Bug fixes, adaptation to the current specification, and new features

[LUGGGI]

Hi,

I used this package for my master’s thesis and updated many parts of it.
I tried not to change too much in terms of usage to allow existing systems to be updated easily.
In some cases, there were bugs or inconsistencies with the current MTP specifications, in those cases, I modified the code to comply with the latest specification.

The following is a list of the updates I made, in alphabetical order by the files changed.
It does not include refactoring or the addition of comments and type hints.

1. Added new examples to demonstrate both new and existing functionalities

2. Updated existing examples to work with the latest changes

3. Added a new architecture class diagram

4. ActiveElements:

   • Moved lock functionality to a separate class
   • Reset protection only with the reset command
   • Improved logging
   • Set safe position only if enabled
   • Added OperationMode for BinVlv
   • Use .set_value(False) instead of .value = False

5. Attribute: Added methods for adding/removing sub-callbacks

6. CommandEnControl: Hold and pause disabled by default

7. Disabled restart when no valid procedure is set

8. OPCUAServerPEA:

   • Added functionality to add indicators, operations, and custom elements
   • Added functions to create custom folders and leaves
   • Refactored _build_opcua_server, _create_opcua_objects_for_folders, and _create_opcua_objects_for_leaves

9. Moved ParameterElements to the correct file and added the OperationElements implementation

10. operation_source_mode:

    • Added functionality to link one OperationSourceMode to another
    • Created OperationMode and SourceMode classes for the elements

11. ProcedureControl: Improved resetting of procedure commands

12. Service:

    • Stop state threads when going offline
    • Update CommandEn when changing operation mode
    • Added functions to enable pause, hold, and restart
    • is_state now works for edge cases
    • Added function to get state_stop_event
    • Implemented default functionality (logging state entry) for all state functions except starting, execute, and completing

13. Fixed incorrect state code

14. StateMachine: Reset the command operation code and updated functions to refresh CommandEn and disable_commands_if_no_procedure

15. suc_data_assembly: Added abstract methods and SUCParameterElement

16. thread_control:

    • Added StoppableThread class that can be stopped by setting an event
    • Added exception_callback
    • Request stopping of the old state thread when a new one starts
    • Call the state change function when a state function finishes