Feeding_control_system/opc/opcua_server.py

#!/usr/bin/env python3
"""
简单的OPC UA服务器示例
用于工业自动化数据通信
"""

from opcua import Server, ua
import time
import random
import threading
from datetime import datetime
# from core.system import SystemState
# from config.ini_manager import ini_manager

class SimpleOPCUAServer:
    # def __init__(self, state, endpoint=ini_manager.opcua_endpoint, name="Feed_Server"):
    def __init__(self, endpoint='', name="Feed_Server"):
        """
        初始化OPC UA服务器
        Args:
            endpoint: 服务器端点地址
            name: 服务器名称
        """
        self.server = Server()
        self.server.set_endpoint(endpoint)
        self.server.set_server_name(name)
        # self.state = state
        
        # 设置服务器命名空间
        self.namespace = self.server.register_namespace("Feed_Control_System")
        
        # 获取对象节点
        self.objects = self.server.get_objects_node()
        
        # 创建自定义对象
        self.create_object_structure()
        
        # 运行标志
        self.running = False
        
        # 订阅和监控项
        self.subscription = None
        self.monitored_items = []
        
        # 记录上次值用于检测变化
        self._last_values = {}
        
    def create_object_structure(self):
        """创建OPC UA对象结构"""
        # 创建上料斗对象
        self.upper = self.objects.add_object(self.namespace, "upper")
        self.lower=self.objects.add_object(self.namespace, "lower")
        self.sys=self.objects.add_object(self.namespace, "sys")
        self.mould=self.objects.add_object(self.namespace, "mould")
        self.pd=self.objects.add_object(self.namespace, "pd")
        
        # 创建变量
        self.create_variables()
        
    def create_variables(self):
        """创建OPC UA变量"""
        # 创建变量时显式指定数据类型和初始值
        #上料斗
        # 上料斗
        self.upper_weight = self.upper.add_variable(self.namespace, "upper_weight", ua.Variant(0.0, ua.VariantType.Float))
        self.upper_is_arch = self.upper.add_variable(self.namespace, "upper_is_arch", ua.Variant(False, ua.VariantType.Boolean))
        self.upper_door_closed = self.upper.add_variable(self.namespace, "upper_door_closed", ua.Variant(False, ua.VariantType.Int16))
        self.upper_volume = self.upper.add_variable(self.namespace, "upper_volume", ua.Variant(0.0, ua.VariantType.Float))
        self.upper_door_position = self.upper.add_variable(self.namespace, "upper_door_position", ua.Variant(0, ua.VariantType.Int16))
       
       # 下料斗
        self.lower_weight = self.lower.add_variable(self.namespace, "lower_weight", ua.Variant(0.0, ua.VariantType.Float))
        self.lower_is_arch = self.lower.add_variable(self.namespace, "lower_is_arch", ua.Variant(False, ua.VariantType.Boolean))
        self.lower_angle = self.lower.add_variable(self.namespace, "lower_angle", ua.Variant(0.0, ua.VariantType.Float))

        # 模具车
        self.mould_finish_weight = self.mould.add_variable(self.namespace, "mould_finish_weight", ua.Variant(0.0, ua.VariantType.Float))
        self.mould_need_weight = self.mould.add_variable(self.namespace, "mould_need_weight", ua.Variant(0.0, ua.VariantType.Float))
        self.mould_finish_ratio = self.mould.add_variable(self.namespace, "mould_finish_ratio", ua.Variant(0.0, ua.VariantType.Float))

        self.mould_frequency = self.mould.add_variable(self.namespace, "mould_frequency", ua.Variant(230, ua.VariantType.Int32))
        self.mould_vibrate_status = self.mould.add_variable(self.namespace, "mould_vibrate_status", ua.Variant(False, ua.VariantType.Boolean))
        self.feed_status = self.mould.add_variable(self.namespace, "feed_status", ua.Variant(0, ua.VariantType.Int16))
        self.pd_data=self.pd.add_variable(self.namespace, "pd_data", ua.Variant("", ua.VariantType.String))
        self.pd_notify=self.pd.add_variable(self.namespace, "pd_notify", ua.Variant("", ua.VariantType.String))
        self.pd_notify_finish=self.pd.add_variable(self.namespace, "pd_notify_finish", ua.Variant("", ua.VariantType.String))
        self.pd_set_mode=self.pd.add_variable(self.namespace, "set_mode", ua.Variant(0, ua.VariantType.Int16))
        self.pd_set_volume=self.pd.add_variable(self.namespace, "set_volume", ua.Variant("", ua.VariantType.String))

        # 系统对象
        self.sys_set_mode=self.sys.add_variable(self.namespace, "set_mode", ua.Variant(0, ua.VariantType.Int16))
        self.sys_segment_refresh=self.sys.add_variable(self.namespace, "segment_refresh", ua.Variant(0, ua.VariantType.Int16))
        self.sys_pd_refresh=self.sys.add_variable(self.namespace, "pd_refresh", ua.Variant(0, ua.VariantType.Int16))
        
        # 在创建变量后立即设置可写权限（不需要等待服务器启动）
        self.upper_weight.set_writable(True)
        self.lower_weight.set_writable(True)
        self.upper_is_arch.set_writable(True)
        self.upper_door_closed.set_writable(True)
        self.upper_volume.set_writable(True)
        self.upper_door_position.set_writable(True)
        self.lower_is_arch.set_writable(True)
        self.mould_finish_weight.set_writable(True)
        self.mould_need_weight.set_writable(True)
        self.mould_frequency.set_writable(True)
        self.mould_vibrate_status.set_writable(True)
        self.feed_status.set_writable(True)
        self.pd_data.set_writable(True)
        self.pd_notify.set_writable(True)
        self.pd_notify_finish.set_writable(True)
        self.pd_set_mode.set_writable(True)
        self.pd_set_volume.set_writable(True)
        self.sys_set_mode.set_writable(True)
        self.mould_finish_ratio.set_writable(True)
        self.sys_segment_refresh.set_writable(True)
        self.sys_pd_refresh.set_writable(True)
        self.lower_angle.set_writable(True)
        
        
        print("[变量创建] 变量创建完成")
        
         
    def start(self):
        """启动服务器"""
        try:
            self.server.start()
            self.running = True
            print(f"服务器端点: opc.tcp://0.0.0.0:4840/freeopcua/server/")
            print("=" * 60)
            
            # 【关键修复】在设置监听器之前，先设置变量权限
            # 这确保 AccessLevel 属性在客户端写入前已正确设置
            # self.setup_variable_permissions()
            
            print("=" * 60)
            
            # 设置客户端写入监听器
            # self.setup_write_listeners()
            
            print("=" * 60)
            
            # 初始化当前值
            # if self.state:
            #     self.upper_weight.set_value(self.state._upper_weight)
            #     self.lower_weight.set_value(self.state._lower_weight)
            #     print("已同步初始状态值")
                
                # 设置状态监听器 - 关键步骤！
                # self.setup_state_listeners()
            
            # # 只有在没有状态系统时才使用模拟线程
            # if not self.state:
            #     print("使用模拟数据模式")
            #     self.simulation_thread = threading.Thread(target=self.simulate_data)
            #     self.simulation_thread.daemon = True
            #     self.simulation_thread.start()
            
        except Exception as e:
            print(f"启动服务器失败: {e}")
            
    def stop(self):
        """停止服务器"""
        # 移除监听器
        # self.remove_write_listeners()
        
        self.running = False
        self.server.stop()
        print("OPC UA服务器已停止")
        
        # 断开状态监听器
        # if hasattr(self.state, 'state_updated'):
        #     try:
        #         self.state.state_updated.disconnect(self.on_state_changed)
        #     except:
        #         pass
        

def main():
    """主函数"""
    # 创建系统状态实例
    # state = SystemState()
    
    # 创建并启动服务器
    server = SimpleOPCUAServer(
        endpoint="opc.tcp://0.0.0.0:4840/freeopcua/server/",
        name="工业自动化 OPC UA 服务器"
    )
    
    try:
        server.start()   
        print("服务器正在运行，按 Ctrl+C 停止...")
        # 保持服务器运行
        while True:
            time.sleep(1)
            
    except KeyboardInterrupt:
        print("\n正在停止服务器...")
        server.stop()
        
    except Exception as e:
        print(f"服务器运行错误: {e}")
        server.stop()


if __name__ == "__main__":
    main()