Python OPC UA订阅节点的Value，当Value变化时执行执行的Handle

import time

import opcua
from opcua import ua
from opcua.ua import uatypes


class SubHandler(object):
    """
    Subscription Handler. To receive events from server for a subscription
    data_change and event methods are called directly from receiving thread.
    Do not do expensive, slow or network operation there. Create another
    thread if you need to do such a thing
    """
		# 当有数据发生变化时会执行该方法
    def datachange_notification(self, node, val, data):
        print("Python: New data change event", node, val)

    def event_notification(self, event):
        print("Python: New event", event)


url = 'opc.tcp://192.168.1.39:4840'
client = opcua.Client(url)
client.connect()


# test_node节点是PLC里的一个bool数组,长度为20
test_node = client.get_node('ns=4;s=CIP数据BOOL')
# test_node节点是PLC里的一个String
test_node1 = client.get_node('ns=4;s=ABC')

handler = SubHandler()
# 创建订阅
sub = client.create_subscription(500, handler)
print(sub.is_ready())

# 数据变化时，可监视多个节点组成的列表
handle = sub.subscribe_data_change([test_node1, test_node])
time.sleep(2)

# 取消handle的订阅，执行后数据变化时不会再执行handle
# sub.unsubscribe(handle)

# 删除服务器上的订阅。这是由客户端和服务器类在退出时自动完成的
# sub.delete()

# client.disconnect()

输出：

Python: New data change event ns=4;s=ABC 888
Python: New data change event ns=4;s=CIP数据BOOL [True, True, True, False, False, False, False, False, False, False, False, False, True, False, False, False, False, False, False, False]

如果执行client.disconnect()会报错opcua.ua.uaerrors._auto.BadSessionClosed: "The session was closed by the client."(BadSessionClosed)