {name}")
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return method
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def start(self):
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"""启动服务器"""
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if not self.running:
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self.server.start()
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self.running = True
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logger.info("OPC UA服务器已启动")
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# 启动模拟线程
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self.simulation_thread = threading.Thread(target=self.run_simulation)
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self.simulation_thread.daemon = True
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self.simulation_thread.start()
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def stop(self):
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"""停止服务器"""
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if self.running:
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self.simulation_active = False
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if hasattr(self, 'simulation_thread'):
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self.simulation_thread.join(timeout=2)
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self.server.stop()
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self.running = False
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logger.info("OPC UA服务器已停止")
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def get_node(self, name):
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"""获取节点"""
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if name in self.nodes:
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return self.nodes[name]
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return None
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def update_variable(self, name, value):
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"""更新变量值"""
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if name in self.nodes:
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self.nodes[name].set_value(value)
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logger.debug(f"更新变量 {name} = {value}")
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return True
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logger.warning(f"变量 {name} 不存在")
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return False
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def run_simulation(self):
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"""运行模拟线程"""
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logger.info("启动模拟线程")
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temp = 20.0
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valve_position = 0.0
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flow_rate = 0.0
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while self.simulation_active and self.running:
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try:
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# 温度控制模拟
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heating_enabled = self.get_node("HeatingEnabled").get_value()
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setpoint = self.get_node("Setpoint").get_value()
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if heating_enabled:
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self.update_variable("HeatingStatus", True)
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if temp < setpoint:
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temp += 0.5 # 加快温度上升速度
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else:
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temp -= 0.1
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else:
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self.update_variable("HeatingStatus", False)
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if temp > 20.0:
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temp -= 0.2
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# 更新温度
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self.update_variable("Temperature", round(temp, 2))
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# 阀门控制模拟
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valve_control = self.get_node("ValveControl").get_value()
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valve_setpoint = self.get_node("ValveSetpoint").get_value()
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if valve_control:
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if valve_position < valve_setpoint:
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valve_position += 5.0 # 加快阀门开启速度
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if valve_position > valve_setpoint:
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valve_position = valve_setpoint
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else:
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valve_position -= 1.0
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if valve_position < 0:
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valve_position = 0
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else:
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if valve_position > 0:
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valve_position -= 5.0
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if valve_position < 0:
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valve_position = 0
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# 更新阀门位置
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self.update_variable("ValvePosition", round(valve_position, 2))
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# 流量模拟 - 与阀门位置成正比
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flow_rate = valve_position * 0.2 # 简单线性关系
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self.update_variable("FlowRate", round(flow_rate, 2))
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# 更新系统状态
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status = []
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if heating_enabled:
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status.append("Heating")
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if valve_control:
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status.append("Valve_Open")
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if status:
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self.update_variable("SystemStatus", "_".join(status))
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else:
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self.update_variable("SystemStatus", "Idle")
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# 每200毫秒更新一次
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time.sleep(0.2)
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except Exception as e:
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logger.error(f"模拟线程错误: {e}")
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time.sleep(1) # 出错时稍等一会再继续
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logger.info("模拟线程已停止")
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def reset_alarm_callback(parent, *args):
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"""重置报警的回调函数"""
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logger.info("调用了重置报警方法")
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return True
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def start_process_callback(parent, *args):
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"""启动流程的回调函数"""
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process_id = args[0] if args else 0
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logger.info(f"启动流程 ID: {process_id}")
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return process_id
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def stop_process_callback(parent, *args):
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"""停止流程的回调函数"""
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process_id = args[0] if args else 0
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logger.info(f"停止流程 ID: {process_id}")
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return True
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def main():
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"""主函数"""
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try:
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# 创建服务器
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server = OpcUaTestServer()
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# 添加变量节点 - 温度控制相关
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server.add_variable("Temperature", 20.0, ua.VariantType.Float)
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server.add_variable("Setpoint", 22.0, ua.VariantType.Float)
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server.add_variable("HeatingEnabled", False, ua.VariantType.Boolean)
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server.add_variable("HeatingStatus", False, ua.VariantType.Boolean)
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# 添加变量节点 - 阀门控制相关
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server.add_variable("ValvePosition", 0.0, ua.VariantType.Float)
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server.add_variable("ValveSetpoint", 0.0, ua.VariantType.Float)
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server.add_variable("ValveControl", False, ua.VariantType.Boolean)
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server.add_variable("FlowRate", 0.0, ua.VariantType.Float)
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# 其他状态变量
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server.add_variable("SystemStatus", "Idle", ua.VariantType.String)
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# 添加方法节点
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server.add_method(
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"ResetAlarm",
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reset_alarm_callback,
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[],
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[("Result", ua.VariantType.Boolean)]
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)
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server.add_method(
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"StartProcess",
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start_process_callback,
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[("ProcessId", ua.VariantType.Int32)],
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[("Result", ua.VariantType.Int32)]
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)
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server.add_method(
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"StopProcess",
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stop_process_callback,
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[("ProcessId", ua.VariantType.Int32)],
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[("Result", ua.VariantType.Boolean)]
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)
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# 启动服务器
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server.start()
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logger.info("服务器已启动，按Ctrl+C停止")
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# 保持服务器运行
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try:
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while True:
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time.sleep(1)
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except KeyboardInterrupt:
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logger.info("收到键盘中断，正在停止服务器...")
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# 停止服务器
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server.stop()
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except Exception as e:
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logger.error(f"服务器错误: {e}")
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import traceback
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traceback.print_exc()
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if __name__ == "__main__":
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main() |