OPCUA_Python.ipynb

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  {
   "cell_type": "markdown",
   "id": "355639a7",
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   "source": [
    "# Introduction\n",
    "\n",
    "In this notebook, we demonstrate how to make connection to an OPC UA Server (Prosys UA Simulation Server in this case) using Python. We can then interactive with the UA server by reading and writing real-time data. \n",
    "\n",
    "To start, there is something you need to prepare in advance.\n",
    "1. Install Python environment and the package \"opcua\" (We suggest you run <font color='red'><b>pip install opcua</b></font> in command prompt)\n",
    "2. Install the OPC UA Server. In this case, you can download Prosys UA Server for free in the following URL<br>\n",
    "<a href='https://www.prosysopc.com/products/opc-ua-simulation-server/'>https://www.prosysopc.com/products/opc-ua-simulation-server/</a>\n",
    "\n",
    "# Sample Code\n",
    "Below are sample codes to make OPC UA Server connection with Python language\n",
    "\n",
    "## Server Connection"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "92104348",
   "metadata": {},
   "outputs": [],
   "source": [
    "#First, import the opcua package\n",
    "from opcua import ua,Client\n",
    "import socket\n",
    "import notebook.notebookapp\n",
    "%matplotlib inline\n",
    "\n",
    "#Find out the connection string of OPC UA Server and initiate client object, replace {} with OPC UA Server hostname\n",
    "url =\"opc.tcp://{}.localdomain:53530/OPCUA/SimulationServer\".format(socket.gethostname())\n",
    "client = Client(url)\n",
    "\n",
    "#Connection to the OPC UA Server\n",
    "client.connect()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "b5840328",
   "metadata": {},
   "source": [
    "## Explore OPC Hierachy (Nodes)\n",
    "There are several nodes that have parent-children hierachy in OPC UA architecture, this section shows you how to explore the hierachy using Python opcua package.\n",
    "\n",
    "By using get_root_node method, you can locate yourself at the top of the UA Server hierachy. You may use get_children method to search down the hierachy. Get_browse_name method allows you to view the browse name instead of nodeID of the node."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "09f59a91",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[QualifiedName(0:Objects), QualifiedName(0:Types), QualifiedName(0:Views)]"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# Call get_root_node method to locate node at the top of hierachy\n",
    "root_node = client.get_root_node()\n",
    "\n",
    "# Use get_children to drill down the hierachy, get_browse_name method allows you to view node browse name instead of nodeID\n",
    "[ x.get_browse_name() for x in root_node.get_children()]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "a264caa0",
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    {
     "data": {
      "text/plain": [
       "[QualifiedName(0:Server),\n",
       " QualifiedName(0:Aliases),\n",
       " QualifiedName(3:Simulation),\n",
       " QualifiedName(5:StaticData),\n",
       " QualifiedName(6:MyObjects)]"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# Locate object node where our variables are stored\n",
    "objects = root_node.get_children()[0]\n",
    "\n",
    "# Or you can use get_objects_node to directly locate objects node\n",
    "objects = client.get_objects_node()\n",
    "\n",
    "#Browse for the children nodes of the objects node\n",
    "[ x.get_browse_name() for x in objects.get_children()]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "7614cb00",
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   "outputs": [
    {
     "data": {
      "text/plain": [
       "[{'NodeID': Node(FourByteNodeId(ns=3;i=1001)),\n",
       "  'Node Name': QualifiedName(3:Counter)},\n",
       " {'NodeID': Node(FourByteNodeId(ns=3;i=1002)),\n",
       "  'Node Name': QualifiedName(3:Random)},\n",
       " {'NodeID': Node(FourByteNodeId(ns=3;i=1003)),\n",
       "  'Node Name': QualifiedName(3:Sawtooth)},\n",
       " {'NodeID': Node(FourByteNodeId(ns=3;i=1004)),\n",
       "  'Node Name': QualifiedName(3:Sinusoid)},\n",
       " {'NodeID': Node(FourByteNodeId(ns=3;i=1005)),\n",
       "  'Node Name': QualifiedName(3:Square)},\n",
       " {'NodeID': Node(FourByteNodeId(ns=3;i=1006)),\n",
       "  'Node Name': QualifiedName(3:Triangle)},\n",
       " {'NodeID': Node(FourByteNodeId(ns=3;i=1007)),\n",
       "  'Node Name': QualifiedName(3:Test_Var)}]"
      ]
     },
     "execution_count": 4,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# Use get_children method to explore children of the object node\n",
    "# Use index to choose children node of desire \n",
    "sim_data_node = objects.get_children()[2]\n",
    "\n",
    "#Apply get_browse_name to get node name instead of node id\n",
    "[ {\"NodeID\":x ,\"Node Name\": x.get_browse_name()} for x in sim_data_node.get_children()]"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "6f5b60bb",
   "metadata": {},
   "source": [
    "If you already know the node index, you can directly reach the node by using get_node method."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "614ff3e2",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "QualifiedName(3:Sinusoid)"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# You may specify NodeId using NodeId object or string\n",
    "# The two method below reaches the same node\n",
    "from opcua.ua import NodeId\n",
    "client.get_node(NodeId(1004,3)).get_browse_name()\n",
    "\n",
    "# Get to specific node by specifying node index using get_node method\n",
    "client.get_node('ns=3;i=1004').get_browse_name()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "73acdc75",
   "metadata": {},
   "source": [
    "## Read and write values\n",
    "When you locate at the desired variable, you can now apply get_value and set_value method to read and write values. Just a reminder, you need to enable write access at server side before trying to write value from client."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "id": "0c7c0af3",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "-0.4158233"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "#Index desired variable and apply get_value method to read value\n",
    "sim_data_node_sin = client.get_node('ns=3;i=1004')\n",
    "sim_data_node_sin.get_value()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "id": "0b88d3e6",
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The original value of QualifiedName(3:Test_Var) is 4.0\n",
      "The modified value of QualifiedName(3:Test_Var) becomes 4.0\n"
     ]
    }
   ],
   "source": [
    "# Index desired variable and apply set_value method to write value\n",
    "sim_data_node_test =  client.get_node('ns=3;i=1007')\n",
    "print(\"The original value of {} is {}\".format(sim_data_node_test.get_browse_name(), sim_data_node_test.get_value()))\n",
    "sim_data_node_test.set_value(4.0)\n",
    "print(\"The modified value of {} becomes {}\".format(sim_data_node_test.get_browse_name(), sim_data_node_test.get_value()))\n",
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "bd79a4b7",
   "metadata": {},
   "source": [
    "## Real-Time Data Acquisition with Python opcua\n",
    "\n",
    "In this section, we gather real-time data from our OPC UA simulation server and perform real-time plotting to visualize collected data."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "id": "ea74890c",
   "metadata": {},
   "outputs": [
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       "            if (!event.currentTarget.disabled) {\n",
       "                return fig.toolbar_button_onmouseover(tooltip);\n",
       "            }\n",
       "        };\n",
       "    }\n",
       "\n",
       "    fig.buttons = {};\n",
       "    var buttonGroup = document.createElement('div');\n",
       "    buttonGroup.classList = 'mpl-button-group';\n",
       "    for (var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            /* Instead of a spacer, we start a new button group. */\n",
       "            if (buttonGroup.hasChildNodes()) {\n",
       "                toolbar.appendChild(buttonGroup);\n",
       "            }\n",
       "            buttonGroup = document.createElement('div');\n",
       "            buttonGroup.classList = 'mpl-button-group';\n",
       "            continue;\n",
       "        }\n",
       "\n",
       "        var button = (fig.buttons[name] = document.createElement('button'));\n",
       "        button.classList = 'mpl-widget';\n",
       "        button.setAttribute('role', 'button');\n",
       "        button.setAttribute('aria-disabled', 'false');\n",
       "        button.addEventListener('click', on_click_closure(method_name));\n",
       "        button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n",
       "\n",
       "        var icon_img = document.createElement('img');\n",
       "        icon_img.src = '_images/' + image + '.png';\n",
       "        icon_img.srcset = '_images/' + image + '_large.png 2x';\n",
       "        icon_img.alt = tooltip;\n",
       "        button.appendChild(icon_img);\n",
       "\n",
       "        buttonGroup.appendChild(button);\n",
       "    }\n",
       "\n",
       "    if (buttonGroup.hasChildNodes()) {\n",
       "        toolbar.appendChild(buttonGroup);\n",
       "    }\n",
       "\n",
       "    var fmt_picker = document.createElement('select');\n",
       "    fmt_picker.classList = 'mpl-widget';\n",
       "    toolbar.appendChild(fmt_picker);\n",
       "    this.format_dropdown = fmt_picker;\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = document.createElement('option');\n",
       "        option.selected = fmt === mpl.default_extension;\n",
       "        option.innerHTML = fmt;\n",
       "        fmt_picker.appendChild(option);\n",
       "    }\n",
       "\n",
       "    var status_bar = document.createElement('span');\n",
       "    status_bar.classList = 'mpl-message';\n",
       "    toolbar.appendChild(status_bar);\n",
       "    this.message = status_bar;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.request_resize = function (x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', { width: x_pixels, height: y_pixels });\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.send_message = function (type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function () {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({ type: 'draw', figure_id: this.id }));\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_save = function (fig, _msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function (fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] !== fig.canvas.width || size[1] !== fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1], msg['forward']);\n",
       "        fig.send_message('refresh', {});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function (fig, msg) {\n",
       "    var x0 = msg['x0'] / fig.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / fig.ratio;\n",
       "    var x1 = msg['x1'] / fig.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / fig.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0,\n",
       "        0,\n",
       "        fig.canvas.width / fig.ratio,\n",
       "        fig.canvas.height / fig.ratio\n",
       "    );\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function (fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function (fig, msg) {\n",
       "    fig.canvas_div.style.cursor = msg['cursor'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_message = function (fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function (fig, _msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function (fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_history_buttons = function (fig, msg) {\n",
       "    for (var key in msg) {\n",
       "        if (!(key in fig.buttons)) {\n",
       "            continue;\n",
       "        }\n",
       "        fig.buttons[key].disabled = !msg[key];\n",
       "        fig.buttons[key].setAttribute('aria-disabled', !msg[key]);\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_navigate_mode = function (fig, msg) {\n",
       "    if (msg['mode'] === 'PAN') {\n",
       "        fig.buttons['Pan'].classList.add('active');\n",
       "        fig.buttons['Zoom'].classList.remove('active');\n",
       "    } else if (msg['mode'] === 'ZOOM') {\n",
       "        fig.buttons['Pan'].classList.remove('active');\n",
       "        fig.buttons['Zoom'].classList.add('active');\n",
       "    } else {\n",
       "        fig.buttons['Pan'].classList.remove('active');\n",
       "        fig.buttons['Zoom'].classList.remove('active');\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function () {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message('ack', {});\n",
       "};\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function (fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            var img = evt.data;\n",
       "            if (img.type !== 'image/png') {\n",
       "                /* FIXME: We get \"Resource interpreted as Image but\n",
       "                 * transferred with MIME type text/plain:\" errors on\n",
       "                 * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "                 * to be part of the websocket stream */\n",
       "                img.type = 'image/png';\n",
       "            }\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src\n",
       "                );\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                img\n",
       "            );\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        } else if (\n",
       "            typeof evt.data === 'string' &&\n",
       "            evt.data.slice(0, 21) === 'data:image/png;base64'\n",
       "        ) {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig['handle_' + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\n",
       "                \"No handler for the '\" + msg_type + \"' message type: \",\n",
       "                msg\n",
       "            );\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\n",
       "                    \"Exception inside the 'handler_\" + msg_type + \"' callback:\",\n",
       "                    e,\n",
       "                    e.stack,\n",
       "                    msg\n",
       "                );\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "};\n",
       "\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * https://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys(original) {\n",
       "    return Object.keys(original).reduce(function (obj, key) {\n",
       "        if (typeof original[key] !== 'object') {\n",
       "            obj[key] = original[key];\n",
       "        }\n",
       "        return obj;\n",
       "    }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function (event, name) {\n",
       "    if (name === 'button_press') {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    // from https://stackoverflow.com/q/1114465\n",
       "    var boundingRect = this.canvas.getBoundingClientRect();\n",
       "    var x = (event.clientX - boundingRect.left) * this.ratio;\n",
       "    var y = (event.clientY - boundingRect.top) * this.ratio;\n",
       "\n",
       "    this.send_message(name, {\n",
       "        x: x,\n",
       "        y: y,\n",
       "        button: event.button,\n",
       "        step: event.step,\n",
       "        guiEvent: simpleKeys(event),\n",
       "    });\n",
       "\n",
       "    return false;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function (_event, _name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.key_event = function (event, name) {\n",
       "    // Prevent repeat events\n",
       "    if (name === 'key_press') {\n",
       "        if (event.key === this._key) {\n",
       "            return;\n",
       "        } else {\n",
       "            this._key = event.key;\n",
       "        }\n",
       "    }\n",
       "    if (name === 'key_release') {\n",
       "        this._key = null;\n",
       "    }\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.key !== 'Control') {\n",
       "        value += 'ctrl+';\n",
       "    }\n",
       "    else if (event.altKey && event.key !== 'Alt') {\n",
       "        value += 'alt+';\n",
       "    }\n",
       "    else if (event.shiftKey && event.key !== 'Shift') {\n",
       "        value += 'shift+';\n",
       "    }\n",
       "\n",
       "    value += 'k' + event.key;\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, { key: value, guiEvent: simpleKeys(event) });\n",
       "    return false;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function (name) {\n",
       "    if (name === 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message('toolbar_button', { name: name });\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function (tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "\n",
       "///////////////// REMAINING CONTENT GENERATED BY embed_js.py /////////////////\n",
       "// prettier-ignore\n",
       "var _JSXTOOLS_RESIZE_OBSERVER=function(A){var t,i=new WeakMap,n=new WeakMap,a=new WeakMap,r=new WeakMap,o=new Set;function s(e){if(!(this instanceof s))throw new TypeError(\"Constructor requires 'new' operator\");i.set(this,e)}function h(){throw new TypeError(\"Function is not a constructor\")}function c(e,t,i,n){e=0 in arguments?Number(arguments[0]):0,t=1 in arguments?Number(arguments[1]):0,i=2 in arguments?Number(arguments[2]):0,n=3 in arguments?Number(arguments[3]):0,this.right=(this.x=this.left=e)+(this.width=i),this.bottom=(this.y=this.top=t)+(this.height=n),Object.freeze(this)}function d(){t=requestAnimationFrame(d);var s=new WeakMap,p=new Set;o.forEach((function(t){r.get(t).forEach((function(i){var r=t instanceof window.SVGElement,o=a.get(t),d=r?0:parseFloat(o.paddingTop),f=r?0:parseFloat(o.paddingRight),l=r?0:parseFloat(o.paddingBottom),u=r?0:parseFloat(o.paddingLeft),g=r?0:parseFloat(o.borderTopWidth),m=r?0:parseFloat(o.borderRightWidth),w=r?0:parseFloat(o.borderBottomWidth),b=u+f,F=d+l,v=(r?0:parseFloat(o.borderLeftWidth))+m,W=g+w,y=r?0:t.offsetHeight-W-t.clientHeight,E=r?0:t.offsetWidth-v-t.clientWidth,R=b+v,z=F+W,M=r?t.width:parseFloat(o.width)-R-E,O=r?t.height:parseFloat(o.height)-z-y;if(n.has(t)){var k=n.get(t);if(k[0]===M&&k[1]===O)return}n.set(t,[M,O]);var S=Object.create(h.prototype);S.target=t,S.contentRect=new c(u,d,M,O),s.has(i)||(s.set(i,[]),p.add(i)),s.get(i).push(S)}))})),p.forEach((function(e){i.get(e).call(e,s.get(e),e)}))}return s.prototype.observe=function(i){if(i instanceof window.Element){r.has(i)||(r.set(i,new Set),o.add(i),a.set(i,window.getComputedStyle(i)));var n=r.get(i);n.has(this)||n.add(this),cancelAnimationFrame(t),t=requestAnimationFrame(d)}},s.prototype.unobserve=function(i){if(i instanceof window.Element&&r.has(i)){var n=r.get(i);n.has(this)&&(n.delete(this),n.size||(r.delete(i),o.delete(i))),n.size||r.delete(i),o.size||cancelAnimationFrame(t)}},A.DOMRectReadOnly=c,A.ResizeObserver=s,A.ResizeObserverEntry=h,A}; // eslint-disable-line\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Left button pans, Right button zooms\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-arrows\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\\nx/y fixes axis\", \"fa fa-square-o\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pgf\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\", \"webp\"];\n",
       "\n",
       "mpl.default_extension = \"png\";/* global mpl */\n",
       "\n",
       "var comm_websocket_adapter = function (comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.binaryType = comm.kernel.ws.binaryType;\n",
       "    ws.readyState = comm.kernel.ws.readyState;\n",
       "    function updateReadyState(_event) {\n",
       "        if (comm.kernel.ws) {\n",
       "            ws.readyState = comm.kernel.ws.readyState;\n",
       "        } else {\n",
       "            ws.readyState = 3; // Closed state.\n",
       "        }\n",
       "    }\n",
       "    comm.kernel.ws.addEventListener('open', updateReadyState);\n",
       "    comm.kernel.ws.addEventListener('close', updateReadyState);\n",
       "    comm.kernel.ws.addEventListener('error', updateReadyState);\n",
       "\n",
       "    ws.close = function () {\n",
       "        comm.close();\n",
       "    };\n",
       "    ws.send = function (m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function (msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        var data = msg['content']['data'];\n",
       "        if (data['blob'] !== undefined) {\n",
       "            data = {\n",
       "                data: new Blob(msg['buffers'], { type: data['blob'] }),\n",
       "            };\n",
       "        }\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(data);\n",
       "    });\n",
       "    return ws;\n",
       "};\n",
       "\n",
       "mpl.mpl_figure_comm = function (comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = document.getElementById(id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm);\n",
       "\n",
       "    function ondownload(figure, _format) {\n",
       "        window.open(figure.canvas.toDataURL());\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy, ondownload, element);\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element;\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error('Failed to find cell for figure', id, fig);\n",
       "        return;\n",
       "    }\n",
       "    fig.cell_info[0].output_area.element.on(\n",
       "        'cleared',\n",
       "        { fig: fig },\n",
       "        fig._remove_fig_handler\n",
       "    );\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function (fig, msg) {\n",
       "    var width = fig.canvas.width / fig.ratio;\n",
       "    fig.cell_info[0].output_area.element.off(\n",
       "        'cleared',\n",
       "        fig._remove_fig_handler\n",
       "    );\n",
       "    fig.resizeObserverInstance.unobserve(fig.canvas_div);\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable();\n",
       "    fig.parent_element.innerHTML =\n",
       "        '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "    fig.close_ws(fig, msg);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.close_ws = function (fig, msg) {\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function (_remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width / this.ratio;\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] =\n",
       "        '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function () {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message('ack', {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () {\n",
       "        fig.push_to_output();\n",
       "    }, 1000);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function () {\n",
       "    var fig = this;\n",
       "\n",
       "    var toolbar = document.createElement('div');\n",
       "    toolbar.classList = 'btn-toolbar';\n",
       "    this.root.appendChild(toolbar);\n",
       "\n",
       "    function on_click_closure(name) {\n",
       "        return function (_event) {\n",
       "            return fig.toolbar_button_onclick(name);\n",
       "        };\n",
       "    }\n",
       "\n",
       "    function on_mouseover_closure(tooltip) {\n",
       "        return function (event) {\n",
       "            if (!event.currentTarget.disabled) {\n",
       "                return fig.toolbar_button_onmouseover(tooltip);\n",
       "            }\n",
       "        };\n",
       "    }\n",
       "\n",
       "    fig.buttons = {};\n",
       "    var buttonGroup = document.createElement('div');\n",
       "    buttonGroup.classList = 'btn-group';\n",
       "    var button;\n",
       "    for (var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            /* Instead of a spacer, we start a new button group. */\n",
       "            if (buttonGroup.hasChildNodes()) {\n",
       "                toolbar.appendChild(buttonGroup);\n",
       "            }\n",
       "            buttonGroup = document.createElement('div');\n",
       "            buttonGroup.classList = 'btn-group';\n",
       "            continue;\n",
       "        }\n",
       "\n",
       "        button = fig.buttons[name] = document.createElement('button');\n",
       "        button.classList = 'btn btn-default';\n",
       "        button.href = '#';\n",
       "        button.title = name;\n",
       "        button.innerHTML = '<i class=\"fa ' + image + ' fa-lg\"></i>';\n",
       "        button.addEventListener('click', on_click_closure(method_name));\n",
       "        button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n",
       "        buttonGroup.appendChild(button);\n",
       "    }\n",
       "\n",
       "    if (buttonGroup.hasChildNodes()) {\n",
       "        toolbar.appendChild(buttonGroup);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = document.createElement('span');\n",
       "    status_bar.classList = 'mpl-message pull-right';\n",
       "    toolbar.appendChild(status_bar);\n",
       "    this.message = status_bar;\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = document.createElement('div');\n",
       "    buttongrp.classList = 'btn-group inline pull-right';\n",
       "    button = document.createElement('button');\n",
       "    button.classList = 'btn btn-mini btn-primary';\n",
       "    button.href = '#';\n",
       "    button.title = 'Stop Interaction';\n",
       "    button.innerHTML = '<i class=\"fa fa-power-off icon-remove icon-large\"></i>';\n",
       "    button.addEventListener('click', function (_evt) {\n",
       "        fig.handle_close(fig, {});\n",
       "    });\n",
       "    button.addEventListener(\n",
       "        'mouseover',\n",
       "        on_mouseover_closure('Stop Interaction')\n",
       "    );\n",
       "    buttongrp.appendChild(button);\n",
       "    var titlebar = this.root.querySelector('.ui-dialog-titlebar');\n",
       "    titlebar.insertBefore(buttongrp, titlebar.firstChild);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._remove_fig_handler = function (event) {\n",
       "    var fig = event.data.fig;\n",
       "    if (event.target !== this) {\n",
       "        // Ignore bubbled events from children.\n",
       "        return;\n",
       "    }\n",
       "    fig.close_ws(fig, {});\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function (el) {\n",
       "    el.style.boxSizing = 'content-box'; // override notebook setting of border-box.\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function (el) {\n",
       "    // this is important to make the div 'focusable\n",
       "    el.setAttribute('tabindex', 0);\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    } else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function (event, _name) {\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which === 13) {\n",
       "        this.canvas_div.blur();\n",
       "        // select the cell after this one\n",
       "        var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
       "        IPython.notebook.select(index + 1);\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_save = function (fig, _msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "};\n",
       "\n",
       "mpl.find_output_cell = function (html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i = 0; i < ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code') {\n",
       "            for (var j = 0; j < cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] === html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "};\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel !== null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target(\n",
       "        'matplotlib',\n",
       "        mpl.mpl_figure_comm\n",
       "    );\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
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     "output_type": "display_data"
    },
    {
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\" width=\"640\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# Import libraries\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "from matplotlib.animation import FuncAnimation\n",
    "\n",
    "# Activate interactive plotting in Jupyter Notebook\n",
    "%matplotlib notebook \n",
    "\n",
    "#Initiate figure and ax objects\n",
    "fig, ax = plt.subplots()\n",
    "x, y = [], []\n",
    "line, = ax.plot([], [], 'bo')\n",
    "\n",
    "def init():\n",
    "    \"\"\"\n",
    "    This init function defines the initial plot parameter\n",
    "    \"\"\"\n",
    "    # Set initial parameter for the plot\n",
    "    ax.set_xlim(0, 100)\n",
    "    ax.set_ylim(-2.5, 2.5)\n",
    "    return line,\n",
    "\n",
    "def animate(frame):\n",
    "    \"\"\"\n",
    "    This function will be called periodically by FuncAnimation. Frame parameter will be passed on each call as a counter. \n",
    "    \"\"\"\n",
    "    # Append data to x and y data list\n",
    "    x.append(frame)\n",
    "    y.append(sim_data_node_sin.get_value())\n",
    "    \n",
    "    # Adjust limit when step count exceeds certain number (100 in this case)\n",
    "    limit =  max(100, max(x))\n",
    "    ax.set_xlim(limit-100, limit)\n",
    "    \n",
    "    # Set data for line plot\n",
    "    line.set_data(x, y)\n",
    "    return line,\n",
    "\n",
    "# Create FuncAnimation object and plt.show() to show the updated animation\n",
    "ani = FuncAnimation(fig, animate, frames = np.linspace(1,1000,1000), interval=1000, init_func=init, blit=True)\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "id": "e03c3266",
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "ServiceFault from server received  in response to ReadRequest\n"
     ]
    }
   ],
   "source": [
    "client.close_session()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "876f12fd",
   "metadata": {},
   "source": [
    "# Conclusion\n",
    "\n",
    "We now understand how to explore OPC UA Server and read/write values with Python language. Of course, opcua package can also act as independent OPC UA Server, but in most cases, we would have a more sophiscated software with GUI instead. However, if you are interested in creating Server with opcua package, you may refer to this <a href='https://github.com/FreeOpcUa/python-opcua/blob/master/examples/server-example.py'>page</a> showing example code of building server."
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.10"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}