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manage_nodes.py
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manage_nodes.py
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"""
High level functions to create nodes
"""
from __future__ import annotations
import logging
from enum import Enum
import inspect
from typing import Any, Iterable, List, Optional, Tuple, Union
import asyncua
from asyncua import ua
from asyncua.common.session_interface import AbstractSession
from .instantiate_util import instantiate
from .node_factory import make_node
_logger = logging.getLogger(__name__)
def _parse_nodeid_qname(*args):
try:
if isinstance(args[0], int):
nodeid = ua.NodeId(0, int(args[0]))
qname = ua.QualifiedName(args[1], int(args[0]))
return nodeid, qname
if isinstance(args[0], ua.NodeId):
nodeid = args[0]
elif isinstance(args[0], str):
nodeid = ua.NodeId.from_string(args[0])
else:
raise RuntimeError()
if isinstance(args[1], ua.QualifiedName):
qname = args[1]
elif isinstance(args[1], str):
qname = ua.QualifiedName.from_string(args[1])
else:
raise RuntimeError()
return nodeid, qname
except ua.UaError:
raise
except Exception as ex:
raise TypeError(
f"This method takes either a namespace index and a string as argument or a nodeid and a qualifiedname."
f" Received arguments {args} and got exception {ex}"
)
async def create_folder(parent: asyncua.Node, nodeid: Union[ua.NodeId, str, int], bname: Union[ua.QualifiedName, str]) -> asyncua.Node:
"""
create a child node folder
arguments are nodeid, browsename
or namespace index, name
"""
nodeid, qname = _parse_nodeid_qname(nodeid, bname)
return make_node(
parent.session,
await _create_object(parent.session, parent.nodeid, nodeid, qname, ua.ObjectIds.FolderType)
)
async def create_object(
parent: asyncua.Node,
nodeid: Union[ua.NodeId, str, int],
bname: Union[ua.QualifiedName, str],
objecttype: Optional[Union[ua.NodeId, int]] = None,
instantiate_optional: bool = True,
) -> asyncua.Node:
"""
create a child node object
arguments are nodeid, browsename, [objecttype]
or namespace index, name, [objecttype]
if objectype is given (a NodeId) then the type node is instantiated inclusive its child nodes
"""
nodeid, qname = _parse_nodeid_qname(nodeid, bname)
if objecttype is not None:
objecttype_node = make_node(parent.session, objecttype)
dname = ua.LocalizedText(qname.Name)
nodes = await instantiate(parent, objecttype_node, nodeid, bname=qname, dname=dname, instantiate_optional=instantiate_optional)
return nodes[0]
else:
return make_node(
parent.session,
await _create_object(parent.session, parent.nodeid, nodeid, qname, ua.ObjectIds.BaseObjectType)
)
async def create_property(
parent: asyncua.Node,
nodeid: Union[ua.NodeId, str, int],
bname: Union[ua.QualifiedName, str],
val: Any,
varianttype: Optional[ua.VariantType] = None,
datatype: Optional[Union[ua.NodeId, int]] = None,
) -> asyncua.Node:
"""
create a child node property
args are nodeid, browsename, value, [variant type]
or idx, name, value, [variant type]
"""
nodeid, qname = _parse_nodeid_qname(nodeid, bname)
var = ua.Variant(val, varianttype)
if datatype and isinstance(datatype, int):
datatype = ua.NodeId(datatype, 0)
if datatype and not isinstance(datatype, ua.NodeId):
raise RuntimeError("datatype argument must be a nodeid or an int refering to a nodeid")
return make_node(
parent.session,
await _create_variable(parent.session, parent.nodeid, nodeid, qname, var, datatype=datatype, isproperty=True)
)
async def create_variable(
parent: asyncua.Node,
nodeid: Union[ua.NodeId, str, int],
bname: Union[ua.QualifiedName, str],
val: Any,
varianttype: Optional[ua.VariantType] = None,
datatype: Optional[Union[ua.NodeId, int]] = None,
) -> asyncua.Node:
"""
create a child node variable
args are nodeid, browsename, value, [variant type], [data type]
or idx, name, value, [variant type], [data type]
"""
nodeid, qname = _parse_nodeid_qname(nodeid, bname)
var = ua.Variant(val, varianttype)
if datatype and isinstance(datatype, int):
datatype = ua.NodeId(datatype, 0)
if datatype and not isinstance(datatype, ua.NodeId):
raise RuntimeError("datatype argument must be a nodeid or an int refering to a nodeid")
return make_node(
parent.session,
await _create_variable(parent.session, parent.nodeid, nodeid, qname, var, datatype=datatype, isproperty=False)
)
async def create_variable_type(
parent: asyncua.Node, nodeid: Union[ua.NodeId, str, int], bname: Union[ua.QualifiedName, str], datatype: Union[ua.NodeId, int]
) -> asyncua.Node:
"""
Create a new variable type
args are nodeid, browsename and datatype
or idx, name and data type
"""
nodeid, qname = _parse_nodeid_qname(nodeid, bname)
if datatype and isinstance(datatype, int):
datatype = ua.NodeId(datatype, 0)
if datatype and not isinstance(datatype, ua.NodeId):
raise RuntimeError(
f"Data type argument must be a nodeid or an int refering to a nodeid, received: {datatype}")
return make_node(
parent.session,
await _create_variable_type(parent.session, parent.nodeid, nodeid, qname, datatype)
)
async def create_reference_type(
parent: asyncua.Node, nodeid: Union[ua.NodeId, str, int], bname: Union[ua.QualifiedName, str, int], symmetric: bool = True, inversename: Optional[str] = None
) -> asyncua.Node:
"""
Create a new reference type
args are nodeid and browsename
or idx and name
"""
nodeid, qname = _parse_nodeid_qname(nodeid, bname)
return make_node(
parent.session,
await _create_reference_type(parent.session, parent.nodeid, nodeid, qname, symmetric, inversename)
)
async def create_object_type(parent: asyncua.Node, nodeid: Union[ua.NodeId, str, int], bname: Union[ua.QualifiedName, str]):
"""
Create a new object type to be instantiated in address space.
arguments are nodeid, browsename
or namespace index, name
"""
nodeid, qname = _parse_nodeid_qname(nodeid, bname)
return make_node(parent.session, await _create_object_type(parent.session, parent.nodeid, nodeid, qname))
async def create_method(parent: asyncua.Node, *args) -> asyncua.Node:
"""
create a child method object
This is only possible on server side!!
args are nodeid, browsename, method_to_be_called, [input argument types], [output argument types]
or idx, name, method_to_be_called, [input argument types], [output argument types]
if argument types is specified, child nodes advertising what arguments the method uses and returns will be created
a callback is a method accepting the nodeid of the parent as first argument and variants after.
returns a list of variants
"""
_logger.info('create_method %r', parent)
nodeid, qname = _parse_nodeid_qname(*args[:2])
callback = args[2]
if len(args) > 3:
inputs = args[3]
else:
inputs = []
if len(args) > 4:
outputs = args[4]
else:
outputs = []
return make_node(parent.session, await _create_method(parent, nodeid, qname, callback, inputs, outputs))
async def _create_object(session, parentnodeid, nodeid, qname, objecttype):
addnode = ua.AddNodesItem()
addnode.RequestedNewNodeId = nodeid
addnode.BrowseName = qname
addnode.ParentNodeId = parentnodeid
if await make_node(session, parentnodeid).read_type_definition() == ua.NodeId(ua.ObjectIds.FolderType):
addnode.ReferenceTypeId = ua.NodeId(ua.ObjectIds.Organizes)
else:
addnode.ReferenceTypeId = ua.NodeId(ua.ObjectIds.HasComponent)
addnode.NodeClass = ua.NodeClass.Object
if isinstance(objecttype, int):
addnode.TypeDefinition = ua.NodeId(objecttype)
else:
addnode.TypeDefinition = objecttype
attrs = ua.ObjectAttributes()
attrs.EventNotifier = 0
attrs.Description = ua.LocalizedText(qname.Name)
attrs.DisplayName = ua.LocalizedText(qname.Name)
attrs.WriteMask = 0
attrs.UserWriteMask = 0
addnode.NodeAttributes = attrs
results = await session.add_nodes([addnode])
results[0].StatusCode.check()
return results[0].AddedNodeId
async def _create_reference_type(session, parentnodeid, nodeid, qname, symmetric, inversename):
addnode = ua.AddNodesItem()
addnode.RequestedNewNodeId = nodeid
addnode.BrowseName = qname
addnode.NodeClass = ua.NodeClass.ReferenceType
addnode.ParentNodeId = parentnodeid
addnode.ReferenceTypeId = ua.NodeId(ua.ObjectIds.HasSubtype)
attrs = ua.ReferenceTypeAttributes()
attrs.IsAbstract = False
attrs.Description = ua.LocalizedText(qname.Name)
attrs.DisplayName = ua.LocalizedText(qname.Name)
attrs.Symmetric = symmetric
attrs.InverseName = ua.LocalizedText(inversename)
attrs.UserWriteMask = 0
addnode.NodeAttributes = attrs
results = await session.add_nodes([addnode])
results[0].StatusCode.check()
return results[0].AddedNodeId
async def _create_object_type(session, parentnodeid, nodeid, qname):
addnode = ua.AddNodesItem()
addnode.RequestedNewNodeId = nodeid
addnode.BrowseName = qname
addnode.ParentNodeId = parentnodeid
addnode.ReferenceTypeId = ua.NodeId(ua.ObjectIds.HasSubtype)
addnode.NodeClass = ua.NodeClass.ObjectType
attrs = ua.ObjectTypeAttributes()
attrs.IsAbstract = False
attrs.Description = ua.LocalizedText(qname.Name)
attrs.DisplayName = ua.LocalizedText(qname.Name)
attrs.WriteMask = 0
attrs.UserWriteMask = 0
addnode.NodeAttributes = attrs
results = await session.add_nodes([addnode])
results[0].StatusCode.check()
return results[0].AddedNodeId
async def _create_variable(session, parentnodeid, nodeid, qname, var, datatype=None, isproperty=False):
addnode = ua.AddNodesItem()
addnode.RequestedNewNodeId = nodeid
addnode.BrowseName = qname
addnode.NodeClass = ua.NodeClass.Variable
addnode.ParentNodeId = parentnodeid
if isproperty:
addnode.ReferenceTypeId = ua.NodeId(ua.ObjectIds.HasProperty)
addnode.TypeDefinition = ua.NodeId(ua.ObjectIds.PropertyType)
else:
addnode.ReferenceTypeId = ua.NodeId(ua.ObjectIds.HasComponent)
addnode.TypeDefinition = ua.NodeId(ua.ObjectIds.BaseDataVariableType)
attrs = ua.VariableAttributes()
attrs.Description = ua.LocalizedText(qname.Name)
attrs.DisplayName = ua.LocalizedText(qname.Name)
if datatype:
attrs.DataType = datatype
else:
attrs.DataType = _guess_datatype(var)
attrs.Value = var
if not isinstance(var.Value, (list, tuple)):
attrs.ValueRank = ua.ValueRank.Scalar
attrs.ArrayDimensions = None
else:
if var.Dimensions:
attrs.ValueRank = len(var.Dimensions)
attrs.ArrayDimensions = var.Dimensions
attrs.WriteMask = 0
attrs.UserWriteMask = 0
attrs.Historizing = False
attrs.AccessLevel = ua.AccessLevel.CurrentRead.mask
attrs.UserAccessLevel = ua.AccessLevel.CurrentRead.mask
addnode.NodeAttributes = attrs
results = await session.add_nodes([addnode])
results[0].StatusCode.check()
return results[0].AddedNodeId
async def _create_variable_type(session, parentnodeid, nodeid, qname, datatype, value=None):
addnode = ua.AddNodesItem()
addnode.RequestedNewNodeId = nodeid
addnode.BrowseName = qname
addnode.NodeClass = ua.NodeClass.VariableType
addnode.ParentNodeId = parentnodeid
addnode.ReferenceTypeId = ua.NodeId(ua.ObjectIds.HasSubtype)
# addnode.TypeDefinition = ua.NodeId(ua.ObjectIds.BaseDataVariableType)
attrs = ua.VariableTypeAttributes()
attrs.Description = ua.LocalizedText(qname.Name)
attrs.DisplayName = ua.LocalizedText(qname.Name)
attrs.DataType = datatype
attrs.IsAbstract = False
if value:
attrs.Value = value
if isinstance(value, (list, tuple)):
attrs.ValueRank = ua.ValueRank.OneDimension
else:
attrs.ValueRank = ua.ValueRank.Scalar
# attrs.ArrayDimensions = None
attrs.WriteMask = 0
attrs.UserWriteMask = 0
addnode.NodeAttributes = attrs
results = await session.add_nodes([addnode])
results[0].StatusCode.check()
return results[0].AddedNodeId
async def create_data_type(
parent: asyncua.Node, nodeid: Union[ua.NodeId, str, int], bname: Union[ua.QualifiedName, str], description: Optional[str] = None
) -> asyncua.Node:
"""
Create a new data type to be used in new variables, etc ..
arguments are nodeid, browsename
or namespace index, name
"""
nodeid, qname = _parse_nodeid_qname(nodeid, bname)
addnode = ua.AddNodesItem()
addnode.RequestedNewNodeId = nodeid
addnode.BrowseName = qname
addnode.NodeClass = ua.NodeClass.DataType
addnode.ParentNodeId = parent.nodeid
addnode.ReferenceTypeId = ua.NodeId(ua.ObjectIds.HasSubtype)
# addnode.TypeDefinition = ua.NodeId(ua.ObjectIds.BaseDataVariableType) # No type definition for types
attrs = ua.DataTypeAttributes()
if description is None:
attrs.Description = ua.LocalizedText(qname.Name)
else:
attrs.Description = ua.LocalizedText(description)
attrs.DisplayName = ua.LocalizedText(qname.Name)
attrs.WriteMask = 0
attrs.UserWriteMask = 0
attrs.IsAbstract = False # True mean they cannot be instantiated
addnode.NodeAttributes = attrs
results = await parent.session.add_nodes([addnode])
results[0].StatusCode.check()
new_node_id = results[0].AddedNodeId
# add reverse_reference
aitem = ua.AddReferencesItem()
aitem.SourceNodeId = new_node_id
aitem.TargetNodeId = parent.nodeid
aitem.ReferenceTypeId = ua.NodeId(ua.ObjectIds.HasSubtype)
aitem.IsForward = False
params = [aitem]
results = await parent.session.add_references(params)
return make_node(parent.session, new_node_id)
async def create_encoding(parent, nodeid: Union[ua.NodeId, str, int], bname: Union[ua.QualifiedName, str]) -> asyncua.Node:
"""
Create a new encoding object to be instantiated in address space.
arguments are nodeid, browsename
or namespace index, name
"""
nodeid, qname = _parse_nodeid_qname(nodeid, bname)
if qname.NamespaceIndex != 0:
raise ua.UaError("Encoding QualigiedName index must be 0")
return make_node(parent.session, await _create_encoding(parent.session, parent.nodeid, nodeid, qname))
async def _create_encoding(session, parentnodeid, nodeid, qname):
addnode = ua.AddNodesItem()
addnode.RequestedNewNodeId = nodeid
addnode.BrowseName = qname
addnode.ParentNodeId = parentnodeid
addnode.ReferenceTypeId = ua.NodeId(ua.ObjectIds.HasEncoding)
addnode.NodeClass = ua.NodeClass.ObjectType
attrs = ua.ObjectTypeAttributes()
attrs.IsAbstract = False
attrs.Description = ua.LocalizedText(qname.Name)
attrs.DisplayName = ua.LocalizedText(qname.Name)
attrs.WriteMask = 0
attrs.UserWriteMask = 0
addnode.NodeAttributes = attrs
results = await session.add_nodes([addnode])
results[0].StatusCode.check()
return results[0].AddedNodeId
async def _create_method(parent, nodeid, qname, callback, inputs, outputs):
addnode = ua.AddNodesItem()
addnode.RequestedNewNodeId = nodeid
addnode.BrowseName = qname
addnode.NodeClass = ua.NodeClass.Method
addnode.ParentNodeId = parent.nodeid
addnode.ReferenceTypeId = ua.NodeId(ua.ObjectIds.HasComponent)
# node.TypeDefinition = ua.NodeId(ua.ObjectIds.BaseObjectType)
attrs = ua.MethodAttributes()
attrs.Description = ua.LocalizedText(qname.Name)
attrs.DisplayName = ua.LocalizedText(qname.Name)
attrs.WriteMask = 0
attrs.UserWriteMask = 0
attrs.Executable = True
attrs.UserExecutable = True
addnode.NodeAttributes = attrs
results = await parent.session.add_nodes([addnode])
results[0].StatusCode.check()
method = make_node(parent.session, results[0].AddedNodeId)
if inputs:
prob = await create_property(
method,
ua.NodeId(NamespaceIndex=method.nodeid.NamespaceIndex),
ua.QualifiedName("InputArguments", 0),
[_vtype_to_argument(vtype) for vtype in inputs],
varianttype=ua.VariantType.ExtensionObject,
datatype=ua.ObjectIds.Argument
)
await prob.set_modelling_rule(True)
if outputs:
prob = await create_property(
method,
ua.NodeId(NamespaceIndex=method.nodeid.NamespaceIndex),
ua.QualifiedName("OutputArguments", 0),
[_vtype_to_argument(vtype) for vtype in outputs],
varianttype=ua.VariantType.ExtensionObject,
datatype=ua.ObjectIds.Argument
)
await prob.set_modelling_rule(True)
if hasattr(parent.session, "add_method_callback"):
parent.session.add_method_callback(method.nodeid, callback)
return results[0].AddedNodeId
def _vtype_to_argument(vtype):
if isinstance(vtype, ua.Argument):
return vtype
arg = ua.Argument()
if isinstance(vtype, (list, tuple)) and len(vtype) > 0:
vtype = vtype[0]
if hasattr(vtype, "data_type"):
arg.DataType = vtype.data_type
elif inspect.isclass(vtype) and issubclass(vtype, Enum):
arg.DataType = ua.enums_datatypes[vtype]
elif isinstance(vtype, ua.VariantType):
arg.DataType = ua.NodeId(vtype.value)
elif isinstance(vtype, ua.NodeId):
arg.DataType = vtype
elif hasattr(vtype, "nodeid"): # NodeId case but we cannot import Node object here
arg.DataType = vtype.nodeid
elif hasattr(vtype, "__name__") and hasattr(ua.VariantType, vtype.__name__):
arg.DataType = ua.NodeId(ua.VariantType[vtype.__name__].value)
else:
arg.DataType = ua.NodeId(vtype)
return arg
def _guess_datatype(variant: ua.Variant):
if variant.VariantType == ua.VariantType.ExtensionObject:
if variant.Value is None:
raise ua.UaError("Cannot guess DataType from Null ExtensionObject")
if isinstance(variant.Value, (list, tuple)):
if len(variant.Value) == 0:
raise ua.UaError("Cannot guess DataType from Null ExtensionObject")
extobj = variant.Value[0]
else:
extobj = variant.Value
classname = extobj.__class__.__name__
if hasattr(ua.ObjectIds, classname):
return ua.NodeId(getattr(ua.ObjectIds, classname))
if extobj.__class__ in ua.datatype_by_extension_object:
return ua.datatype_by_extension_object[extobj.__class__]
raise ua.UaError(f"Cannot guess DataType of {variant} of python type {type(variant)}")
else:
return ua.NodeId(getattr(ua.ObjectIds, variant.VariantType.name))
async def delete_nodes(
session: AbstractSession, nodes: Iterable[asyncua.Node], recursive: bool = False, delete_target_references: bool = True
) -> Tuple[List[asyncua.Node], List[ua.StatusCode]]:
"""
Delete specified nodes. Optionally delete recursively all nodes with a
downward hierachic references to the node
return the list of deleted node and the result
"""
nodestodelete: List[ua.DeleteNodesItem] = []
if recursive:
nodes = await _add_childs(nodes)
for mynode in nodes:
it = ua.DeleteNodesItem()
it.NodeId = mynode.nodeid
it.DeleteTargetReferences = delete_target_references
nodestodelete.append(it)
params = ua.DeleteNodesParameters()
params.NodesToDelete = nodestodelete
return list(nodes), await session.delete_nodes(params)
async def _add_childs(nodes: Iterable[asyncua.Node]) -> Iterable[asyncua.Node]:
results = []
for mynode in nodes:
results += await _add_childs(await mynode.get_children())
results += [mynode]
return results