300 lines
12 KiB
Python
300 lines
12 KiB
Python
#!/usr/bin/env python3
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from opcua import Client, ua
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import time
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from datetime import datetime
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import configparser
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from threading import Thread,RLock
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import logging
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import queue
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logging.getLogger("opcua").setLevel(logging.WARNING)
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logging.getLogger("opcua.client.ua_client").setLevel(logging.WARNING)
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logging.getLogger("opcua.uaprotocol").setLevel(logging.WARNING)
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#控制程序opcua 需要需要在opc_config中配置_f结尾的key才会收到通知
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# Opcua回调处理器
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class SubscriptionHandler:
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def __init__(self,parent):
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self.node_id_to_name = {}
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#设置派单模式(1自动派单 2手动派单0未知)
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# self.pd_set_mode=0
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# #设置方量{ID:派单表ID，Volumn:修改后方量}
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# self.pd_set_volumn=''
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# #派单通知数据{ErpID:ID:派单表ID,Flag:状态，ErrorMsg:失败异常信息 }
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# self.pd_notify=''
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# 添加队列和锁
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self.notification_queue = queue.Queue()
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self.processing_thread = Thread(target=self._process_notifications, daemon=True,name="opcua_recv_thread")
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self.lock = RLock() # 可重入锁
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self.parent=parent
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self.notify_callback=self.parent.notify_callback
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def start_accept(self):
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self.processing_thread.start()
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def datachange_notification(self, node, val, data):
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try:
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node_id = node.nodeid.to_string()
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var_name = self.node_id_to_name.get(node_id)
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print(f"node_id: {node_id}, var_name: {var_name}, val: {val}")
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self.notification_queue.put_nowait((var_name, val))
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# setattr(self, var_name, val)
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# if self.notify_callback:
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# self.notify_callback(var_name,val)
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except Exception as e:
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err_msg = f"opcua解析值变化事件失败: {e}"
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print(err_msg)
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def _process_notifications(self):
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"""后台线程处理通知（串行执行）"""
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while self.parent.is_running:
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try:
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var_name, val = self.notification_queue.get(timeout=1)
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# 使用锁保护共享资源
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with self.lock:
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self.notify_callback(var_name,val)
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self.notification_queue.task_done()
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except queue.Empty:
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continue
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except Exception as e:
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print(f"处理通知失败: {e}")
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class OpcuaClientFeed(Thread):
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def __init__(self,notify_callback=None, parent=None):
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super().__init__(parent)
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self.name="opcua_feed_client"
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self.target_var_paths = []
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#订阅配置文件中的参数
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self.subscription_name=["pd_notify","pd_notify_finish","pd_set_mode","pd_set_volume"]
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# self.server_url = ""
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self.read_opc_config() # 读取配置文件
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self.client = Client(self.server_url) # 初始化opc客户端
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self.notify_callback=notify_callback
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self.connected = False
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self.subscription = None
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self.monitored_items = []
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self.is_running = True # 线程运行标志位
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self.node_id_mapping = {} # node_id 和 可读变量名的映射表
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self.is_reconnect_tip_sent = False # 重连失败提示是否已发送
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self.handler = SubscriptionHandler(self)
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def start_accept(self):
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self.handler.start_accept()
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def stop_run(self):
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"""停止线程+断开连接"""
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self.is_running = False
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self.disconnect()
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# self.wait()
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print("opcua客户端线程已退出")
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def connect(self):
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"""连接到OPC服务器"""
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try:
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self.client.connect()
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self.connected = True
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msg = f"成功连接到OPCUA服务器: {self.server_url}"
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print(msg)
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self.is_reconnect_tip_sent = False
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return True
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except Exception as e:
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self.connected = False
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err_msg = f"连接OPCUA服务器失败: {e}"
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print(err_msg)
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if not self.is_reconnect_tip_sent:
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print(err_msg)
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# 标记为已发送，后续不重复在UI上显示
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self.is_reconnect_tip_sent = True
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return False
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def disconnect(self):
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"""断开连接"""
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self.connected = False
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try:
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if self.monitored_items:
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for item in self.monitored_items:
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try:
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self.subscription.unsubscribe(item)
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except Exception:
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pass
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self.monitored_items.clear()
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if self.subscription:
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try:
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self.subscription.delete()
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except Exception:
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pass
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self.subscription = None
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if self.client:
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try:
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self.client.disconnect()
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except Exception:
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pass
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self.node_id_mapping.clear()
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if hasattr(self, 'handler') and self.handler:
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self.handler.node_id_to_name = {}
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except Exception as e:
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print(f"opcua断开连接异常: {e}")
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def build_node_id_mapping(self):
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"""根据object_name+var_name路径获取nodeid,建立映射表"""
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if not self.connected:
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return False
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try:
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objects_node = self.client.get_objects_node()
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self.handler.node_id_to_name = self.node_id_mapping
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for var_name, path_list in self.target_var_paths:
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target_node = objects_node.get_child(path_list)
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node_id = target_node.nodeid.to_string()
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self.node_id_mapping[node_id] = var_name
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print("nodeid映射表构建成功")
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return True
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except Exception as e:
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err_msg = f"构建{var_name}映射表失败: {e}"
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print(err_msg)
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return False
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def create_multi_subscription(self, interval=None):
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"""订阅多个变量(基于映射表的nodeid)"""
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if not self.connected:
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return
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if not self.node_id_mapping:
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return
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try:
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interval = int(interval) if interval else self.sub_interval
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self.subscription = self.client.create_subscription(interval, self.handler)
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for node_id, var_name in self.node_id_mapping.items():
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if var_name in self.subscription_name:
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var_node = self.client.get_node(node_id)
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monitored_item = self.subscription.subscribe_data_change(var_node)
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self.monitored_items.append(monitored_item)
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print(f"已订阅变量: {var_name} (nodeid: {node_id})")
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except Exception as e:
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err_msg = f"创建批量订阅失败: {e}"
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print(err_msg)
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def read_opc_config(self, cfg_path = "config/opc_config.ini"):
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"""读取OPC配置文件, 初始化所有参数和节点列表"""
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try:
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cfg = configparser.ConfigParser()
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cfg.read(cfg_path, encoding="utf-8")
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# 1. 读取服务器基础配置
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self.server_url = cfg.get("OPC_SERVER_CONFIG", "server_url")
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self.heartbeat_interval = cfg.getint("OPC_SERVER_CONFIG", "heartbeat_interval")
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self.reconnect_interval = cfg.getint("OPC_SERVER_CONFIG", "reconnect_interval")
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self.sub_interval = cfg.getint("OPC_SERVER_CONFIG", "sub_interval")
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# 2. 读取OPC节点配置
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node_section = cfg["OPC_NODE_LIST"]
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for readable_name, node_path_str in node_section.items():
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node_path_list = node_path_str.split(",")
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self.target_var_paths.append( (readable_name, node_path_list) )
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print("target_var_paths", self.target_var_paths)
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except Exception as e:
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print(f"读取配置文件失败: {e}，使用默认配置启动！")
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self.server_url = "opc.tcp://localhost:4840/zjsh_feed/server/"
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self.heartbeat_interval = 4
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self.reconnect_interval = 2
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self.sub_interval = 500
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# 参数合法性检验
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self.heartbeat_interval = self.heartbeat_interval if isinstance(self.heartbeat_interval, int) and self.heartbeat_interval >=1 else 4
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self.reconnect_interval = self.reconnect_interval if isinstance(self.reconnect_interval, int) and self.reconnect_interval >=1 else 2
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self.sub_interval = self.sub_interval if isinstance(self.sub_interval, int) and self.sub_interval >=100 else 500
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def write_value_by_name(self, var_readable_name, value):
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"""
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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)
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:param var_readable_name: 变量可读名称（如"upper_weight")
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:param value: 要写入的值
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"""
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max_wait = 30 # 最大等待30秒
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wait_count = 0
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while (not self.node_id_mapping and wait_count < max_wait):
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time.sleep(0.5)
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wait_count += 1
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if wait_count % 2 == 0: # 每2秒打印一次
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print(f"等待OPC连接中...({wait_count/2}秒)")
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if not self.connected:
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print(f"{var_readable_name}写入失败: OPC服务未连接")
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return
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target_node_id = None
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for node_id, name in self.node_id_mapping.items():
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if name == var_readable_name:
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target_node_id = node_id
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break
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if not target_node_id:
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return
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try:
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target_node = self.client.get_node(target_node_id)
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target_node.set_value(value)
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except Exception as e:
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err_msg = f"opcua写入值失败: {e}"
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print(err_msg)
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# ===== 心跳检测函数 =====
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def _heartbeat_check(self):
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"""心跳检测: 判断opc服务是否存活"""
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try:
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self.client.get_node("i=2258").get_value()
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return True
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except Exception as e:
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err_msg = f"心跳检测失败, OPCUA服务已断开 {e}"
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print(err_msg)
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return False
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# ===== 掉线重连函数 =====
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def _auto_reconnect(self):
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"""掉线后自动重连+重建映射+恢复订阅"""
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print("OPC服务掉线, 开始自动重连...")
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try:
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self.disconnect()
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except Exception as e:
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print(f"_auto_reconnect: 断开旧连接时出现异常: {e}")
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while self.is_running:
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print(f"重试连接OPC服务器: {self.server_url}")
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if self.connect():
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self.build_node_id_mapping()
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self.create_multi_subscription()
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print("OPCUA服务器重连成功, 所有订阅已恢复正常")
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break
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time.sleep(self.reconnect_interval)
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def _init_connect_with_retry(self):
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"""连接opc服务器"""
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print("OPC客户端初始化, 开始连接服务器...")
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while self.is_running:
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if self.connect():
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self.build_node_id_mapping()
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self.create_multi_subscription()
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break
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print(f"连接OPCUA服务器失败, {self.reconnect_interval}秒后重试...")
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time.sleep(self.reconnect_interval)
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def run(self) -> None:
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"""opcua客户端线程主函数"""
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# 连接opc服务器
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self._init_connect_with_retry()
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while self.is_running:
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if self.connected:
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if not self._heartbeat_check():
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self.connected = False
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self._auto_reconnect()
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else:
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self._auto_reconnect()
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time.sleep(self.heartbeat_interval)
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if __name__ == "__main__":
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opcua_client = OpcuaClientFeed()
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opcua_client.start()
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opcua_client.write_value_by_name("pd_set_mode", 1)
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while True:
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time.sleep(1)
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