async def main():
# setup our server
print('【正在初始化OPC UA Server...】')
server = Server()
await server.init()
server.default_timeout = 60
server.set_endpoint('opc.tcp://0.0.0.0:4840/')
# server.set_endpoint('opc.tcp://192.168.100.170:4840/')
# setup our own namespace, not really necessary but should as spec
try:
#################################
# # 设置加密和密钥后 prosys可以连接 None方式不行
await server.load_certificate("certificate.der")
await server.load_private_key("private-key.pem")
#
# # set all possible endpoint policies for clients to connect through
server.set_security_policy([
ua.SecurityPolicyType.NoSecurity,
ua.SecurityPolicyType.Basic256Sha256_SignAndEncrypt,
ua.SecurityPolicyType.Basic256Sha256_Sign
])
########################################
except Exception as e:
print(e)
else:
uri = 'http://su600.cn'
idx = await server.register_namespace(uri)
# 导入xml文件
await server.import_xml('kuka.xml')
# 获取xml中的UA node
# todo 待优化
root = server.get_root_node()
actuator1 = await root.get_child(
["0:Objects", "0:Actuator", '0:actuator1'])
actuator2 = await root.get_child(
["0:Objects", "0:Actuator", '0:actuator2'])
actuator3 = await root.get_child(
["0:Objects", "0:Actuator", '0:actuator3'])
actuator4 = await root.get_child(
["0:Objects", "0:Actuator", '0:actuator4'])
degree1 = await root.get_child(
["0:Objects", "0:Drilling_Robot", '0:Degree', '0:degree1'])
degree2 = await root.get_child(
["0:Objects", "0:Drilling_Robot", '0:Degree', '0:degree2'])
degree3 = await root.get_child(
["0:Objects", "0:Drilling_Robot", '0:Degree', '0:degree3'])
degree4 = await root.get_child(
["0:Objects", "0:Drilling_Robot", '0:Degree', '0:degree4'])
degree5 = await root.get_child(
["0:Objects", "0:Drilling_Robot", '0:Degree', '0:degree5'])
degree6 = await root.get_child(
["0:Objects", "0:Drilling_Robot", '0:Degree', '0:degree6'])
degree7 = await root.get_child(
["0:Objects", "0:Riveting_Robot", '0:Degree_R', '0:degree7'])
degree8 = await root.get_child(
["0:Objects", "0:Riveting_Robot", '0:Degree_R', '0:degree8'])
degree9 = await root.get_child(
["0:Objects", "0:Riveting_Robot", '0:Degree_R', '0:degree9'])
degree10 = await root.get_child(
["0:Objects", "0:Riveting_Robot", '0:Degree_R', '0:degree10'])
degree11 = await root.get_child(
["0:Objects", "0:Riveting_Robot", '0:Degree_R', '0:degree11'])
degree12 = await root.get_child(
["0:Objects", "0:Riveting_Robot", '0:Degree_R', '0:degree12'])
x1 = await root.get_child(
["0:Objects", "0:Drilling_Robot", '0:Joint', '0:x1'])
x2 = await root.get_child(
["0:Objects", "0:Riveting_Robot", '0:Joint_R', '0:x2'])
y1 = await root.get_child(
["0:Objects", "0:Drilling_Robot", '0:Joint', '0:y1'])
y2 = await root.get_child(
["0:Objects", "0:Riveting_Robot", '0:Joint_R', '0:y2'])
z1 = await root.get_child(
["0:Objects", "0:Drilling_Robot", '0:Joint', '0:z1'])
z2 = await root.get_child(
["0:Objects", "0:Riveting_Robot", '0:Joint_R', '0:z2'])
a1 = await root.get_child(
["0:Objects", "0:Drilling_Robot", '0:Joint', '0:a1'])
a2 = await root.get_child(
["0:Objects", "0:Riveting_Robot", '0:Joint_R', '0:a2'])
b1 = await root.get_child(
["0:Objects", "0:Drilling_Robot", '0:Joint', '0:b1'])
b2 = await root.get_child(
["0:Objects", "0:Riveting_Robot", '0:Joint_R', '0:b2'])
c1 = await root.get_child(
["0:Objects", "0:Drilling_Robot", '0:Joint', '0:c1'])
c2 = await root.get_child(
["0:Objects", "0:Riveting_Robot", '0:Joint_R', '0:c2'])
normal1 = await root.get_child(["0:Objects", "0:Normals", '0:normal1'])
normal2 = await root.get_child(["0:Objects", "0:Normals", '0:normal2'])
normal3 = await root.get_child(["0:Objects", "0:Normals", '0:normal3'])
data_name = [
x1, y1, z1, a1, b1, c1, degree1, degree2, degree3, degree4,
degree5, degree6, x2, y2, z2, a2, b2, c2, degree7, degree8,
degree9, degree10, degree11, degree12, actuator1, actuator2,
actuator3, actuator4, normal1, normal2, normal3
]
# todo 设置可写
for i in data_name:
await i.set_writable()
print('\n')
print('【OPC UA Server初始化完成】')
# todo 错误处理 自动重连
print('***请确保机器人控制程序已启动,然后输入IP地址***：')
ip = input()
# print('请输入端口号(默认6008）：')
# try:
# port = int(input())
# except Exception as e:
# print(e, '端口号格式错误')
# print('请重新输入端口号')
# port = int(input())
port = 6008
print('请输入采集周期(单位ms）：')
try:
cycle = int(input()) / 1000
except Exception as e:
print(e, '周期输入有误 请重新输入')
# print('请重新输入端口号')
cycle = int(input()) / 1000
# socket通信
def socket_client(ip, port):
try:
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((ip, port))
except socket.error as e:
print(e)
# sys.exit(1)
else:
# send_data = input('请输入发送命令: ').strip()
send_data = '0'
s.send(send_data.encode())
receive_data = s.recv(1024).decode()
# kuka_data=data_analysis(send_data,receive_data)
# print("收到信息", receive_data)
# s.close()
return receive_data
# OPC UA 数据更新
async with server:
# count = 0
print('【OPC UA Server启动完成开始转发数据】')
while True:
# cycle=0.05
await asyncio.sleep(cycle) # 数据更新周期
data = socket_client(ip, port)
n = 0
for i in data_name:
await i.write_value(data.split(',')[n])
n += 1
async def main():
# setup our server
print('***请确保机器人控制程序已启动，输入任意键继续 ***：')
aaa = input()
print('【正在初始化OPC UA Server...】')
server = Server()
await server.init()
server.default_timeout = 60
endpoint = 'opc.tcp://0.0.0.0:4840/'
server.set_endpoint(endpoint)
# server.set_endpoint('opc.tcp://192.168.100.173:4840/')
# setup our own namespace, not really necessary but should as spec
try:
#################################
# # 设置加密和密钥后 prosys可以连接 None方式不行
await server.load_certificate("certificate.der")
await server.load_private_key("private-key.pem")
## set all possible endpoint policies for clients to connect through
server.set_security_policy([
ua.SecurityPolicyType.NoSecurity,
ua.SecurityPolicyType.Basic256Sha256_SignAndEncrypt,
ua.SecurityPolicyType.Basic256Sha256_Sign
])
########################################
except Exception as e:
print(e)
else:
uri = 'http://su600.cn'
idx = await server.register_namespace(uri)
# 导入xml文件
await server.import_xml('kuka.xml')
# 获取xml中的UA node
# todo 待优化
root = server.get_root_node()
x1 = await root.get_child(
["0:Objects", "3:制孔机器人", '3:制孔TCP坐标', '3:x_Drilling'])
y1 = await root.get_child(
["0:Objects", "3:制孔机器人", '3:制孔TCP坐标', '3:y_Drilling'])
z1 = await root.get_child(
["0:Objects", "3:制孔机器人", '3:制孔TCP坐标', '3:z_Drilling'])
a1 = await root.get_child(
["0:Objects", "3:制孔机器人", '3:制孔TCP坐标', '3:a_Drilling'])
b1 = await root.get_child(
["0:Objects", "3:制孔机器人", '3:制孔TCP坐标', '3:b_Drilling'])
c1 = await root.get_child(
["0:Objects", "3:制孔机器人", '3:制孔TCP坐标', '3:c_Drilling'])
A1 = await root.get_child(
["0:Objects", "3:制孔机器人", '3:制孔关节角度', '3:A1_Drilling'])
A2 = await root.get_child(
["0:Objects", "3:制孔机器人", '3:制孔关节角度', '3:A2_Drilling'])
A3 = await root.get_child(
["0:Objects", "3:制孔机器人", '3:制孔关节角度', '3:A3_Drilling'])
A4 = await root.get_child(
["0:Objects", "3:制孔机器人", '3:制孔关节角度', '3:A4_Drilling'])
A5 = await root.get_child(
["0:Objects", "3:制孔机器人", '3:制孔关节角度', '3:A5_Drilling'])
A6 = await root.get_child(
["0:Objects", "3:制孔机器人", '3:制孔关节角度', '3:A6_Drilling'])
x2 = await root.get_child(
["0:Objects", "3:铆接机器人", '3:铆接TCP坐标', '3:x_Riveting'])
y2 = await root.get_child(
["0:Objects", "3:铆接机器人", '3:铆接TCP坐标', '3:y_Riveting'])
z2 = await root.get_child(
["0:Objects", "3:铆接机器人", '3:铆接TCP坐标', '3:z_Riveting'])
a2 = await root.get_child(
["0:Objects", "3:铆接机器人", '3:铆接TCP坐标', '3:a_Riveting'])
b2 = await root.get_child(
["0:Objects", "3:铆接机器人", '3:铆接TCP坐标', '3:b_Riveting'])
c2 = await root.get_child(
["0:Objects", "3:铆接机器人", '3:铆接TCP坐标', '3:c_Riveting'])
A7 = await root.get_child(
["0:Objects", "3:铆接机器人", '3:铆接关节角度', '3:A1_Riveting'])
A8 = await root.get_child(
["0:Objects", "3:铆接机器人", '3:铆接关节角度', '3:A2_Riveting'])
A9 = await root.get_child(
["0:Objects", "3:铆接机器人", '3:铆接关节角度', '3:A3_Riveting'])
A10 = await root.get_child(
["0:Objects", "3:铆接机器人", '3:铆接关节角度', '3:A4_Riveting'])
A11 = await root.get_child(
["0:Objects", "3:铆接机器人", '3:铆接关节角度', '3:A5_Riveting'])
A12 = await root.get_child(
["0:Objects", "3:铆接机器人", '3:铆接关节角度', '3:A6_Riveting'])
actuator1 = await root.get_child(["0:Objects", "3:末端执行器", '3:主轴'])
actuator2 = await root.get_child(["0:Objects", "3:末端执行器", '3:压脚'])
actuator3 = await root.get_child(["0:Objects", "3:末端执行器", '3:滑台1'])
actuator4 = await root.get_child(["0:Objects", "3:末端执行器", '3:滑台2'])
normal1 = await root.get_child(["0:Objects", "3:法向", '3:B'])
normal2 = await root.get_child(["0:Objects", "3:法向", '3:C'])
normal3 = await root.get_child(["0:Objects", "3:法向", '3:D'])
data_name = [
x1, y1, z1, a1, b1, c1, A1, A2, A3, A4, A5, A6, x2, y2, z2, a2, b2,
c2, A7, A8, A9, A10, A11, A12, actuator1, actuator2, actuator3,
actuator4, normal1, normal2, normal3
]
# 设置可写
for i in data_name:
await i.set_writable()
print('\n')
print('【OPC UA Server初始化完成】')
print('【读取config.txt参数配置】')
file = 'config.txt'
try:
with open(file) as f:
lines = f.readlines()
ip = lines[0].split(':')[1].strip()
port = int(lines[1].split(':')[1])
cycle = int(lines[2].split(':')[1]) / 1000
except Exception as e:
print(e)
else:
print(f'【开始与{ip}:{port}机器人程序建立连接】')
# socket通信
def socket_client(ip, port):
try:
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((ip, port))
except socket.error as e:
print(f'Socket连接错误:{e} 请确认连接参数重新启动程序')
# sys.exit(1)
else:
send_data = '0'
s.send(send_data.encode())
receive_data = s.recv(1024).decode()
# kuka_data=data_analysis(send_data,receive_data)
# print("收到信息", receive_data)
# s.close()
return receive_data
# OPC UA 数据更新
async with server:
print(f'【OPC UA Server启动完成开始转发数据】')
print(f'【OPC UA Server地址{endpoint} 采集周期{cycle * 1000}ms】')
while True:
await asyncio.sleep(cycle) # 数据更新周期
data = socket_client(ip, port)
try:
n = 0
for i in data_name:
await i.write_value(data.split(',')[n])
n += 1
except Exception as e:
# print(f'ERROR: {e}')
pass
else:
pass
async def main():
# setup our server
server = Server()
await server.init()
server.default_timeout = 60
# server.set_endpoint('opc.tcp://0.0.0.0:4840/freeopcua/server/')
server.set_endpoint('opc.tcp://192.168.100.170:4840/')
# setup our own namespace, not really necessary but should as spec
# 设置加密和密钥后 prosys可以连接
await server.load_certificate("certificate-example.der")
await server.load_private_key("private-key-example.pem")
# set all possible endpoint policies for clients to connect through
server.set_security_policy([
ua.SecurityPolicyType.NoSecurity,
ua.SecurityPolicyType.Basic256Sha256_SignAndEncrypt,
ua.SecurityPolicyType.Basic256Sha256_Sign
])
uri = 'http://examples.freeopcua.github.io'
idx = await server.register_namespace(uri)
# await server.import_xml('device.xml')
# # get Objects node, this is where we should put our nodes
objects = server.get_objects_node()
suobj = await objects.add_object(idx, 'ROCKWELLObj')
suvar = []
device = Rockwell_AB_PLC
device.IP = '192.168.100.200'
device.tag_list = [
'Program:MainProgram.run', 'Program:MainProgram.start',
'Program:MainProgram.EMG', 'Local:1:O.Data.0', 'Local:1:O.Data.1',
'Local:1:O.Data.2', 'Local:1:O.Data.3', 'Local:1:O.Data.4',
'Local:1:O.Data.5', 'Local:1:O.Data.6', 'Local:1:O.Data.7',
'Program:MainProgram.EP_Timer.PRE', 'Program:MainProgram.EP_Timer.ACC',
'Program:MainProgram.EP_Timer.EN', 'Program:MainProgram.EP_Timer.TT',
'Program:MainProgram.EP_Timer.DN'
]
# 初始化 创建 opc ua变量
a = 0
for i in device.tag_list:
suvar.append(i)
nodeid = (f'ns={idx};s={i}')
# print(nodeid,type(nodeid))
# i=i.replace(':','-')
# 添加变量，add_variable(NodeId(xxxx), QualifiedName(xxxx), DataValue(xxx))
# 加QualifiedName（）否则直接写字符串":"会分割字符串 报错
suvar[a] = await suobj.add_variable(ua.NodeId(nodeid),
ua.QualifiedName(i), True)
# fixme 初始化需不需要特殊操作？ 暂时都写0 最好和后续变量类型一致
await suvar[a].set_writable()
a += 1
# await objects.add_method(
# ua.NodeId('ServerMethod', 2), ua.QualifiedName('ServerMethod', 2),
# func, [ua.VariantType.Int64], [ua.VariantType.Int64]
# )
# _logger.info('Starting server!')
async with server:
count = 0
while True:
await asyncio.sleep(1) # 数据更新周期
# print(device.IP,device.tag_list)
aa, bb = rockwellread(device.IP, device.tag_list)
# print(cc.Value)
# print(aa,bb)
# count += 0.1
# _logger.info(aa, bb)
# await myvar.write_value(count)
a = 0
for i in bb:
await suvar[a].write_value(i)
a += 1
