标准化opcua设备接入unilab

opcua_config.json

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

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

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

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

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

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

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

test/experiments/opcua_example.json

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

unilabos/device_comms/opcua_client/README.md

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

unilabos/device_comms/opcua_client/__init__.py

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+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',
+]