Feeding_control_system/service/opcua_ui_client.py

#!/usr/bin/env python3
from PySide6.QtCore import QObject, Signal, QThread
from opcua import Client, ua
import time
from datetime import datetime
import configparser

class OpcuaUiSignal(QObject):
    value_changed = Signal(str, str, object)
    opc_disconnected = Signal(str)    # OPC服务断开信号，参数：断开原因
    opc_reconnected = Signal()        # OPC重连成功信号
    opc_log = Signal(str)             # OPC运行日志信号，参数：日志信息

# Opcua回调处理器
class SubscriptionHandler:
    def __init__(self, opc_signal:OpcuaUiSignal):
        self.node_id_to_name = {}
        self.opc_signal = opc_signal

    def datachange_notification(self, node, val, data):
        try:
            node_id = node.nodeid.to_string()
            var_name = self.node_id_to_name.get(node_id)
            self.opc_signal.value_changed.emit(node_id, var_name, val)
        except Exception as e:
            err_msg = f"opcua解析值变化事件失败: {e}"
            self.opc_signal.opc_log.emit(err_msg)

class OpcuaUiClient(QThread):
    def __init__(self, parent=None):
        super().__init__(parent)
        self.server_url = ""
        self.client = None

        self.connected = False
        self.subscription = None
        self.monitored_items = []
        self.is_running = True  # 线程运行标志位
        self.node_id_mapping = {} # node_id 和 可读变量名的映射表
        self.is_reconnect_tip_sent = False  # 重连失败提示是否已发送

        self.opc_signal = OpcuaUiSignal()
        self.handler = SubscriptionHandler(self.opc_signal)
        
        self.target_var_paths = []
        
        # 参数
        self.heartbeat_interval = None  # 心跳检测间隔 
        self.reconnect_interval = None  # 首次/掉线重连间隔 
        self.sub_interval = None        # 订阅间隔 (单位:ms)


    def stop_run(self):
        """停止线程+断开连接"""
        self.is_running = False
        self.disconnect()
        self.wait()
        print("opcua客户端线程已退出")

    def connect(self):
        """连接到OPC服务器"""
        try:
            self.client.connect()
            self.connected = True
            msg = f"成功连接到OPCUA服务器: {self.server_url}"
            print(msg)
            self.opc_signal.opc_log.emit(msg)
            self.is_reconnect_tip_sent = False
            return True
        except Exception as e:
            self.connected = False
            err_msg = f"连接OPCUA服务器失败: {e}"
            print(err_msg)
            if not self.is_reconnect_tip_sent:
                self.opc_signal.opc_log.emit(err_msg)
                # 标记为已发送，后续不重复在UI上显示
                self.is_reconnect_tip_sent = True 
            return False

    def disconnect(self):
        """断开连接"""
        self.connected = False
        try:  
            if self.monitored_items:
                for item in self.monitored_items:
                    try:
                        self.subscription.unsubscribe(item)
                    except Exception: 
                        pass
                self.monitored_items.clear()
            if self.subscription:
                try:
                    self.subscription.delete()
                except Exception:
                    pass
                self.subscription = None
            if self.client:
                try:
                    self.client.disconnect()
                except Exception:
                    pass
            self.node_id_mapping.clear()
            if hasattr(self, 'handler') and self.handler: 
                self.handler.node_id_to_name = {}
        except Exception as e:
            print(f"opcua断开连接异常: {e}")

    def build_node_id_mapping(self):
        """根据object_name+var_name路径获取nodeid,建立映射表"""
        if not self.connected:
            return False
        try:
            # self.opc_signal.opc_log.emit("开始构建nodeid映射表...")
            objects_node = self.client.get_objects_node()
            self.handler.node_id_to_name = self.node_id_mapping
            for var_name, path_list in self.target_var_paths:
                target_node = objects_node.get_child(path_list)
                node_id = target_node.nodeid.to_string()
                self.node_id_mapping[node_id] = var_name
            # self.opc_signal.opc_log.emit("nodeid映射表构建成功")
            return True
        except Exception as e:
            err_msg = f"构建{var_name}映射表失败: {e}"
            print(err_msg)
            self.opc_signal.opc_log.emit(err_msg)
            return False

    def create_multi_subscription(self, interval=None):
        """订阅多个变量(基于映射表的nodeid)"""
        if not self.connected:
            return
        if not self.node_id_mapping and not self.build_node_id_mapping():
            return
        try:
            interval = int(interval) if interval else self.sub_interval
            self.subscription = self.client.create_subscription(interval, self.handler)
            self.opc_signal.opc_log.emit(f"opcua订阅创建成功(间隔：{interval}ms)")
            for node_id, var_name in self.node_id_mapping.items():
                var_node = self.client.get_node(node_id)
                monitored_item = self.subscription.subscribe_data_change(var_node)
                self.monitored_items.append(monitored_item)
                # self.opc_signal.opc_log.emit(f"已订阅变量: {var_name} (nodeid: {node_id})")
                print(f"已订阅变量: {var_name} (nodeid: {node_id})")
        except Exception as e:
            err_msg = f"创建批量订阅失败: {e}"
            print(err_msg)
            self.opc_signal.opc_log.emit(err_msg)

    def read_opc_config(self, cfg_path = "config/opc_config.ini"):
        """读取OPC配置文件, 初始化所有参数和节点列表"""
        try:
            cfg = configparser.ConfigParser()
            cfg.read(cfg_path, encoding="utf-8")
            # 1. 读取服务器基础配置
            self.server_url = cfg.get("OPC_SERVER_CONFIG", "server_url")
            self.heartbeat_interval = cfg.getint("OPC_SERVER_CONFIG", "heartbeat_interval")
            self.reconnect_interval = cfg.getint("OPC_SERVER_CONFIG", "reconnect_interval")
            self.sub_interval = cfg.getint("OPC_SERVER_CONFIG", "sub_interval")
            
            # 2. 读取OPC节点配置
            node_section = cfg["OPC_NODE_LIST"]
            for readable_name, node_path_str in node_section.items():
                node_path_list = node_path_str.split(",")
                self.target_var_paths.append( (readable_name, node_path_list) )
            # print("target_var_paths", self.target_var_paths)
        except Exception as e:
            print(f"读取配置文件失败: {e}，使用默认配置启动！")
            self.server_url = "opc.tcp://localhost:4840/zjsh_feed/server/"
            self.heartbeat_interval = 4
            self.reconnect_interval = 2
            self.sub_interval = 500
            self.target_var_paths = [
                ("upper_weight", ["2:upper", "2:upper_weight"]),
                ("lower_weight", ["2:lower", "2:lower_weight"])
            ]
        # 参数合法性检验
        self.heartbeat_interval = self.heartbeat_interval if isinstance(self.heartbeat_interval, int) and self.heartbeat_interval >=1 else 4
        self.reconnect_interval = self.reconnect_interval if isinstance(self.reconnect_interval, int) and self.reconnect_interval >=1 else 2
        self.sub_interval = self.sub_interval if isinstance(self.sub_interval, int) and self.sub_interval >=100 else 500

    def write_value_by_name(self, var_readable_name, value):
        """ 
        根据变量可读名称写入值(主要用于修改方量， 方量的类型为 Double类型)
        :param var_readable_name: 变量可读名称（如"upper_weight")
        :param value: 要写入的值
        """
        if not self.connected:
            self.opc_signal.opc_log.emit(f"{var_readable_name}写入失败: OPC服务未连接")
            return
        target_node_id = None
        for node_id, name in self.node_id_mapping.items():
            if name == var_readable_name:
                target_node_id = node_id
                break
        if not target_node_id:
            # self.opc_signal.opc_log.emit(f"写入失败：未找到变量名 {var_readable_name} 对应的nodeid")
            return
        try:
            target_node = self.client.get_node(target_node_id)
            # variant = ua.Variant(float(value), ua.VariantType.Double)
            target_node.set_value(value)
            # self.opc_signal.opc_log.emit(f"写入成功：{var_readable_name} = {value}")
        except Exception as e:
            err_msg = f"opcua写入值失败: {e}"
            print(err_msg)
            self.opc_signal.opc_log.emit(err_msg)

    # ===== 心跳检测函数 =====
    def _heartbeat_check(self):
        """心跳检测: 判断opc服务是否存活"""
        try:
            self.client.get_node("i=2258").get_value()
            return True
        except Exception as e:
            err_msg = f"心跳检测失败, OPCUA服务已断开 {e}"
            print(err_msg)
            self.opc_signal.opc_log.emit(err_msg)
            return False

    # ===== 掉线重连函数 =====
    def _auto_reconnect(self):
        """掉线后自动重连+重建映射+恢复订阅"""
        self.opc_signal.opc_disconnected.emit("OPC服务掉线, 开始自动重连...")
        try:
            self.disconnect()
        except Exception as e:
            print(f"_auto_reconnect: 断开旧连接时出现异常: {e}")
        while self.is_running:
            # self.opc_signal.opc_log.emit(f"重试连接OPC服务器: {self.server_url}")
            if self.connect():
                self.build_node_id_mapping()
                self.create_multi_subscription()
                self.opc_signal.opc_reconnected.emit()
                self.opc_signal.opc_log.emit("OPCUA服务器重连成功, 所有订阅已恢复正常")
                print("OPCUA服务器重连成功, 所有订阅已恢复正常")
                break
            time.sleep(self.reconnect_interval)

    def _init_connect_with_retry(self):
        """连接opc服务器"""
        # self.opc_signal.opc_log.emit("OPC客户端初始化, 开始连接服务器...")
        print("OPC客户端初始化, 开始连接服务器...")
        while self.is_running:
            if self.connect():
                self.build_node_id_mapping()
                self.create_multi_subscription()
                break
            # self.opc_signal.opc_log.emit(f"连接OPCUA服务器失败, {self.reconnect_interval}秒后重试...")
            time.sleep(self.reconnect_interval)

    def run(self) -> None:
        """opcua客户端线程主函数"""
        self.read_opc_config() # 读取配置文件
        self.client = Client(self.server_url) # 初始化opc客户端

        # 连接opc服务器
        self._init_connect_with_retry()
        
        while self.is_running:
            if self.connected:
                if not self._heartbeat_check():
                    self.connected = False
                    self._auto_reconnect()
            else:
                self._auto_reconnect()
            time.sleep(self.heartbeat_interval)