From fb6c3009cbd08045070a669ff459d3bf08c3b5c1 Mon Sep 17 00:00:00 2001
From: "oliver.rostig" <oliver.rostig@rwth-aachen.de>
Date: Thu, 6 Jul 2023 15:26:19 +0200
Subject: [PATCH] docker fix
---
Dockerfile | 9 ++++---
requirements.txt | 3 +--
robottest.py | 64 ++++++++++++++++++++++++++++++++++++++++++++----
3 files changed, 66 insertions(+), 10 deletions(-)
diff --git a/Dockerfile b/Dockerfile
index 4f4661b..7cb6f3f 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -2,12 +2,15 @@
FROM python:3.10
# install app dependencies
#python vorpackage
-WORKDIR /app
-RUN ./requirements.txt .
+RUN mkdir /soil-opc-ua
+
+WORKDIR /soil-opc-ua
+
+COPY requirements.txt .
RUN pip3 install -r requirements.txt
-COPY * /app
+COPY * /soil-opc-ua
CMD ["python", "newmodeljsonparse.py", "robot.json"]
diff --git a/requirements.txt b/requirements.txt
index 867b021..e817cac 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,5 +1,4 @@
-asyncua
+asyncio
tomli
toml
numpy
-opcua-client
\ No newline at end of file
diff --git a/robottest.py b/robottest.py
index 7b6294b..8cd8a02 100644
--- a/robottest.py
+++ b/robottest.py
@@ -9,8 +9,11 @@ from asyncua.common import node
logging.basicConfig(level=logging.INFO)
_logger = logging.getLogger('asyncua')
+
+
+
async def main():
- # setup our server
+ # setup our server()
server = Server()
await server.init()
server.set_endpoint('opc.tcp://0.0.0.0:4840/freeopcua/server/')
@@ -58,6 +61,22 @@ async def main():
##evtl alle statischen variablen als struct dynamisch mit extra variablen
myobj = await server.nodes.objects.add_object(idx, "Robot")
+
+ enode = await new_enum(server, idx, "MyEnum", [
+ "titi",
+ "toto",
+ "tutu",
+ ])
+
+ enum_node = await new_enum(server, idx, "EnumerateTest", [ "UNDEFINED", "GOOD", "BAD", ])
+ await server.load_data_type_definitions()
+ enumTest = await myobj.add_variable(idx, "my_enumtest", ua.EnumerateTest.UNDEFINED, datatype=enum_node.nodeid)
+ await enumTest.set_modelling_rule(True)
+
+ #custom_objs = await server.load_data_type_definitions()
+ valnode = await server.nodes.objects.add_variable(idx, "my_enum", ua.MyEnum.toto, datatype=enode.nodeid)
+
+ #enum = await myobj.add_variable(idx, "my_enum", ua.MyEnum.toto, datatype=enode.nodeid)
#custom_objs = await server.load_data_type_definitions()
#pos struct hardcoded
#var = await myobj.add_variable(idx, "position",ua.Variant(ua.PosStruct('Position', 'Position in Cartesian coordinates given in metre.', [0,0,0], ua.Range(-50, 50), 'm'), ua.VariantType.ExtensionObject))
@@ -84,23 +103,58 @@ async def main():
#tcp als variable mit properties
vartype = await server.nodes.base_data_type.add_data_type(idx, tcpobject.name, tcpobject.description)
-
+ #await vartype.write_value_rank(1)
#if tcpobject.range is not None:
# rangeprop = await vartype.add_property(idx, "range", ua.Range(-0.5,0.5))
# await rangeprop.set_modelling_rule(True)
# #if tcpobject.unit is not None:
# unitprop = await vartype.add_property(idx, "unit", "metre")
# await unitprop.set_modelling_rule(True)
- tcpvar = await myobj.add_variable(idx, "TCP Var" , [0,0,0] , datatype = vartype.nodeid)
+ tcpvar = await myobj.add_variable(idx, "TCP Var" , [0,0,0] , ua.VariantType.Float ,datatype = vartype.nodeid)
+ await tcpvar.set_writable()
+ # await tcpvar.write_value_rank(1)
+ # await tcpvar.write_array_dimensions(2)
#object bekommt nicht datatypes properties
await tcpvar.add_property(idx, "range", ua.Range(-0.5,0.5))
await tcpvar.add_property(idx, "unit", "metre")
+ #def func(variant):
+ # tcpvar.set_value(ua.Variant(variant, ua.VariantType.Float, is_array = True))
+ testvar = await myobj.add_variable(idx, "test" , 3)
+
+ # @uamethod
+ # async def goTo (position):
+ # await tcpvar.set_value(position)
+
+ # @uamethod
+ # def test (position):
+ # testvar.set_value(position)
+ # return position
+
+ async def test(parent, position):
+ await testvar.set_value(ua.Variant(position))
+
+ async def goTo(parent, position):
+ await tcpvar.set_value(ua.Variant(position))
+ inargx = ua.Argument()
+ inargx.Name = "Position_neu"
+ inargx.DataType = ua.NodeId(ua.ObjectIds.Float)
+ inargx.ValueRank = 1
+ inargx.ArrayDimensions = [1,1,1]
+ inargx.Description = ua.LocalizedText("bewegt zu neuer position")
+
+ beweg_node = await myobj.add_method(idx, "bewegen", goTo, [ua.VariantType.Float])
+
+ testmethod = await myobj.add_method(idx, "test", test, [ua.VariantType.Int64])
+
async with server:
- print(tcpobject.value)
+ #print(tcpobject.value)
+ print(await tcpvar.get_value())
+ #await tcpvar.set_value([1,1,1])
+ print(await tcpvar.get_value())
while True:
await asyncio.sleep(1)
-
+
if __name__ == '__main__':
asyncio.run(main())
\ No newline at end of file
--
GitLab