Zugriff auf Variablen fuer Methoden dynamischer

robot.py

@@ -61,9 +61,9 @@ async def main():
 
     #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")
+    positionobject = Measurement("Position", "Position in Cartesian coordinates given in metre.", float, 3, (-50, 50) , "metre")
     batteryobject = Measurement("Battery level", "Battery level", int , 0 ,(0, 100), "percent")
-    measureobjectlist = [tcpobject ,  batteryobject] #positionobject,
+    measureobjectlist = [tcpobject , positionobject, batteryobject]
 
     #parameterobjekte
     openobject = Parameter("Open", "Flag to specify if something is open.", bool, 0, default = True)
@@ -91,12 +91,6 @@ async def main():
             unitporp = await name.add_property(idx, "unit", a.unit)
         description = await name.add_property(idx, "Description", a.description)
 
-    positionvar = await myobj.add_variable(idx,positionobject.name, positionobject.value, datatype = vartype.nodeid)
-    if a.range is not None:
-        posrangeprop = await positionvar.add_property(idx, "range", ua.Range(positionobject.range[0], positionobject.range[1]))
-    if a.unit is not None:
-        unitprop = await positionvar.add_property(idx, "unit", positionobject.unit)
-    posdescription = await positionvar.add_property(idx, "Description", positionobject.description)
 
     #parameters
 
@@ -118,26 +112,29 @@ async def main():
 
     #functions
     #Warten auf umsetzen
+    robotposname = "2:" + positionobject.name
+    positionrobot = await myobj.get_child([robotposname])
     @uamethod
     def goTo(parent, position):
-        while positionvar.get_value() != position :
+
+        while positionrobot.get_value() != position:
             print("Waiting for position")
     goTofunc = await myobj.add_method(idx, "goTo", goTo, [vartype])
 
     #einfach umsetzen
     @uamethod
     def goTosetvalue (parent, position):
-        positionvar.set_value(position)
+        positionrobot.set_value(position)
 
     goTosetvaluefunc = await myobj.add_method(idx, "goToset", goTosetvalue, [vartype])
 
 
 
 
+
     #server
     async with server:
         print("Server läuft!")
-        #print(bla)
         while True:
             await asyncio.sleep(1)