diff --git a/tangostationcontrol/tangostationcontrol/clients/opcua_client.py b/tangostationcontrol/tangostationcontrol/clients/opcua_client.py
index 145c0ebe68c3824d764dd4417a81afeae8ce0247..55e9fa0e695f3414d0b7da0005611c7436f59ca6 100644
--- a/tangostationcontrol/tangostationcontrol/clients/opcua_client.py
+++ b/tangostationcontrol/tangostationcontrol/clients/opcua_client.py
@@ -27,6 +27,20 @@ numpy_to_OPCua_dict = {
numpy.str: asyncua.ua.VariantType.String
}
+def numpy_to_opcua(numpy_val):
+ """ Convert a numpy type to a corresponding opcua Variant type. """
+
+ numpy_type = type(numpy_val)
+
+ assert numpy_type not in [list, numpy.array], "Converting arrays not yet supported."
+
+ try:
+ ua_type = numpy_to_OPCua_dict[numpy_type]
+ except KeyError as e:
+ raise TypeError(f"Could not convert {numpy_val} (type {type(numpy_val).__name__}) to an OPC UA type.") from e
+
+ return asyncua.ua.uatypes.Variant(Value=numpy_val, VariantType=ua_type)
+
class OPCUAConnection(AsyncCommClient):
"""
Connects to OPC-UA in the foreground or background, and sends HELLO
@@ -117,7 +131,7 @@ class OPCUAConnection(AsyncCommClient):
return path
- async def setup_attribute(self, annotation, attribute):
+ async def setup_protocol_attribute(self, annotation, attribute):
# process the annotation
path = self.get_node_path(annotation)
@@ -142,6 +156,11 @@ class OPCUAConnection(AsyncCommClient):
except:
pass
+ return prot_attr
+
+ async def setup_attribute(self, annotation, attribute):
+ prot_attr = await self.setup_protocol_attribute(annotation, attribute)
+
# Tango will call these from a separate polling thread.
def read_function():
return asyncio.run_coroutine_threadsafe(prot_attr.read_function(), self.event_loop).result()
@@ -153,15 +172,24 @@ class OPCUAConnection(AsyncCommClient):
return read_function, write_function
- async def call_method(self, method_path, *args):
- node = await self.obj.get_child(method_path[:-1])
- return await node.call_method(method_path[-1], *args)
+ async def _call_method(self, method_path, *args):
+ method_path = self.get_node_path(method_path)
+ # convert the arguments to OPC UA types
+ args = [numpy_to_opcua(arg) for arg in args]
- def call_method(self, method_path, *args):
- method_path = self.get_node_path(method_path)
+ try:
+ # call method in its parent node
+ node = await self.obj.get_child(method_path[:-1]) if len(method_path) > 1 else self.obj
+ result = await node.call_method(method_path[-1], *args)
+ except Exception as e:
+ raise Exception(f"Calling method {method_path} failed") from e
+
+ return result
- raise NotImplementedError
+
+ def call_method(self, method_path, *args):
+ return asyncio.run_coroutine_threadsafe(self._call_method(method_path, *args), self.event_loop).result()
class ProtocolAttribute:
diff --git a/tangostationcontrol/tangostationcontrol/devices/apsct.py b/tangostationcontrol/tangostationcontrol/devices/apsct.py
index 78a0626d8a12985d944c752e544aff93209373be..b32c5d0c8b1637a99f7e429c44083246491fe332 100644
--- a/tangostationcontrol/tangostationcontrol/devices/apsct.py
+++ b/tangostationcontrol/tangostationcontrol/devices/apsct.py
@@ -103,32 +103,22 @@ class APSCT(opcua_device):
@command()
@DebugIt()
@only_when_on()
- def CLK_off(self):
+ def APSCT_off(self):
"""
:return:None
"""
- self.opcua_connection.call_method(["CLK_off"])
+ self.opcua_connection.call_method(["APSCT_off"])
@command()
@DebugIt()
@only_when_on()
- def CLK_on(self):
+ def APSCT_on(self):
"""
:return:None
"""
- self.opcua_connection.call_method(["CLK_on"])
-
- @command()
- @DebugIt()
- @only_when_on()
- def CLK_PLL_setup(self):
- """
-
- :return:None
- """
- self.opcua_connection.call_method(["CLK_PLL_setup"])
+ self.opcua_connection.call_method(["APSCT_on"])
# ----------
# Run server
diff --git a/tangostationcontrol/tangostationcontrol/devices/recv.py b/tangostationcontrol/tangostationcontrol/devices/recv.py
index a9eee4160f9b7a6f981119c58ad2e707df0cf717..f53bb804404a8c77bbf419d1eec2c857f9bca2e6 100644
--- a/tangostationcontrol/tangostationcontrol/devices/recv.py
+++ b/tangostationcontrol/tangostationcontrol/devices/recv.py
@@ -131,22 +131,22 @@ class RECV(opcua_device):
@command()
@DebugIt()
@only_when_on()
- def ADC_on(self):
+ def RCU_DTH_off(self):
"""
:return:None
"""
- self.opcua_connection.call_method(["ADC_on"])
+ self.opcua_connection.call_method(["RCU_DTH_off"])
@command()
@DebugIt()
@only_when_on()
- def RCU_update(self):
+ def RCU_DTH_on(self):
"""
:return:None
"""
- self.opcua_connection.call_method(["RCU_update"])
+ self.opcua_connection.call_method(["RCU_DTH_on"])
def _initialise_hardware(self):
""" Initialise the RCU hardware. """
diff --git a/tangostationcontrol/tangostationcontrol/devices/unb2.py b/tangostationcontrol/tangostationcontrol/devices/unb2.py
index 0076a37a25c0838f8324a409f08223fab79b92f1..9ca54c5fbc4eaaba2a205744cad23af1bb139691 100644
--- a/tangostationcontrol/tangostationcontrol/devices/unb2.py
+++ b/tangostationcontrol/tangostationcontrol/devices/unb2.py
@@ -12,15 +12,16 @@
"""
# PyTango imports
-from tango.server import run
+from tango.server import run, command
from tango.server import device_property, attribute
-from tango import AttrWriteType
+from tango import AttrWriteType, DebugIt
# Additional import
from tangostationcontrol.common.entrypoint import entry
from tangostationcontrol.clients.attribute_wrapper import attribute_wrapper
from tangostationcontrol.devices.opcua_device import opcua_device
from tangostationcontrol.common.lofar_logging import device_logging_to_python, log_exceptions
+from tangostationcontrol.devices.device_decorators import only_when_on
import numpy
@@ -121,6 +122,26 @@ class UNB2(opcua_device):
# Commands
# --------
+ @command()
+ @DebugIt()
+ @only_when_on()
+ def UNB2_off(self):
+ """
+
+ :return:None
+ """
+ self.opcua_connection.call_method(["UNB2_off"])
+
+ @command()
+ @DebugIt()
+ @only_when_on()
+ def UNB2_on(self):
+ """
+
+ :return:None
+ """
+ self.opcua_connection.call_method(["UNB2_on"])
+
# ----------
# Run server
# ----------
diff --git a/tangostationcontrol/tangostationcontrol/integration_test/client/test_opcua_client_against_server.py b/tangostationcontrol/tangostationcontrol/integration_test/client/test_opcua_client_against_server.py
new file mode 100644
index 0000000000000000000000000000000000000000..bdd4e43b94b1a98596f339e220ee31116818fc37
--- /dev/null
+++ b/tangostationcontrol/tangostationcontrol/integration_test/client/test_opcua_client_against_server.py
@@ -0,0 +1,163 @@
+import asyncua
+import numpy
+
+from tangostationcontrol.clients.opcua_client import OPCUAConnection
+
+from tangostationcontrol.integration_test import base
+
+
+class TestClientServer(base.IntegrationAsyncTestCase):
+ """ Test the OPCUAConnection against an OPCUA server we instantiate ourselves. """
+
+ async def setup_server(self, port):
+ """ Setup a server on a dedicated port for the test, to allow
+ the tests to be run in parallel. """
+
+ # where we will run the server
+ self.endpoint = f"opc.tcp://127.0.0.1:{port}"
+ self.namespace = "http://example.com"
+
+ # setup an OPC-UA server
+ self.server = asyncua.Server()
+ await self.server.init()
+ self.server.set_endpoint(self.endpoint)
+ self.server.set_server_name(f"Test server spawned by {__file__}")
+
+ # create an interface
+ idx = await self.server.register_namespace(self.namespace)
+ obj = self.server.get_objects_node()
+
+ # add double_R/double_RW
+ double_R = await obj.add_variable(idx, "double_R", 42.0)
+ double_RW = await obj.add_variable(idx, "double_RW", 42.0)
+ await double_RW.set_writable()
+
+ # add methods
+ @asyncua.uamethod
+ def multiply(parent, x, y):
+ self.assertEqual(float, type(x))
+ self.assertEqual(int, type(y))
+ return x * y
+
+ @asyncua.uamethod
+ def procedure(parent):
+ return
+
+ @asyncua.uamethod
+ def throws(parent):
+ raise Exception("Expected test exception")
+
+ multiply_method = await obj.add_method(idx, "multiply", multiply, [asyncua.ua.VariantType.Double, asyncua.ua.VariantType.Int64], [asyncua.ua.VariantType.Double])
+ procedure_method = await obj.add_method(idx, "procedure", procedure, [], [])
+ throws_method = await obj.add_method(idx, "throws", throws, [], [])
+
+ # run the server
+ await self.server.start()
+
+ async def setUp(self):
+ self.server = None
+
+ async def tearDown(self):
+ if self.server:
+ await self.server.stop()
+
+ def fault_func(self):
+ raise Exception("FAULT")
+
+ async def test_opcua_connection(self):
+ await self.setup_server(14840)
+
+ test_client = OPCUAConnection(self.endpoint, self.namespace, 5, self.fault_func, self.loop)
+ try:
+ await test_client.start()
+ finally:
+ await test_client.stop()
+
+ async def test_read_attribute(self):
+ await self.setup_server(14841)
+
+ test_client = OPCUAConnection(self.endpoint, self.namespace, 5, self.fault_func, self.loop)
+ try:
+ await test_client.start()
+
+ # setup the attribute
+ class attribute(object):
+ dim_x = 1
+ dim_y = 0
+ numpy_type = numpy.double
+
+ prot_attr = await test_client.setup_protocol_attribute(["double_R"], attribute())
+
+ # read it from the server
+ self.assertEqual(42.0, await prot_attr.read_function())
+ finally:
+ await test_client.stop()
+
+ async def test_write_attribute(self):
+ await self.setup_server(14842)
+
+ test_client = OPCUAConnection(self.endpoint, self.namespace, 5, self.fault_func, self.loop)
+ try:
+ await test_client.start()
+
+ # setup the attribute
+ class attribute(object):
+ dim_x = 1
+ dim_y = 0
+ numpy_type = numpy.double
+
+ prot_attr = await test_client.setup_protocol_attribute(["double_RW"], attribute())
+
+ # write it to the server and read it back to verify
+ await prot_attr.write_function(123.0)
+
+ self.assertEqual(123.0, await prot_attr.read_function())
+ finally:
+ await test_client.stop()
+
+ async def test_method_without_args(self):
+ await self.setup_server(14843)
+
+ test_client = OPCUAConnection(self.endpoint, self.namespace, 5, self.fault_func, self.loop)
+ try:
+ await test_client.start()
+
+ self.assertEqual(None, await test_client._call_method(["procedure"]))
+ finally:
+ await test_client.stop()
+
+ async def test_method_with_args(self):
+ await self.setup_server(14843)
+
+ test_client = OPCUAConnection(self.endpoint, self.namespace, 5, self.fault_func, self.loop)
+ try:
+ await test_client.start()
+
+ self.assertEqual(21.0, await test_client._call_method(["multiply"], numpy.double(3.0), numpy.int64(7)))
+ finally:
+ await test_client.stop()
+
+ async def test_method_with_wrong_arg_types(self):
+ await self.setup_server(14844)
+
+ test_client = OPCUAConnection(self.endpoint, self.namespace, 5, self.fault_func, self.loop)
+ try:
+ await test_client.start()
+
+ with self.assertRaises(Exception):
+ # correct signature is multiply(double,int64)
+ _ = await test_client._call_method(["multiply"], numpy.double(3.0), numpy.double(7))
+ finally:
+ await test_client.stop()
+
+ async def test_errorring_method(self):
+ await self.setup_server(14845)
+
+ test_client = OPCUAConnection(self.endpoint, self.namespace, 5, self.fault_func, self.loop)
+ try:
+ await test_client.start()
+
+ with self.assertRaises(Exception):
+ await test_client._call_method(["throws"])
+ finally:
+ await test_client.stop()