Events added & cleaner version of the main method

robot.py

@@ -9,6 +9,54 @@ from asyncua.common import node
 logging.basicConfig(level=logging.INFO)
 _logger = logging.getLogger('asyncua')
 
+
+class Measurement:
+    def __init__(self, name, description, datatype, dimension, rangevar=None, unit=None):
+        self.name = name
+        self.description = description
+        self.datatype = datatype
+        self.range = rangevar
+        self.dimension = dimension
+        self.unit = unit
+        array = []
+        # calculate a start value
+        if self.dimension != 0:
+            for i in range(self.dimension):
+                array.append(self.datatype((self.range[0] + self.range[1]) / 2))
+            self.value = array
+        else:
+            self.value = self.datatype(((self.range[0] + self.range[1]) / 2))
+
+
+# const parameter modeling missing
+class Parameter:
+    def __init__(self, name, description, datatype, dimension, rangevar=None, unit=None, default=None, constant=False):
+        self.name = name
+        self.description = description
+        self.datatype = datatype
+        self.range = rangevar
+        self.dimension = dimension
+        self.unit = unit
+        self.default = default
+        self.constant = constant
+        array = []
+        # calculate a start value
+        if self.default == False:
+            if self.dimension != 0:
+                for i in range(self.dimension):
+                    array.append(self.datatype((self.range[0] + self.range[1]) / 2))
+                self.value = array
+            else:
+                self.value = self.datatype(((self.range[0] + self.range[1]) / 2))
+        else:
+            self.value = self.datatype(default)
+
+#goTo method
+@uamethod
+def goTo (parent, position, node):
+    node.set_value(position)
+
+
 async def main():
     # setup our server
     server = Server()
@@ -21,44 +69,6 @@ async def main():
     #id des rangedatentyps
     rangeid = await server.nodes.base_data_type.get_child(["0:Structure" , "0:Range"])
 
-    class Measurement:
-        def __init__(self, name, description, datatype, dimension, rangevar = None, unit= None):
-            self.name = name
-            self.description = description
-            self.datatype = datatype
-            self.range = rangevar
-            self.dimension = dimension
-            self.unit = unit
-            array = []
-            #calculate a start value
-            if self.dimension != 0:
-                for i in range(self.dimension):
-                    array.append(self.datatype((self.range[0] + self.range[1]) / 2))
-                self.value = array
-            else: self.value = self.datatype(((self.range[0] + self.range[1]) / 2))
-    
-    #const parameter modeling missing
-    class Parameter:
-        def __init__(self, name, description, datatype, dimension, rangevar = None, unit= None, default= None, constant = False):
-            self.name = name
-            self.description = description
-            self.datatype = datatype
-            self.range = rangevar
-            self.dimension = dimension
-            self.unit = unit
-            self.default = default
-            self.constant = constant
-            array = []
-            #calculate a start value
-            if self.default == False:
-                if self.dimension != 0:
-                    for i in range(self.dimension):
-                        array.append(self.datatype((self.range[0] + self.range[1]) / 2))
-                    self.value = array
-                else: self.value = self.datatype(((self.range[0] + self.range[1]) / 2))
-            else: self.value = self.datatype(default)
-
-
     #measurementobjekte für dynamischer
     tcpobject = Measurement("Tool Center Point", "Tool center point of a six-arm robot.", float, 3 , (-0.5, 0.5), "metre")
     positionobject = Measurement("Position", "Position in Cartesian coordinates given in metre.", float, 3, (-50, 50) , "metre")
@@ -69,6 +79,7 @@ async def main():
     openobject = Parameter("Open", "Flag to specify if something is open.", bool, 0, default = True)
     automoveobject = Parameter("Autonomous Movement", "If true, the robot moves around freely autonomously.", bool, 0, default = True)
     paraobjectlist = [openobject, automoveobject]
+
     #hauptobjekt
     myobj = await server.nodes.objects.add_object(idx, "Robot")
     
@@ -78,7 +89,6 @@ async def main():
     #tcpvar = await myobj.add_variable(idx, "TCP VAR" , [0,0,0] , datatype = vartype.nodeid)
     
     #variable mit entsprechenden properties
-
     #measurements evtl varianttype vom variabletype und datatype measurement
 
     for a in measureobjectlist:
@@ -110,24 +120,23 @@ async def main():
     openvar = await gripper.add_variable(idx, "Open", True, datatype = paratype.nodeid)
     await openvar.add_property(idx, "Description", "Flag to specify if something is open.")
 
-    #functions
-    #Warten auf umsetzen
+    #getting node ids of battery and position
     robotposname = "2:" + positionobject.name
     positionrobot = await myobj.get_child([robotposname])
-    @uamethod
-    def goTo(parent, position):
 
-        while positionrobot.get_value() != position:
-            print("Waiting for position")
-    goTofunc = await myobj.add_method(idx, "goTo", goTo, [vartype])
+    batteryvarname = "2:" + batteryobject.name
+    batterymeas = await myobj.get_child([batteryvarname])
 
-    #einfach umsetzen
-    @uamethod
-    def goTosetvalue (parent, position):
-        positionrobot.set_value(position)
+    #adding function goTo to robot
+    goTofunc = await myobj.add_method(idx, "goToset", goTo, [vartype, positionrobot])
 
-    goTosetvaluefunc = await myobj.add_method(idx, "goToset", goTosetvalue, [vartype])
+    #batterylow warning event
+    batterywarning = await server.create_custom_event_type(idx, "BatteryLowWarning", ua.ObjectIds.SystemEventType)
+    batterywarninggen = await server.get_event_generator(batterywarning, myobj)
 
+    #batterylow error event
+    batteryerror = await server.create_custom_event_type(idx, "BatteryLowWarning", ua.ObjectIds.SystemEventType)
+    batteryerrorgen = await server.get_event_generator(batteryerror, myobj)
 
 
 
@@ -136,6 +145,14 @@ async def main():
     async with server:
         print("Server läuft!")
         while True:
+            #checking triggering both events
+            batteryload = await batterymeas.get_value()
+            batterywarninggen.event.Severity = 800
+            batteryerrorgen.event.Severity = 1000
+            if 20 > batteryload >= 10:
+                await batterywarning.trigger("Battery level is below 20%. Load shortly.")
+            if batteryload < 10:
+                await batterywarning.trigger("Battery level is below 10%. Please load the battery immediately.")
             await asyncio.sleep(1)
 
 if __name__ == '__main__':