opcua module

.github/workflows/ci-main.yml

@@ -16,8 +16,9 @@ jobs:
         include:
           - { platform: macos-14, arch: arm64, os: macos }
           - { platform: macos-13, arch: x64, os: macos }
-          - { platform: ubuntu-20.04, arch: x64, os: linux }
-          - { platform: ubuntu-20.04, arch: arm32, os: linux }
+          - { platform: ubuntu-22.04, arch: x64, os: linux }
+          - { platform: ubuntu-22.04-arm, arch: arm64, os: linux }
+          - { platform: ubuntu-22.04, arch: arm32, os: linux }
           - { platform: windows-2019, arch: x64, os: windows }
     runs-on: ${{ matrix.platform }}
     steps:

cspell.json

@@ -44,6 +44,7 @@
         "Debugf",
         "Descs",
         "dlemstra",
+        "EPSG",
         "eventbus",
         "Fetchable",
         "Geomap",
@@ -95,6 +96,7 @@
         "nrow",
         "nrows",
         "nums",
+        "opcua",
         "orcaman",
         "packagex",
         "pkgs",
@@ -145,12 +147,18 @@
     "ignoreWords": [
         "APND",
         "MGTPE",
+        "Peucker",
         "akimaspline",
         "chartcompat",
+        "deinit",
         "fritschbutland",
+        "goja",
         "gonum",
+        "gopcua",
         "interp",
         "linearregression",
+        "opensimplex",
+        "paulmach",
         "piecewiseconstant",
         "piecewiselinear"
     ],

go.mod

@@ -22,6 +22,7 @@ require (
 	github.com/go-sql-driver/mysql v1.7.1
 	github.com/gofrs/uuid/v5 v5.3.0
 	github.com/golang-jwt/jwt/v4 v4.5.2
+	github.com/gopcua/opcua v0.7.4
 	github.com/gorilla/websocket v1.5.3
 	github.com/hashicorp/hcl/v2 v2.17.0
 	github.com/influxdata/line-protocol/v2 v2.2.1
@@ -111,6 +112,7 @@ require (
 	github.com/golang/snappy v0.0.4 // indirect
 	github.com/google/flatbuffers v1.12.1 // indirect
 	github.com/google/pprof v0.0.0-20250403155104-27863c87afa6 // indirect
+	github.com/google/uuid v1.6.0 // indirect
 	github.com/inconshreveable/mousetrap v1.1.0 // indirect
 	github.com/jbenet/go-context v0.0.0-20150711004518-d14ea06fba99 // indirect
 	github.com/json-iterator/go v1.1.12 // indirect
@@ -149,12 +151,12 @@ require (
 	go.opencensus.io v0.24.0 // indirect
 	go.uber.org/atomic v1.11.0 // indirect
 	golang.org/x/arch v0.14.0 // indirect
-	golang.org/x/exp v0.0.0-20240719175910-8a7402abbf56 // indirect
+	golang.org/x/exp v0.0.0-20241204233417-43b7b7cde48d // indirect
 	golang.org/x/image v0.18.0 // indirect
-	golang.org/x/mod v0.19.0 // indirect
+	golang.org/x/mod v0.22.0 // indirect
 	golang.org/x/net v0.36.0 // indirect
 	golang.org/x/sync v0.13.0 // indirect
-	golang.org/x/tools v0.23.0 // indirect
+	golang.org/x/tools v0.28.0 // indirect
 	golang.org/x/xerrors v0.0.0-20220907171357-04be3eba64a2 // indirect
 	gonum.org/v1/plot v0.12.0 // indirect
 	google.golang.org/genproto v0.0.0-20231016165738-49dd2c1f3d0b // indirect

go.sum

@@ -230,6 +230,10 @@ github.com/google/pprof v0.0.0-20250403155104-27863c87afa6 h1:BHT72Gu3keYf3ZEu2J
 github.com/google/pprof v0.0.0-20250403155104-27863c87afa6/go.mod h1:boTsfXsheKC2y+lKOCMpSfarhxDeIzfZG1jqGcPl3cA=
 github.com/google/uuid v1.1.2/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
 github.com/google/uuid v1.3.0/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
+github.com/google/uuid v1.6.0 h1:NIvaJDMOsjHA8n1jAhLSgzrAzy1Hgr+hNrb57e+94F0=
+github.com/google/uuid v1.6.0/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
+github.com/gopcua/opcua v0.7.4 h1:vVp+hatoV7bpU+hkLlBOLUGpYKEYSTS1U9t9J6/tC+Y=
+github.com/gopcua/opcua v0.7.4/go.mod h1:Z6aellk0gIzznZd2UX+Syd/hUMBt65gRlTakpGo6se8=
 github.com/gorilla/securecookie v1.1.1/go.mod h1:ra0sb63/xPlUeL+yeDciTfxMRAA+MP+HVt/4epWDjd4=
 github.com/gorilla/sessions v1.2.1/go.mod h1:dk2InVEVJ0sfLlnXv9EAgkf6ecYs/i80K/zI+bUmuGM=
 github.com/gorilla/websocket v1.5.3 h1:saDtZ6Pbx/0u+bgYQ3q96pZgCzfhKXGPqt7kZ72aNNg=
@@ -470,8 +474,8 @@ golang.org/x/crypto v0.9.0/go.mod h1:yrmDGqONDYtNj3tH8X9dzUun2m2lzPa9ngI6/RUPGR0
 golang.org/x/crypto v0.35.0 h1:b15kiHdrGCHrP6LvwaQ3c03kgNhhiMgvlhxHQhmg2Xs=
 golang.org/x/crypto v0.35.0/go.mod h1:dy7dXNW32cAb/6/PRuTNsix8T+vJAqvuIy5Bli/x0YQ=
 golang.org/x/exp v0.0.0-20190121172915-509febef88a4/go.mod h1:CJ0aWSM057203Lf6IL+f9T1iT9GByDxfZKAQTCR3kQA=
-golang.org/x/exp v0.0.0-20240719175910-8a7402abbf56 h1:2dVuKD2vS7b0QIHQbpyTISPd0LeHDbnYEryqj5Q1ug8=
-golang.org/x/exp v0.0.0-20240719175910-8a7402abbf56/go.mod h1:M4RDyNAINzryxdtnbRXRL/OHtkFuWGRjvuhBJpk2IlY=
+golang.org/x/exp v0.0.0-20241204233417-43b7b7cde48d h1:0olWaB5pg3+oychR51GUVCEsGkeCU/2JxjBgIo4f3M0=
+golang.org/x/exp v0.0.0-20241204233417-43b7b7cde48d/go.mod h1:qj5a5QZpwLU2NLQudwIN5koi3beDhSAlJwa67PuM98c=
 golang.org/x/image v0.18.0 h1:jGzIakQa/ZXI1I0Fxvaa9W7yP25TqT6cHIHn+6CqvSQ=
 golang.org/x/image v0.18.0/go.mod h1:4yyo5vMFQjVjUcVk4jEQcU9MGy/rulF5WvUILseCM2E=
 golang.org/x/lint v0.0.0-20181026193005-c67002cb31c3/go.mod h1:UVdnD1Gm6xHRNCYTkRU2/jEulfH38KcIWyp/GAMgvoE=
@@ -481,8 +485,8 @@ golang.org/x/mod v0.2.0/go.mod h1:s0Qsj1ACt9ePp/hMypM3fl4fZqREWJwdYDEqhRiZZUA=
 golang.org/x/mod v0.3.0/go.mod h1:s0Qsj1ACt9ePp/hMypM3fl4fZqREWJwdYDEqhRiZZUA=
 golang.org/x/mod v0.6.0-dev.0.20220419223038-86c51ed26bb4/go.mod h1:jJ57K6gSWd91VN4djpZkiMVwK6gcyfeH4XE8wZrZaV4=
 golang.org/x/mod v0.8.0/go.mod h1:iBbtSCu2XBx23ZKBPSOrRkjjQPZFPuis4dIYUhu/chs=
-golang.org/x/mod v0.19.0 h1:fEdghXQSo20giMthA7cd28ZC+jts4amQ3YMXiP5oMQ8=
-golang.org/x/mod v0.19.0/go.mod h1:hTbmBsO62+eylJbnUtE2MGJUyE7QWk4xUqPFrRgJ+7c=
+golang.org/x/mod v0.22.0 h1:D4nJWe9zXqHOmWqj4VMOJhvzj7bEZg4wEYa759z1pH4=
+golang.org/x/mod v0.22.0/go.mod h1:6SkKJ3Xj0I0BrPOZoBy3bdMptDDU9oJrpohJ3eWZ1fY=
 golang.org/x/net v0.0.0-20180724234803-3673e40ba225/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4=
 golang.org/x/net v0.0.0-20180826012351-8a410e7b638d/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4=
 golang.org/x/net v0.0.0-20190213061140-3a22650c66bd/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4=
@@ -571,8 +575,8 @@ golang.org/x/tools v0.0.0-20200619180055-7c47624df98f/go.mod h1:EkVYQZoAsY45+roY
 golang.org/x/tools v0.0.0-20210106214847-113979e3529a/go.mod h1:emZCQorbCU4vsT4fOWvOPXz4eW1wZW4PmDk9uLelYpA=
 golang.org/x/tools v0.1.12/go.mod h1:hNGJHUnrk76NpqgfD5Aqm5Crs+Hm0VOH/i9J2+nxYbc=
 golang.org/x/tools v0.6.0/go.mod h1:Xwgl3UAJ/d3gWutnCtw505GrjyAbvKui8lOU390QaIU=
-golang.org/x/tools v0.23.0 h1:SGsXPZ+2l4JsgaCKkx+FQ9YZ5XEtA1GZYuoDjenLjvg=
-golang.org/x/tools v0.23.0/go.mod h1:pnu6ufv6vQkll6szChhK3C3L/ruaIv5eBeztNG8wtsI=
+golang.org/x/tools v0.28.0 h1:WuB6qZ4RPCQo5aP3WdKZS7i595EdWqWR8vqJTlwTVK8=
+golang.org/x/tools v0.28.0/go.mod h1:dcIOrVd3mfQKTgrDVQHqCPMWy6lnhfhtX3hLXYVLfRw=
 golang.org/x/xerrors v0.0.0-20190717185122-a985d3407aa7/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
 golang.org/x/xerrors v0.0.0-20191011141410-1b5146add898/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
 golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=

mods/tql/fm_script.go

@@ -2,6 +2,7 @@ package tql
 
 import (
 	"bytes"
+	"context"
 	"encoding/csv"
 	"encoding/json"
 	"errors"
@@ -222,6 +223,7 @@ func (node *Node) fmScriptJS(initCode string, mainCode string, deinitCode string
 }
 
 type JSContext struct {
+	context.Context
 	vm           *js.Runtime
 	sc           *js.Program
 	node         *Node
@@ -273,8 +275,9 @@ func jsSourceLoad(path string) ([]byte, error) {
 
 func newJSContext(node *Node, initCode string, mainCode string, deinitCode string) (*JSContext, error) {
 	ctx := &JSContext{
-		node: node,
-		vm:   js.New(),
+		Context: node.task.ctx,
+		node:    node,
+		vm:      js.New(),
 	}
 	ctx.vm.SetFieldNameMapper(js.TagFieldNameMapper("json", false))
 

mods/tql/fm_script_modules.go

@@ -4,6 +4,7 @@
 	"encoding/json"
 	"errors"
 	"fmt"
+	"io"
 	"math"
 	"math/rand"
 	"runtime"
@@ -15,6 +16,8 @@
 	js "github.com/dop251/goja"
 	"github.com/dop251/goja_nodejs/require"
 	"github.com/gofrs/uuid/v5"
+	"github.com/gopcua/opcua"
+	"github.com/gopcua/opcua/ua"
 	"github.com/machbase/neo-server/v8/api"
 	"github.com/machbase/neo-server/v8/mods/bridge"
 	"github.com/machbase/neo-server/v8/mods/nums"
@@ -36,6 +39,7 @@
 	registry.RegisterNativeModule("filter", ctx.nativeModuleFilter)
 	registry.RegisterNativeModule("analysis", ctx.nativeModuleAnalysis)
 	registry.RegisterNativeModule("spatial", ctx.nativeModuleSpatial)
+	registry.RegisterNativeModule("opcua", ctx.nativeModuleOpcua)
 	registry.Enable(ctx.vm)
 }
 
@@ -310,7 +314,7 @@
 		})
 		return ret
 	})
-	// kalman = m.kalman(initalVariance, processVariance, ObservationVariance);
+	// kalman = m.kalman(initialVariance, processVariance, ObservationVariance);
 	// newValue = kalman.eval(time, ...vector);
 	o.Set("kalman", func(iv, pv, ov float64) js.Value {
 		var kf *kalman.KalmanFilter
@@ -569,14 +573,14 @@
 	// m.haversine(lat1, lon1, lat2, lon2)
 	// m.haversine([lat1, lon1], [lat2, lon2])
 	// m.haversine({radius: 1000, coordinates: [[lat1, lon1], [lat2, lon2]]})
-	o.Set("haversine", ctx.saptial_haversine)
+	o.Set("haversine", ctx.spatial_haversine)
 	// m.parseGeoJSON(value)
 	o.Set("parseGeoJSON", ctx.spatial_parseGeoJSON)
 	// m.simplify(tolerance, [lat1, lon1], [lat2, lon2], ...)
 	o.Set("simplify", ctx.spatial_simplify)
 }
 
-func (ctx *JSContext) saptial_haversine(call js.FunctionCall) js.Value {
+func (ctx *JSContext) spatial_haversine(call js.FunctionCall) js.Value {
 	// EarthRadius is the radius of the earth in meters.
 	// To keep things consistent, this value matches WGS84 Web Mercator (EPSG:3867).
 	EarthRadius := 6378137.0 // meters
@@ -700,3 +704,130 @@
 	var _ = geoObj
 	return obj
 }
+
+func (ctx *JSContext) nativeModuleOpcua(r *js.Runtime, module *js.Object) {
+	// m = require("opcua")
+	o := module.Get("exports").(*js.Object)
+	// m.client({})
+	o.Set("client", ctx.opcua_client)
+
+	// MessageSecurityMode
+	o.Set("MessageSecurityModeNone", ua.MessageSecurityModeNone)
+	o.Set("MessageSecurityModeSign", ua.MessageSecurityModeSign)
+	o.Set("MessageSecurityModeSignAndEncrypt", ua.MessageSecurityModeSignAndEncrypt)
+
+	// TimestampsToReturn
+	o.Set("TimestampsToReturnSource", ua.TimestampsToReturnSource)
+	o.Set("TimestampsToReturnServer", ua.TimestampsToReturnServer)
+	o.Set("TimestampsToReturnBoth", ua.TimestampsToReturnBoth)
+	o.Set("TimestampsToReturnNeither", ua.TimestampsToReturnNeither)
+	o.Set("TimestampsToReturnInvalid", ua.TimestampsToReturnInvalid)
+}
+
+func (ctx *JSContext) opcua_client(call js.FunctionCall) js.Value {
+	opts := struct {
+		Endpoint            string                 `json:"endpoint"`
+		MessageSecurityMode ua.MessageSecurityMode `json:"messageSecurityMode"`
+	}{
+		Endpoint:            "opc.tcp://localhost:4840",
+		MessageSecurityMode: ua.MessageSecurityModeNone,
+	}
+	if len(call.Arguments) > 0 {
+		if err := ctx.vm.ExportTo(call.Arguments[0], &opts); err != nil {
+			return ctx.vm.NewGoError(fmt.Errorf("opcua.client: %s", err.Error()))
+		}
+	}
+
+	ret := ctx.vm.NewObject()
+	ret.Set("read", func(call js.FunctionCall) js.Value {
+		if len(call.Arguments) != 1 {
+			return ctx.vm.NewGoError(fmt.Errorf("opcua.read: missing argument"))
+		}
+		arg := struct {
+			MaxAge             float64               `json:"maxAge"`
+			Nodes              []string              `json:"nodes"`
+			TimestampsToReturn ua.TimestampsToReturn `json:"timestampsToReturn"`
+		}{}
+		if err := ctx.vm.ExportTo(call.Arguments[0], &arg); err != nil {
+			return ctx.vm.NewGoError(fmt.Errorf("opcua.read: %s", err.Error()))
+		}
+		if len(arg.Nodes) == 0 {
+			return ctx.vm.NewGoError(fmt.Errorf("opcua.read: missing nodes"))
+		}
+
+		var rsp *ua.ReadResponse
+		var req = &ua.ReadRequest{
+			MaxAge:             arg.MaxAge,
+			TimestampsToReturn: arg.TimestampsToReturn,
+		}
+		for _, n := range arg.Nodes {
+			id, err := ua.ParseNodeID(n)
+			if err != nil {
+				return ctx.vm.NewGoError(fmt.Errorf("opcua.read: %s", err.Error()))
+			}
+			req.NodesToRead = append(req.NodesToRead, &ua.ReadValueID{NodeID: id})
+		}
+
+		// TODO: how to keep the connection open?
+		// Create a new client
+		c, err := opcua.NewClient(opts.Endpoint, opcua.SecurityMode(opts.MessageSecurityMode))
+		if err != nil {
+			return ctx.vm.NewGoError(fmt.Errorf("opcua.client: %s", err.Error()))
+		}
+
+		if err := c.Connect(ctx); err != nil {
+			return ctx.vm.NewGoError(fmt.Errorf("opcua.client: %s", err.Error()))
+		}
+		defer c.Close(ctx)
+		// Close the connection when the function returns
+
+		for {
+			rsp, err = c.Read(ctx, req)
+			if err == nil {
+				break
+			}
+			switch {
+			case err == io.EOF && c.State() != opcua.Closed:
+				// has to be retried unless user closed the connection
+				time.After(1 * time.Second)
+				continue
+			case errors.Is(err, ua.StatusBadSessionIDInvalid):
+				// Session is not activated has to be retried. Session will be recreated internally.
+				time.After(1 * time.Second)
+				continue
+			case errors.Is(err, ua.StatusBadSessionNotActivated):
+				// Session is invalid has to be retried. Session will be recreated internally.
+				time.After(1 * time.Second)
+				continue
+			case errors.Is(err, ua.StatusBadSecureChannelIDInvalid):
+				// secure channel will be recreated internally.
+				time.After(1 * time.Second)
+				continue
+			default:
+				return ctx.vm.NewGoError(fmt.Errorf("opcua.read: %s", err.Error()))
+			}
+		}
+		ret := []js.Value{}
+		for _, data := range rsp.Results {
+			code := ""
+			if c, ok := ua.StatusCodes[data.Status]; ok {
+				code = c.Name
+			}
+			ent := map[string]any{
+				"status":            uint32(data.Status),
+				"statusText":        data.Status.Error(),
+				"statusCode":        code,
+				"sourceTimestamp":   data.SourceTimestamp,
+				"serverTimestamp":   data.ServerTimestamp,
+				"sourcePicoseconds": data.SourcePicoseconds,
+				"serverPicoseconds": data.ServerPicoseconds,
+			}
+			if data.Value != nil {
+				ent["value"] = data.Value.Value()
+			}
+			ret = append(ret, ctx.vm.ToValue(ent))
+		}
+		return ctx.vm.ToValue(ret)
+	})
+	return ret
+}