#!/usr/bin/python3 import sys import time import socket sys.path.insert(0, "..") from opcua import Client from opcua import ua from numpy import uint32 # definition of function to execute commands via OPC UA def executeCommand(cmd): while outBusyBitNode.get_value(): # wait for busy bit = false time.sleep(0.001) inCommandNoNode.set_value(cmd, ua.VariantType.Int32) # set Trigger while not outBusyBitNode.get_value(): # wait for busy bit = true time.sleep(0.001) inCommandNoNode.set_value(0, ua.VariantType.Int32) # reset trigger while outBusyBitNode.get_value(): # wait for busy bit = false time.sleep(0.001) if __name__ == "__main__": # Connection to Camera via OPC-UA client = Client("opc.tcp://192.168.0.50:4840") # connect using an IP Adress # Socket Connection HOST = "0.0.0.0" # IP HORST PORT = 3000 # Port HORST try: # connect to camera via OPC-UA print("connect to camera") client.connect() # connect to horstFX va Socket s = socket.socket() # Erstelle Socket Objekt s.bind((HOST, PORT)) # Binde Port print("socket listen for client") s.listen(5) # Warte auf client connection c, addr = s.accept() # Stelle Verbidnung mit client her print("socket accepted by client") doStop = False # get Objects node, this is where we should put our nodes root = client.get_root_node() # populating address space outBusyBitNode = root.get_child(["0:Objects", "2:Outputs", "2:BusyBit"]) outResultNoNode = root.get_child(["0:Objects", "2:Outputs", "2:ResultNo"]) outResultsNode = root.get_child(["0:Objects", "2:Outputs", "2:Results.50"]) outErrorNoNode = root.get_child(["0:Objects", "2:Outputs", "2:ErrorNo"]) inCameraNameNode = root.get_child(["0:Objects", "2:Inputs", "2:CameraName"]) inRotationModeNode = root.get_child(["0:Objects", "2:Inputs", "2:RotationMode"]) inCommandNoNode = root.get_child(["0:Objects", "2:Inputs", "2:CommandNo"]) inConfigNameNode = root.get_child(["0:Objects", "2:Inputs", "2:ConfigName"]) inSTLNameNode = root.get_child(["0:Objects", "2:Inputs", "2:STLName"]) # open camera print("open camera") cameraName = "204929" # name of the camera inCameraNameNode.set_value(cameraName) # set camaera name executeCommand(6) # call execute function to execute the command if outErrorNoNode.get_value() == 0: print("connected to camera") c.sendall("Verbindung zur Kamera erfolgreich".encode('utf-8')) else : print("connection to camera could not be established") c.sendall("Es konnte keine Verindung zur Kamera hergestellt werden".encode('utf-8')) # Wann ist Kamera vollständig geöffnet? Gibt es ein Kammando dazu von der Kamera? #time.sleep(8) # load camera configuration configName = c.recv(1024).decode() # Lese HORST Nachricht über Socket print("load configuration:", configName); inConfigNameNode.set_value(configName) # set config file name executeCommand(1) # call execute function to execute the command if outErrorNoNode.get_value() == 0: print("configuration has been loaded") c.sendall("Konfiguration erfolgreich geladen".encode('utf-8')) else : print("configuration could not be loaded") c.sendall("Fehler beim Laden der Konfiguration".encode('utf-8')) #time.sleep(5) inRotationModeNode.set_value("sxyz") # set Rotation Mode while (not doStop): try: msg = c.recv(1024) # Lese HORST Nachricht über Socket #************************************************************************************************trigger camera******************************************************************************************* if msg == b'Trigger': # check message of HORST executeCommand(4) # call execute function to execute the command #******************************************************************************'***************get camera results****************************************************************************************' # print("Error Number: ", outErrorNoNode.get_value()) if outErrorNoNode.get_value() == 0: # check camera for errors print("Result Number: ", outResultNoNode.get_value()) if outResultNoNode.get_value() != 0: # check if camera has detected objects #cam_values_str = str(outResultsNode.get_value()) cam_values = outResultsNode.get_value() # sort the detected objects regarding the object score cam_values.sort(key=lambda x: float(x[0]), reverse=True) print("Camera Object Values:\n", cam_values) cam_values_str = str(cam_values) c.sendall(cam_values_str.encode('utf-8')) # send complete camera value message #c.sendall(str(outResultsNode.get_value()[0][0]).encode('utf-8')) # send just one camera value else: c.sendall("Kein Objekt gefunden".encode('utf-8')) else : c.sendall("Fehler".encode('utf-8')) if outErrorNoNode.get_value() == 1: ErrorMsg = "Unbekannter Systemfehler" elif outErrorNoNode.get_value() == 2: ErrorMsg = "Kamera kann nicht geoeffnet werden" elif outErrorNoNode.get_value() == 3: ErrorMsg = "Keine Stereokamera angeschlossen" elif outErrorNoNode.get_value() == 4: ErrorMsg = "Kamera-Fehler" elif outErrorNoNode.get_value() == 5: ErrorMsg = "Suche fehlgeschlagen" elif outErrorNoNode.get_value() == 6: ErrorMsg = "Suche hat keine zuegehoeriges Modell" elif outErrorNoNode.get_value() == 7: ErrorMsg = "Modell generieren fehlgeschlagen" elif outErrorNoNode.get_value() == 8: ErrorMsg = "3D-Referenzpunkt setzen fehlgeschlagen" elif outErrorNoNode.get_value() == 9: ErrorMsg = "Konfiguration konnte nicht geladen werden" elif outErrorNoNode.get_value() == 10: ErrorMsg = "Konfiguration konnte nicht gespeichert werden" elif outErrorNoNode.get_value() == 11: ErrorMsg = "Befehl nicht implementiert" elif outErrorNoNode.get_value() == 12: ErrorMsg = "Falscher Index zum Abrufen der Ergebnisse" elif outErrorNoNode.get_value() == 13: ErrorMsg = "STL-Datei nicht gefunden" c.sendall(ErrorMsg.encode('utf-8')) else: print("Program interrupted by HORST") doStop = True except KeyboardInterrupt: print("Unterbrochen!") doStop = True finally: client.disconnect() c.close()