protected override ServiceResult Call(ISystemContext context, CallMethodRequest methodToCall, MethodState method, CallMethodResult result)
{
if (methodToCall.MethodId == new NodeId("Robot1_Stop", NamespaceIndex))
{
_mode.Value = (short)1;
_mode.Timestamp = DateTime.UtcNow;
_mode.ClearChangeMasks(SystemContext, false);
_laser.Value = false;
_laser.Timestamp = DateTime.UtcNow;
_laser.ClearChangeMasks(SystemContext, false);
result.StatusCode = StatusCodes.Good;
return(StatusCodes.Good);
}
if (methodToCall.MethodId == new NodeId("Robot1_Multiply", NamespaceIndex))
{
try
{
var a = Convert.ToDouble(methodToCall.InputArguments[0].Value);
var b = Convert.ToDouble(methodToCall.InputArguments[1].Value);
result.OutputArguments.Add(new Variant(a * b));
result.StatusCode = StatusCodes.Good;
return(StatusCodes.Good);
}
catch (Exception e)
{
Console.WriteLine(e);
result.StatusCode = StatusCodes.BadInvalidArgument;
return(StatusCodes.BadInvalidArgument);
}
}
return(base.Call(context, methodToCall, method, result));
}
public virtual bool Update(ISystemContext systemContext)
{
bool valueSet = false;
if (CanSetValue())
{
int value = 0;
bool boolValue = false;
GetValue(ref value, ref boolValue);
Utils.LogInfo("AlarmController Update Value = {0}", value);
if (m_isBoolean)
{
m_variable.Value = boolValue;
}
else
{
m_variable.Value = value;
}
m_variable.Timestamp = DateTime.UtcNow;
m_variable.ClearChangeMasks(systemContext, false);
valueSet = true;
}
return(valueSet);
}
private void UpdateVariableValue()
{
Task.Run(() =>
{
while (true)
{
try
{
int count = 0;
if (count > 0 && count != cfgCount)
{
cfgCount = count;
List <OpcuaNode> nodes = new List <OpcuaNode>();
UpdateNodesAttribute(nodes);
}
BaseDataVariableState node = null;
foreach (var item in _nodeDic)
{
node = item.Value;
node.Value = RandomLibrary.GetRandomInt(0, 99);
node.Timestamp = DateTime.Now;
node.ClearChangeMasks(SystemContext, false);
}
Thread.Sleep(1000 * 1);
}
catch (Exception ex)
{
Console.ForegroundColor = ConsoleColor.Red;
Console.WriteLine("更新OPC-UA节点数据触发异常:" + ex.Message);
Console.ResetColor();
}
}
});
}
public void SetRobotMode(int mode)
{
if (0 < mode && mode < 4)
{
RobotMode.Value = mode;
RobotMode.ClearChangeMasks(SystemContext, false);
}
}
public void SetEnable(bool enable)
{
if (SystemState != null)
{
SystemState.Value = enable;
SystemState.ClearChangeMasks(SystemContext, false);
}
}
/// <summary>
/// Sets value of VC property to OPCUA node
/// </summary>
private void vc_PropertyChanged(object sender, PropertyChangedEventArgs e)
{
IProperty vcProperty = (IProperty)sender;
// Get OPCUA node that will get its value updated
string nodeNameParent = String.Format("{0}-{1}", vcProperty.Name, vcProperty.Container);
NodeId nodeId = NodeId.Create(nodeNameParent, Namespaces.vc2opcua, uaServer.NamespaceUris);
BaseDataVariableState uaProperty = (BaseDataVariableState)nodeManager.FindPredefinedNode(nodeId, typeof(BaseDataVariableState));
if (uaProperty == null)
{
// Unsubscribe to events
vcProperty.PropertyChanged -= vc_PropertyChanged;
return;
}
if (vcProperty.PropertyType == typeof(String))
{
if ((string)uaProperty.Value == (string)vcProperty.Value)
{
return;
}
uaProperty.Value = (string)vcProperty.Value;
}
else if (vcProperty.PropertyType == typeof(Boolean))
{
if ((bool)uaProperty.Value == (bool)vcProperty.Value)
{
return;
}
uaProperty.Value = (bool)vcProperty.Value;
}
else if (vcProperty.PropertyType == typeof(Double))
{
if ((double)uaProperty.Value == (double)vcProperty.Value)
{
return;
}
uaProperty.Value = (double)vcProperty.Value;
}
else if (vcProperty.PropertyType == typeof(Int32))
{
if ((int)uaProperty.Value == (int)vcProperty.Value)
{
return;
}
uaProperty.Value = (int)vcProperty.Value;
}
else
{
_vcUtils.VcWriteWarningMsg("VC property type not supported" + vcProperty.PropertyType.ToString());
return;
}
uaProperty.Timestamp = DateTime.UtcNow;
uaProperty.ClearChangeMasks(nodeManager.context, true);
}
/// <summary>
/// 实时更新节点数据
/// </summary>
public void UpdateVariableValue()
{
Task.Run(() =>
{
while (true)
{
try
{
/*
* 此处仅作示例代码 所以不修改节点树 故将UpdateNodesAttribute()方法跳过
* 在实际业务中 请根据自身的业务需求决定何时修改节点菜单树
*/
int count = 0;
//配置发生更改时,重新生成节点树
if (count > 0 && count != cfgCount)
{
cfgCount = count;
List <OpcuaNode> nodes = new List <OpcuaNode>();
/*
* 此处有想过删除整个菜单树,然后重建 保证各个NodeId仍与原来的一直
* 但是 后来发现这样会导致原来的客户端订阅信息丢失 无法获取订阅数据
* 所以 只能一级级的检查节点 然后修改属性
*/
UpdateNodesAttribute(nodes);
}
//模拟获取实时数据
BaseDataVariableState node = null;
/*
* 在实际业务中应该是根据对应的标识来更新固定节点的数据
* 这里 我偷个懒 全部测点都更新为一个新的随机数
*/
foreach (var item in _nodeDic)
{
node = item.Value;
node.Value = RandomLibrary.GetRandomInt(0, 99);
node.Timestamp = DateTime.Now;
//变更标识 只有执行了这一步,订阅的客户端才会收到新的数据
node.ClearChangeMasks(SystemContext, false);
}
//1秒更新一次
Thread.Sleep(1000 * 1);
}
catch (Exception ex)
{
Console.ForegroundColor = ConsoleColor.Red;
Console.WriteLine("更新OPC-UA节点数据触发异常:" + ex.Message);
Console.ResetColor();
}
}
});
}
/// <summary>
/// Sets the variable value.
/// </summary>
private void SetVariable(VarItem varItem, CnlData[] cnlData, int dataIndex, DateTime timestamp)
{
try
{
DeviceTag deviceTag = varItem.DeviceTag;
int dataLength = deviceTag.DataLength;
object value = 0.0;
switch (deviceTag.DataType)
{
case TagDataType.Double:
value = deviceTag.IsArray ?
(object)CnlDataConverter.GetDoubleArray(cnlData, dataIndex, dataLength) :
CnlDataConverter.GetDouble(cnlData, dataIndex);
break;
case TagDataType.Int64:
value = deviceTag.IsArray ?
(object)CnlDataConverter.GetInt64Array(cnlData, dataIndex, dataLength) :
CnlDataConverter.GetInt64(cnlData, dataIndex);
break;
case TagDataType.ASCII:
value = CnlDataConverter.GetAscii(cnlData, dataIndex, dataLength);
break;
case TagDataType.Unicode:
value = CnlDataConverter.GetUnicode(cnlData, dataIndex, dataLength);
break;
}
BaseDataVariableState variable = varItem.Variable;
variable.Value = value;
variable.StatusCode = CnlDataConverter.GetStatus(cnlData, dataIndex, dataLength) > CnlStatusID.Undefined ?
StatusCodes.Good : StatusCodes.Bad;
variable.Timestamp = timestamp;
variable.ClearChangeMasks(SystemContext, false);
}
catch (Exception ex)
{
log.WriteException(ex, Locale.IsRussian ?
"Ошибка при установке значения переменной {0}" :
"Error setting the variable {0}", varItem.Variable.NodeId);
}
}
private void OnScan(object state)
{
var dt = DateTime.UtcNow - _timestamp;
_timestamp = DateTime.UtcNow;
if ((short)_mode.Value != 2) // if not in man mode
{
double period;
switch ((short)_speed.Value)
{
case 1:
period = 20.0;
break;
case 2:
period = 10.0;
break;
case 3:
period = 5.0;
break;
default:
period = 30.0;
break;
}
if ((short)_mode.Value == 0) // auto mode
{
_masterAxis = (_masterAxis + dt.TotalSeconds / period) % 1.0; // 0.0 to 1.0
}
_axis1.Value = (float)(Math.Sin(_masterAxis * 2.0 * Math.PI) * 45.0);
_axis2.Value = (float)(Math.Cos(_masterAxis * 2.0 * Math.PI) * 45.0);
_axis3.Value = (float)(Math.Sin(((_masterAxis * 2.0) % 1.0) * 2.0 * Math.PI) * 45.0);
_axis4.Value = (float)(Math.Cos(_masterAxis * 2.0 * Math.PI) * -180.0);
}
_axis1.Timestamp = _timestamp;
_axis1.ClearChangeMasks(SystemContext, false);
_axis2.Timestamp = _timestamp;
_axis2.ClearChangeMasks(SystemContext, false);
_axis3.Timestamp = _timestamp;
_axis3.ClearChangeMasks(SystemContext, false);
_axis4.Timestamp = _timestamp;
_axis4.ClearChangeMasks(SystemContext, false);
}
public void SetUserArrayFloat(float[] data)
{
UserArrayFloat.Value = data;
UserArrayFloat.ClearChangeMasks(SystemContext, false);
}
public void SetUserArrayBool(bool[] data)
{
UserArrayBool.Value = data;
UserArrayBool.ClearChangeMasks(SystemContext, false);
}
public void SetRobotLocation(double[] location)
{
RobotLocation.Value = location;
RobotLocation.ClearChangeMasks(SystemContext, false);
}
private void UpdateVariables()
{
NodeState node = Find(m_NumberOfManufacturedProductsID);
BaseDataVariableState variableState = node as BaseDataVariableState;
if (variableState != null)
{
variableState.Value = m_numberOfManufacturedProducts;
variableState.ClearChangeMasks(SystemContext, false);
}
node = Find(m_NumberOfDiscardedProductsID);
variableState = node as BaseDataVariableState;
if (variableState != null)
{
variableState.Value = m_numberOfDiscardedProducts;
variableState.ClearChangeMasks(SystemContext, false);
}
node = Find(m_ProductSerialNumberID);
variableState = node as BaseDataVariableState;
if (variableState != null)
{
variableState.Value = m_productSerialNumber;
variableState.ClearChangeMasks(SystemContext, false);
}
node = Find(m_ActualCycleTimeID);
variableState = node as BaseDataVariableState;
if (variableState != null)
{
variableState.Value = m_actualCycleTime;
variableState.ClearChangeMasks(SystemContext, false);
}
node = Find(m_EnergyConsumptionID);
variableState = node as BaseDataVariableState;
if (variableState != null)
{
variableState.Value = m_energyConsumption;
variableState.ClearChangeMasks(SystemContext, false);
}
node = Find(m_FaultyTimeID);
variableState = node as BaseDataVariableState;
if (variableState != null)
{
variableState.Value = m_faultyTime;
variableState.ClearChangeMasks(SystemContext, false);
}
node = Find(m_IdealCycleTimeID);
variableState = node as BaseDataVariableState;
if (variableState != null)
{
variableState.Value = m_idealCycleTime;
variableState.ClearChangeMasks(SystemContext, false);
}
node = Find(m_OverallRunningTimeID);
variableState = node as BaseDataVariableState;
if (variableState != null)
{
variableState.Value = m_overallRunningTime;
variableState.ClearChangeMasks(SystemContext, false);
}
node = Find(m_PressureID);
variableState = node as BaseDataVariableState;
if (variableState != null)
{
variableState.Value = m_pressure;
variableState.ClearChangeMasks(SystemContext, false);
}
node = Find(m_StatusID);
variableState = node as BaseDataVariableState;
if (variableState != null)
{
variableState.Value = m_status;
variableState.ClearChangeMasks(SystemContext, false);
}
}
/// <summary>
/// 修改节点树(添加节点,删除节点,修改节点名称)
/// </summary>
/// <param name="nodes"></param>
public void UpdateNodesAttribute(List <OpcuaNode> nodes)
{
//修改或创建根节点
var scadas = nodes.Where(d => d.NodeType == NodeType.Scada);
foreach (var item in scadas)
{
FolderState scadaNode = null;
if (!_folderDic.TryGetValue(item.NodePath, out scadaNode))
{
//如果根节点都不存在 那么整个树都需要创建
FolderState root = CreateFolder(null, item.NodePath, item.NodeName);
root.AddReference(ReferenceTypes.Organizes, true, ObjectIds.ObjectsFolder);
_references.Add(new NodeStateReference(ReferenceTypes.Organizes, false, root.NodeId));
root.EventNotifier = EventNotifiers.SubscribeToEvents;
AddRootNotifier(root);
CreateNodes(nodes, root, item.NodePath);
_folderDic.Add(item.NodePath, root);
AddPredefinedNode(SystemContext, root);
continue;
}
else
{
scadaNode.DisplayName = item.NodeName;
scadaNode.ClearChangeMasks(SystemContext, false);
}
}
//修改或创建目录(此处设计为可以有多级目录,上面是演示数据,所以我只写了三级,事实上更多级也是可以的)
var folders = nodes.Where(d => d.NodeType != NodeType.Scada && !d.IsTerminal);
foreach (var item in folders)
{
FolderState folder = null;
if (!_folderDic.TryGetValue(item.NodePath, out folder))
{
var par = GetParentFolderState(nodes, item);
folder = CreateFolder(par, item.NodePath, item.NodeName);
AddPredefinedNode(SystemContext, folder);
par.ClearChangeMasks(SystemContext, false);
_folderDic.Add(item.NodePath, folder);
}
else
{
folder.DisplayName = item.NodeName;
folder.ClearChangeMasks(SystemContext, false);
}
}
//修改或创建测点
//这里我的数据结构采用IsTerminal来代表是否是测点 实际业务中可能需要根据自身需要调整
var paras = nodes.Where(d => d.IsTerminal);
foreach (var item in paras)
{
BaseDataVariableState node = null;
if (_nodeDic.TryGetValue(item.NodeId.ToString(), out node))
{
node.DisplayName = item.NodeName;
node.Timestamp = DateTime.Now;
node.ClearChangeMasks(SystemContext, false);
}
else
{
FolderState folder = null;
if (_folderDic.TryGetValue(item.ParentPath, out folder))
{
node = CreateVariable(folder, item.NodePath, item.NodeName, DataTypeIds.Double, ValueRanks.Scalar);
AddPredefinedNode(SystemContext, node);
folder.ClearChangeMasks(SystemContext, false);
_nodeDic.Add(item.NodeId.ToString(), node);
}
}
}
/*
* 将新获取到的菜单列表与原列表对比
* 如果新菜单列表中不包含原有的菜单
* 则说明这个菜单被删除了 这里也需要删除
*/
List <string> folderPath = _folderDic.Keys.ToList();
List <string> nodePath = _nodeDic.Keys.ToList();
var remNode = nodePath.Except(nodes.Where(d => d.IsTerminal).Select(d => d.NodeId.ToString()));
foreach (var str in remNode)
{
BaseDataVariableState node = null;
if (_nodeDic.TryGetValue(str, out node))
{
var parent = node.Parent;
parent.RemoveChild(node);
_nodeDic.Remove(str);
}
}
var remFolder = folderPath.Except(nodes.Where(d => !d.IsTerminal).Select(d => d.NodePath));
foreach (string str in remFolder)
{
FolderState folder = null;
if (_folderDic.TryGetValue(str, out folder))
{
var parent = folder.Parent;
if (parent != null)
{
parent.RemoveChild(folder);
_folderDic.Remove(str);
}
else
{
RemoveRootNotifier(folder);
RemovePredefinedNode(SystemContext, folder, new List <LocalReference>());
}
}
}
}
/// <summary>
/// Sets value of VC signal to OPCUA node
/// </summary>
private void vc_SignalTriggered(object sender, SignalTriggerEventArgs e)
{
// Get OPCUA node that will get its value updated
string nodeNameParent = String.Format("{0}-{1}", e.Signal.Name, e.Signal.Node.Name);
NodeId nodeId = NodeId.Create(nodeNameParent, Namespaces.vc2opcua, uaServer.NamespaceUris);
BaseDataVariableState uaSignal = (BaseDataVariableState)nodeManager.FindPredefinedNode(nodeId, typeof(BaseDataVariableState));
if (uaSignal == null)
{
// Unsubscribe to events
e.Signal.SignalTrigger -= vc_SignalTriggered;
return;
}
if (e.Signal.Type == BehaviorType.StringSignal)
{
if ((string)uaSignal.Value == (string)e.Signal.Value)
{
return;
}
uaSignal.Value = (string)e.Signal.Value;
}
else if (e.Signal.Type == BehaviorType.ComponentSignal)
{
ISimComponent component = (ISimComponent)e.Signal.Value;
if ((string)uaSignal.Value == component.Name)
{
return;
}
uaSignal.Value = component.Name;
}
else if (e.Signal.Type == BehaviorType.BooleanSignal)
{
if ((bool)uaSignal.Value == (bool)e.Signal.Value)
{
return;
}
uaSignal.Value = (bool)e.Signal.Value;
}
else if (e.Signal.Type == BehaviorType.RealSignal)
{
if ((double)uaSignal.Value == (double)e.Signal.Value)
{
return;
}
uaSignal.Value = (double)e.Signal.Value;
}
else if (e.Signal.Type == BehaviorType.IntegerSignal)
{
if ((int)uaSignal.Value == (int)e.Signal.Value)
{
return;
}
uaSignal.Value = (int)e.Signal.Value;
}
else
{
_vcUtils.VcWriteWarningMsg("VC signal type not supported" + e.Signal.Type.ToString());
return;
}
uaSignal.Timestamp = DateTime.UtcNow;
uaSignal.ClearChangeMasks(nodeManager.context, true);
}
