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Fix finitestatemachne #1190

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Fix finitestatemachne #1190

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661882d
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AndreasHeine Oct 18, 2022
64f21dc
chore(fix):
AndreasHeine Feb 2, 2023
8de782e
cleanup example
AndreasHeine Feb 2, 2023
60b60d7
fixes:
AndreasHeine Feb 2, 2023
cc5a85e
Update statemachine.py
AndreasHeine Feb 3, 2023
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56 changes: 46 additions & 10 deletions asyncua/common/statemachine.py
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ class StateMachine(object):
LastTransition: Optional "TransitionVariableType"
Generates TransitionEvent's
'''
def __init__(self, server: Server=None, parent: Node=None, idx: int=None, name: str=None):
def __init__(self, server: Server=None, parent: Node=None, idx: int=None, name: str=None, typeid: ua.NodeId=ua.NodeId(2299, 0)):
if not isinstance(server, Server):
raise ValueError(f"server: {type(server)} is not a instance of Server class")
if not isinstance(parent, Node):
Expand All @@ -91,7 +91,7 @@ def __init__(self, server: Server=None, parent: Node=None, idx: int=None, name:
self._server = server
self._parent = parent
self._state_machine_node: Node = None
self._state_machine_type = ua.NodeId(2299, 0) #StateMachineType
self._state_machine_type = typeid
self._name = name
self._idx = idx
self._optionals = False
Expand Down Expand Up @@ -122,7 +122,7 @@ async def install(self, optionals: bool=False):
)
if self._optionals:
self._last_transition_node = await self._state_machine_node.get_child(["LastTransition"])
children = await self._last_transition_node.get_children()
children: List[Node] = await self._last_transition_node.get_children()
childnames = []
for each in children:
childnames.append(await each.read_browse_name())
Expand All @@ -141,9 +141,9 @@ async def init(self, statemachine: Node):
initialize and get subnodes
'''
self._current_state_node = await statemachine.get_child(["CurrentState"])
current_state_props = await self._current_state_node.get_properties()
current_state_props: List[Node] = await self._current_state_node.get_properties()
for prop in current_state_props:
dn = await prop.read_display_name()
dn: ua.LocalizedText = await prop.read_display_name()
if dn.Text == "Id":
self._current_state_id_node = await self._current_state_node.get_child(["Id"])
elif dn.Text == "Name":
Expand All @@ -156,9 +156,9 @@ async def init(self, statemachine: Node):
_logger.warning(f"{await statemachine.read_browse_name()} CurrentState Unknown property: {dn.Text}")
if self._optionals:
self._last_transition_node = await statemachine.get_child(["LastTransition"])
last_transition_props = await self._last_transition_node.get_properties()
last_transition_props: List[Node] = await self._last_transition_node.get_properties()
for prop in last_transition_props:
dn = await prop.read_display_name()
dn: ua.LocalizedText = await prop.read_display_name()
if dn.Text == "Id":
self._last_transition_id_node = await self._last_transition_node.get_child(["Id"])
elif dn.Text == "Name":
Expand Down Expand Up @@ -213,7 +213,6 @@ async def _write_state(self, state: State):
async def _write_transition(self, transition: Transition):
'''
transition: Transition
issub: boolean (true if it is a transition between substates)
'''
if not isinstance(transition, Transition):
raise ValueError(f"Statemachine: {self._name} -> state: {transition} is not a instance of StateMachine.Transition class")
Expand Down Expand Up @@ -283,14 +282,51 @@ class FiniteStateMachine(StateMachine):
'''
Implementation of an FiniteStateMachineType a little more advanced than the basic one
if you need to know the available states and transition from clientside
The FiniteStateMachineType is Abstract and can't be instantiated
'''
def __init__(self, server: Server=None, parent: Node=None, idx: int=None, name: str=None):
def __init__(self, server: Server=None, parent: Node=None, idx: int=None, name: str=None, typeid: ua.NodeId=ua.NodeId(2299, 0)):
super().__init__(server, parent, idx, name)
if name is None:
self._name = "FiniteStateMachine"
self._state_machine_type = ua.NodeId(2771, 0)
self._state_machine_type = typeid
self._available_states_node: Node = None
self._available_transitions_node: Node = None
self._finitestatemachine_nodeid = ua.NodeId(2771, 0)

async def install(self, optionals: bool=False):
if await self._is_subtype_of_finitestatemachine():
await super().install(optionals)
pass
else:
raise ua.UaError(f"NodeId: {self._state_machine_type} is not a subtype of FiniteStateMachine!")

async def _is_subtype_of_finitestatemachine(self):
result = False
type_node = self._server.get_node(self._state_machine_type)
parent = await type_node.get_parent()
if not parent:
raise ua.UaError("Node does not have a Parent!")
if parent.nodeid == self._finitestatemachine_nodeid:
result = True
else:
while not parent.nodeid == self._finitestatemachine_nodeid:
parent = await parent.get_parent()
if not parent:
result = False
break
if parent.nodeid == self._finitestatemachine_nodeid:
result = True
break
if parent.nodeid == self._server.nodes.root.nodeid:
result = False
break
return result

async def add_state(self, state: State, state_type: ua.NodeId=ua.NodeId(2307, 0), optionals: bool=False):
raise ua.UaError("Unable to add a state to a FiniteStateMachine all states and transitions are defined in the SubType of FiniteStateMachineType")

async def add_transition(self, transition: Transition, transition_type: ua.NodeId=ua.NodeId(2310, 0), optionals: bool=False):
raise ua.UaError("Unable to add a transition to a FiniteStateMachine all states and transitions are defined in the SubType of FiniteStateMachineType")

async def set_available_states(self, states: List[ua.NodeId]):
if not self._available_states_node:
Expand Down
72 changes: 11 additions & 61 deletions examples/finitestatemachine-example.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,75 +12,25 @@ async def main():
await server.init()
server.set_endpoint("opc.tcp://0.0.0.0:4840/freeopcua/server/")
idx = await server.register_namespace("http://examples.freeopcua.github.io")

# creating a own FiniteStateMachine as Subtype of FiniteStateMachineType
finitestatemachinetype = server.get_node(ua.NodeId(2771, 0))
myfinitstatemachine = await finitestatemachinetype.add_object_type(idx, "MyFiniteStateMachine")
n = await myfinitstatemachine.add_object(idx, "MyState1", ua.NodeId.from_string("i=2307"))
await n.set_modelling_rule(True)
n = await myfinitstatemachine.add_object(idx, "MyState2", ua.NodeId.from_string("i=2307"))
await n.set_modelling_rule(True)

# get a instance of the FiniteStateMachine-Class def "__init__(self, server=None, parent=None, idx=None, name=None):"
mystatemachine = FiniteStateMachine(server, server.nodes.objects, idx, "FiniteStateMachine")
mystatemachine = FiniteStateMachine(server, server.nodes.objects, idx, "FiniteStateMachine", myfinitstatemachine)
# call statemachine.install() to instantiate the statemachinetype (with or without optional nodes)
await mystatemachine.install(optionals=True)

# the FiniteStateMachine provides helperclasses for states and transition each class is a representation of the state- and transition-variabletype
# if the state node already exist for example from xml model you can assign it here: node=<StateNode>
state1 = State("State-Id-1", "Idle", 1, node=None)
# adds the state (StateType) to the statemachine childs - this is mandatory for the FiniteStateMachine!
await mystatemachine.add_state(state1, state_type=ua.NodeId(2309, 0)) #this is a init state -> InitialStateType: ua.NodeId(2309, 0)
state2 = State("State-Id-2", "Loading", 2)
await mystatemachine.add_state(state2)
state3 = State("State-Id-3", "Initializing", 3)
await mystatemachine.add_state(state3)
state4 = State("State-Id-4", "Processing", 4)
await mystatemachine.add_state(state4)
state5 = State("State-Id-5", "Finished", 5)
await mystatemachine.add_state(state5)

# sets the avalible states of the FiniteStateMachine
# this is mandatory!
await mystatemachine.set_available_states([
state1.node.nodeid,
state2.node.nodeid,
state3.node.nodeid,
state4.node.nodeid,
state5.node.nodeid
])

# setup your transition helperclass
# if the transition node already exist for example from xml model you can assign it here: node=<TransitionNode>
trans1 = Transition("Transition-Id-1", "to Idle", 1)
# adds the transition (TransitionType) to the statemachine childs - this is optional for the FiniteStateMachine
await mystatemachine.add_transition(trans1)
trans2 = Transition("Transition-Id-2", "to Loading", 2)
await mystatemachine.add_transition(trans2)
trans3 = Transition("Transition-Id-3", "to Initializing", 3)
await mystatemachine.add_transition(trans3)
trans4 = Transition("Transition-Id-4", "to Processing", 4)
await mystatemachine.add_transition(trans4)
trans5 = Transition("Transition-Id-5", "to Finished", 5)
await mystatemachine.add_transition(trans5)

# this is optional for the FiniteStateMachine
await mystatemachine.set_available_transitions([
trans1.node.nodeid,
trans2.node.nodeid,
trans3.node.nodeid,
trans4.node.nodeid,
trans5.node.nodeid
])

# initialise the FiniteStateMachine by call change_state() with the InitialState
# if the statechange should trigger an TransitionEvent the Message can be assigned here
# if event_msg is None no event will be triggered
await mystatemachine.change_state(state1, trans1, f"{mystatemachine._name}: Idle", 300)
state1 = State()

async with server:
while 1:
await asyncio.sleep(2)
await mystatemachine.change_state(state2, trans2, f"{mystatemachine._name}: Loading", 350)
await asyncio.sleep(2)
await mystatemachine.change_state(state3, trans3, f"{mystatemachine._name}: Initializing", 400)
await asyncio.sleep(2)
await mystatemachine.change_state(state4, trans4, f"{mystatemachine._name}: Processing", 600)
await asyncio.sleep(2)
await mystatemachine.change_state(state5, trans5, f"{mystatemachine._name}: Finished", 800)
await asyncio.sleep(2)
await mystatemachine.change_state(state1, trans1, f"{mystatemachine._name}: Idle", 500)
# FIXME

asyncio.run(main())