OpenSMI-Core 0.5__tar.gz → 0.7__tar.gz

opensmi_core-0.7/.github/workflows/checks.yml

@@ -0,0 +1,72 @@
+name: Checks
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+  workflow_call: # lets the publishing workflow reuse this one
+    secrets:
+      CODECOV_TOKEN:
+        required: false
+
+permissions:
+  contents: read
+
+jobs:
+  lint:
+    name: Ruff and basedpyright
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: astral-sh/setup-uv@v7
+        with:
+          python-version: "3.12"
+          enable-cache: true
+
+      - name: Install dependencies
+        run: uv sync --group dev --all-extras
+
+      # - name: Ruff lint
+      #   run: uv run ruff check .
+
+      - name: Ruff format check
+        run: uv run ruff format --check .
+
+      - name: basedpyright
+        run: uv run basedpyright
+
+  test:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: [ "3.11", "3.12", "3.13", "3.14" ]
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: astral-sh/setup-uv@v7
+        with:
+          python-version: ${{ matrix.python-version }}
+          enable-cache: true
+
+      - name: Install dependencies
+        run: uv sync --group dev
+
+      - name: Run tests with coverage
+        run: >
+          uv run pytest
+          -n auto
+          --cov
+          --cov-report=term-missing
+          --cov-report=xml
+
+      - name: Upload coverage to Codecov
+        uses: codecov/codecov-action@v5
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          files: coverage.xml
+          flags: py${{ matrix.python-version }}
+          fail_ci_if_error: false   # don't block on Codecov outages or fork PRs without the token

{opensmi_core-0.5 → opensmi_core-0.7}/.github/workflows/python-publish.yml

@@ -10,13 +10,18 @@ name: Upload Python Package
 
 on:
   release:
-    types: [published]
+    types: [ published ]
 
 permissions:
   contents: read
 
 jobs:
+  checks:
+    uses: ./.github/workflows/checks.yml
+    secrets: inherit          # passes CODECOV_TOKEN through
+
   release-build:
+    needs: [ checks ]
     runs-on: ubuntu-latest
 
     steps:

{opensmi_core-0.5 → opensmi_core-0.7}/.gitignore

@@ -15,4 +15,5 @@
 /apidocs
 *.der
 *.pem
-*.sql
+*.sql
+tools/rec20_Rev17e-2021_0.xlsx

{opensmi_core-0.5 → opensmi_core-0.7}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: OpenSMI-Core
-Version: 0.5
+Version: 0.7
 Summary: Smart Machine Interface core functionality for server and client applications.
 Author-email: Carsten Harms <Carsten.Harms@dfki.de>, Simon Jungbluth <Simon.Jungbluth@smartfactory.de>
 License-Expression: MIT

{opensmi_core-0.5 → opensmi_core-0.7}/pyproject.toml

@@ -61,7 +61,9 @@ dev = [
     "pytest-xdist>=3",
     "pytest-html>=4",
     "pytest-timeout>=2",
-    "openpyxl"  # to load UNECE Excel to autogenerate units
+    "openpyxl", # to load UNECE Excel to autogenerate units
+    "scipy~=1.17.1", # for testing, serves as reference implementation. newer versions dropped Python 3.11
+    "numpy~=2.4.6"  # for scipy, newer versions dropped Python 3.11
 ]
 
 [tool.setuptools]
@@ -72,6 +74,9 @@ where = ["src"]
 namespaces = true
 # exclude = ["tests", "doc*", "examples"]
 
+[tool.setuptools.package-data]
+"opensmi.core.nodesets" = ["*.NodeSet2.xml"]
+
 [tool.ruff]
 # Exclude a variety of commonly ignored directories.
 exclude = [
@@ -133,10 +138,10 @@ author = "OpenSMI Contributors"
 
 [tool.ruff.lint.per-file-ignores]
 "tests/**" = ["ANN", "D", "T", "SLF001"]
-"src/opensmi/core/unit_all.py" = [ # auto-generated
-    "E501",  # line too long
-    "RUF001",  # String contains ambiguous ~
-    "CPY",  # copyright
+"src/opensmi/core/unit_all.py" = [# auto-generated
+    "E501", # line too long
+    "RUF001", # String contains ambiguous ~
+    "CPY", # copyright
 ]
 
 [tool.ruff.format]
@@ -180,3 +185,7 @@ theme = "readthedocs"
 # verbose = 1
 # warnings-as-errors = true
 intersphinx = ["https://opcua-asyncio.readthedocs.io/en/latest/objects.inv"] # TODO(CaHa): does not work
+
+[tool.coverage.run]
+source = ["src/opensmi/core"]
+branch = true

{opensmi_core-0.5 → opensmi_core-0.7}/src/OpenSMI_Core.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: OpenSMI-Core
-Version: 0.5
+Version: 0.7
 Summary: Smart Machine Interface core functionality for server and client applications.
 Author-email: Carsten Harms <Carsten.Harms@dfki.de>, Simon Jungbluth <Simon.Jungbluth@smartfactory.de>
 License-Expression: MIT

{opensmi_core-0.5 → opensmi_core-0.7}/src/OpenSMI_Core.egg-info/SOURCES.txt

@@ -1,9 +1,9 @@
 .gitignore
-.gitlab-ci.yml
 LICENSE
 README.md
 pyproject.toml
 .github/workflows/api-docs.yml
+.github/workflows/checks.yml
 .github/workflows/python-publish.yml
 LICENSES/MIT.txt
 src/OpenSMI_Core.egg-info/PKG-INFO
@@ -26,8 +26,10 @@ src/opensmi/core/lifecycle_mixin.py
 src/opensmi/core/logging.py
 src/opensmi/core/meta.py
 src/opensmi/core/mixin_helpers.py
+src/opensmi/core/paths.py
 src/opensmi/core/protocols.py
 src/opensmi/core/repr_mixin.py
+src/opensmi/core/rsl.py
 src/opensmi/core/signal.py
 src/opensmi/core/subscription_manager.py
 src/opensmi/core/ua.py
@@ -36,6 +38,25 @@ src/opensmi/core/ua_node_util.py
 src/opensmi/core/unit_all.py
 src/opensmi/core/unit_base.py
 src/opensmi/core/unset.py
+src/opensmi/core/nodesets/Opc.Ua.Di.NodeSet2.xml
+src/opensmi/core/nodesets/Opc.Ua.Machinery.NodeSet2.xml
+src/opensmi/core/nodesets/Opc.Ua.RSL.NodeSet2.xml
+src/opensmi/core/nodesets/Opc.Ua.SmartFactory.MachineSet.NodeSet2.xml
+src/opensmi/core/nodesets/Opc.Ua.SmartFactory.SkillSet.NodeSet2.xml
+src/opensmi/core/nodesets/__init__.py
+src/opensmi/core/nodesets/di.py
+src/opensmi/core/nodesets/machinery.py
+src/opensmi/core/nodesets/rsl.py
+src/opensmi/core/nodesets/smart_factory_machine_set.py
+src/opensmi/core/nodesets/smart_factory_skill_set.py
+tests/test_nodesets.py
+tests/test_object_path.py
+tests/test_paths.py
+tests/test_resolve.py
+tests/test_rsl.py
 tests/test_signal.py
+tests/test_ua_values.py
 tests/test_unit.py
-tools/auto_generate_units.py
+tools/auto_generate_nodesets.py
+tools/auto_generate_units.py
+tools/nodeset.py.template

{opensmi_core-0.5 → opensmi_core-0.7}/src/OpenSMI_Core.egg-info/scm_file_list.json

@@ -1,9 +1,9 @@
 {
   "files": [
     ".github/workflows/api-docs.yml",
+    ".github/workflows/checks.yml",
     ".github/workflows/python-publish.yml",
     ".gitignore",
-    ".gitlab-ci.yml",
     "LICENSE",
     "LICENSES/MIT.txt",
     "README.md",
@@ -21,8 +21,21 @@
     "src/opensmi/core/logging.py",
     "src/opensmi/core/meta.py",
     "src/opensmi/core/mixin_helpers.py",
+    "src/opensmi/core/nodesets/Opc.Ua.Di.NodeSet2.xml",
+    "src/opensmi/core/nodesets/Opc.Ua.Machinery.NodeSet2.xml",
+    "src/opensmi/core/nodesets/Opc.Ua.RSL.NodeSet2.xml",
+    "src/opensmi/core/nodesets/Opc.Ua.SmartFactory.MachineSet.NodeSet2.xml",
+    "src/opensmi/core/nodesets/Opc.Ua.SmartFactory.SkillSet.NodeSet2.xml",
+    "src/opensmi/core/nodesets/__init__.py",
+    "src/opensmi/core/nodesets/di.py",
+    "src/opensmi/core/nodesets/machinery.py",
+    "src/opensmi/core/nodesets/rsl.py",
+    "src/opensmi/core/nodesets/smart_factory_machine_set.py",
+    "src/opensmi/core/nodesets/smart_factory_skill_set.py",
+    "src/opensmi/core/paths.py",
     "src/opensmi/core/protocols.py",
     "src/opensmi/core/repr_mixin.py",
+    "src/opensmi/core/rsl.py",
     "src/opensmi/core/signal.py",
     "src/opensmi/core/subscription_manager.py",
     "src/opensmi/core/ua.py",
@@ -31,8 +44,16 @@
     "src/opensmi/core/unit_all.py",
     "src/opensmi/core/unit_base.py",
     "src/opensmi/core/unset.py",
+    "tests/test_nodesets.py",
+    "tests/test_object_path.py",
+    "tests/test_paths.py",
+    "tests/test_resolve.py",
+    "tests/test_rsl.py",
     "tests/test_signal.py",
+    "tests/test_ua_values.py",
     "tests/test_unit.py",
-    "tools/auto_generate_units.py"
+    "tools/auto_generate_nodesets.py",
+    "tools/auto_generate_units.py",
+    "tools/nodeset.py.template"
   ]
 }

opensmi_core-0.7/src/OpenSMI_Core.egg-info/scm_version.json

@@ -0,0 +1,8 @@
+{
+  "tag": "0.7",
+  "distance": 0,
+  "node": "g5454212df575c25f82aff1ff7352c793dac40fb6",
+  "dirty": false,
+  "branch": "HEAD",
+  "node_date": "2026-11-04"
+}

{opensmi_core-0.5 → opensmi_core-0.7}/src/opensmi/core/__init__.py

@@ -12,7 +12,12 @@ from .lifecycle_mixin import LifecycleMixin as LifecycleMixin
 from .lifecycle_mixin import lifecycle as lifecycle
 from .logging import LogFormat as LogFormat
 from .logging import setup_logging as setup_logging
+from .paths import ObjectPath as ObjectPath
 from .signal import Signal as Signal
+from .ua import OPC_UA_NS as OPC_UA_NS
+from .ua import LocalizedText as LocalizedText
+from .ua import NodeIdDefinition as NodeIdDefinition
+from .ua import QualifiedName as QualifiedName
 from .ua_enums import MachineryItemState as MachineryItemState
 from .ua_enums import MachineryOperationMode as MachineryOperationMode
 from .ua_enums import SkillState as SkillState

opensmi_core-0.7/src/opensmi/core/base_server.py

@@ -0,0 +1,181 @@
+# SPDX-FileCopyrightText: 2026 OpenSMI Contributors
+#
+# SPDX-License-Identifier: MIT
+
+"""Base class for both client `RemoteServer` and server `Server`."""
+
+from __future__ import annotations
+
+from typing import Generic, TypeVar
+from weakref import WeakValueDictionary
+
+import structlog
+from asyncua import ua
+
+from opensmi.core.base_ua_object import BaseUaObject
+from opensmi.core.paths import ObjectPath
+from opensmi.core.protocols import NamespaceProvider
+from opensmi.core.ua import NodeIdDefinition, QualifiedName
+
+_LOGGER = structlog.get_logger("opensmi." + __name__)
+
+_UaObjectType = TypeVar("_UaObjectType", bound=BaseUaObject)
+
+
+class BaseServer(Generic[_UaObjectType]):
+    """Base class for both client `RemoteServer` and server `Server`."""
+
+    def __init__(self, **kwargs) -> None:
+        """*Cooperative* constructor."""
+        super().__init__(**kwargs)
+
+        self._ua_objects: WeakValueDictionary[ua.NodeId, _UaObjectType] = WeakValueDictionary()
+        """Maps OPC UA nodes to UaObjects with weak references."""
+        self._ua_objects_by_path: WeakValueDictionary[ObjectPath, _UaObjectType] = WeakValueDictionary()
+        """Maps canonical paths and aliases to UaObjects with weak references."""
+        self._namespace_map: dict[str, int] = {}
+
+    def resolve(self, path: ObjectPath | str) -> _UaObjectType:
+        """Return the object at ``path``, its canonical path or one of its aliases.
+
+        :raises KeyError: If no object has this path.
+        :raises ValueError: If ``path`` is a ``str`` that is no valid path.
+        """
+        return self._ua_objects_by_path[ObjectPath.of(path)]
+
+    def resolve_optional(self, path: ObjectPath | str) -> _UaObjectType | None:
+        """Return the object at ``path``, its canonical path or one of its aliases, or ``None``.
+
+        :raises ValueError: If ``path`` is a ``str`` that is no valid path.
+        """
+        return self._ua_objects_by_path.get(ObjectPath.of(path))
+
+    def find(self, pattern: str) -> list[_UaObjectType]:
+        """Return all objects whose canonical path matches the glob ``pattern`` (see `ObjectPath.match`), in tree order.
+
+        :raises ValueError: If ``pattern`` is no valid pattern.
+        """
+        found = [
+            (path, ua_object)
+            for path, ua_object in list(self._ua_objects_by_path.items())
+            if path == ua_object.path and path.match(pattern)
+        ]
+        return [ua_object for _, ua_object in sorted(found, key=lambda item: item[0])]
+
+    def get_ua_object(self, ua_node_id: ua.NodeId) -> _UaObjectType:
+        """Return the ``UaObject`` which corresponds to the given ``ua_node``.
+
+        :raises KeyError: If no ``UaObject`` is found.
+        """
+        return self._ua_objects[ua_node_id]
+
+    def get_ua_object_optional(self, ua_node_id: ua.NodeId) -> _UaObjectType | None:
+        """Return the ``UaObject`` which corresponds to the given ``ua_node`` or ``None``."""
+        return self._ua_objects.get(ua_node_id, default=None)
+
+    def register_ua_object(self, ua_object: _UaObjectType) -> None:
+        """Register the given ``UaObject`` to the server, by node and by its canonical path and aliases.
+
+        Objects register top-down: the path is taken now, so the parent must already be registered and can't change
+        anymore (`BaseUaObject._set_parent`).
+
+        :raises RuntimeError: If the object has a parent that isn't registered.
+        """
+        assert ua_object is not None
+        assert isinstance(ua_object.ua_node.nodeid, ua.NodeId)
+
+        parent = ua_object._parent  # noqa: SLF001  the public getter may refuse an unset parent
+        if parent is not None and (
+            parent._ua_node is None  # noqa: SLF001
+            or self._ua_objects.get(parent._ua_node.nodeid) is not parent  # noqa: SLF001
+        ):
+            msg = f"Cannot register {ua_object!r} at {ua_object.path}: its parent {parent!r} isn't registered yet"
+            raise RuntimeError(msg)
+
+        self._ua_objects[ua_object.ua_node.nodeid] = ua_object
+        for path in (ua_object.path, *ua_object.aliases):
+            self._register_path(path, ua_object)
+
+    def unregister_ua_object(self, ua_object: _UaObjectType) -> None:
+        """Unregister the given ``UaObject`` from the server, by node and by its canonical path and aliases."""
+        assert ua_object is not None
+        assert isinstance(ua_object.ua_node.nodeid, ua.NodeId)
+
+        _ = self._ua_objects.pop(ua_object.ua_node.nodeid)
+        for path in (ua_object.path, *ua_object.aliases):
+            if self._ua_objects_by_path.get(path) is ua_object:
+                del self._ua_objects_by_path[path]
+
+    def _register_path(self, path: ObjectPath, ua_object: _UaObjectType) -> None:
+        """Map ``path`` to ``ua_object``; a path already taken by another object keeps that object."""
+        existing = self._ua_objects_by_path.get(path)
+        if existing is not None and existing is not ua_object:
+            _LOGGER.error("Path already registered, keeping the first object", path=str(path), existing=repr(existing))
+            return
+        self._ua_objects_by_path[path] = ua_object
+
+    def _clear_ua_objects(self) -> None:
+        """Forget all registered objects, by node and by path (e.g. before a client browses again)."""
+        self._ua_objects.clear()
+        self._ua_objects_by_path.clear()
+
+    def ua_get_namespace_index(self, uri: str | type[NamespaceProvider]) -> ua.Int16:
+        """Return the namespace index for the given namespace ``uri``.
+
+        :raises KeyError: If the namespace URI is unknown.
+        """
+        if not isinstance(uri, str):
+            uri = uri.URI
+
+        return ua.Int16(self._namespace_map[uri])
+
+    def ua_get_namespace_uri(self, index: int) -> str:
+        """Return the namespace URI for the given namespace ``index``.
+
+        :raises KeyError: If the server has no namespace at ``index``.
+        """
+        for uri, ns_index in self._namespace_map.items():
+            if ns_index == index:
+                return uri
+        raise KeyError(index)
+
+    def ua_get_node_id(self, definition: NodeIdDefinition) -> ua.NodeId:
+        """Return the complete OPC UA node ID for the given ``definition``.
+
+        :raises KeyError: If the namespace URI of the definition is unknown.
+        """
+        return ua.NodeId(
+            Identifier=definition.identifier,  # pyright: ignore[reportArgumentType]
+            NamespaceIndex=self.ua_get_namespace_index(definition.namespace_uri),
+        )
+
+    def ua_to_node_id_definition(self, node_id: ua.NodeId) -> NodeIdDefinition:
+        """Convert the given node ID to a node ID definition.
+
+        An ``ua.ExpandedNodeId`` uses its ``NamespaceUri`` if set.
+
+        :raises KeyError: If the namespace index is unknown.
+        :raises ValueError: If an ``ua.ExpandedNodeId`` points to another server.
+        """
+        namespace_uri = None
+        if isinstance(node_id, ua.ExpandedNodeId):
+            if node_id.ServerIndex:
+                msg = f"{node_id.to_string()} is on another server (ServerIndex {node_id.ServerIndex})"
+                raise ValueError(msg)
+            namespace_uri = node_id.NamespaceUri
+        return NodeIdDefinition(
+            identifier=node_id.Identifier,
+            namespace_uri=namespace_uri or self.ua_get_namespace_uri(node_id.NamespaceIndex),
+        )
+
+    def ua_to_qualified_name(self, qualified_name: ua.QualifiedName) -> QualifiedName:
+        """Convert `ua.QualifiedName` to our `QualifiedName`."""
+        return QualifiedName(
+            namespace_uri=self.ua_get_namespace_uri(qualified_name.NamespaceIndex), name=qualified_name.Name
+        )
+
+    def ua_from_qualified_name(self, qualified_name: QualifiedName) -> ua.QualifiedName:
+        """Convert from our `QualifiedName` to  `ua.QualifiedName`."""
+        return ua.QualifiedName(
+            Name=qualified_name.name, NamespaceIndex=self.ua_get_namespace_index(qualified_name.namespace_uri)
+        )

{opensmi_core-0.5 → opensmi_core-0.7}/src/opensmi/core/base_ua_object.py

@@ -4,14 +4,15 @@
 
 """Base class for all UA objects, both client- and server-side."""
 
-from pathlib import PurePosixPath
-from typing import TYPE_CHECKING, Generic, TypeVar
+from typing import TYPE_CHECKING, ClassVar, Generic, TypeVar
 
 import structlog
 from asyncua.common.node import Node
 from structlog.stdlib import BoundLogger
 from typing_extensions import deprecated
 
+from opensmi.core.paths import ObjectPath, sanitize_segment
+
 if TYPE_CHECKING:
     from opensmi.core.base_server import BaseServer
 
@@ -23,17 +24,24 @@ class BaseUaObject(Generic[_ServerType]):
 
     _parent: "BaseUaObject[_ServerType] | None" = None
 
+    _folder: ClassVar[str | None] = None
+    """OpenSMI folder between the parent and this object in the path, e.g. ``"SkillSet"``; ``None`` for none."""
+
     def __init__(
         self,
         *,
         name: str | None = None,
+        segment: str | None = None,
         server: _ServerType | None = None,
         parent: "BaseUaObject[_ServerType] | None" = None,
         **kwargs,
     ) -> None:
         """*Cooperative* constructor.
 
-        :param name: The name of the UA object. Defaults to the class name.
+        :param name: The name of the UA object, as on the server (may be empty on servers we don't control; the
+            segment never is). Defaults to the class name.
+        :param segment: The last segment of the object's path. Defaults to the sanitized ``name``; clients pass the
+            unique segment from ``opensmi.core.paths.unique_segments()``.
         :param server: The associated server of the UA object. Note that there must be at least one non ``None`` in
             the hierarchy.
         :param parent: The parent of the UA object. Only Machines are allowed to have no parent. Can be set later before
@@ -41,18 +49,19 @@ class BaseUaObject(Generic[_ServerType]):
         """
         if name is None:
             name = self.__class__.__name__
-        elif not isinstance(name, str) or name == "":
+        elif not isinstance(name, str):
             msg = f"Given name '{name}' is not valid!"
             raise TypeError(msg)
 
         self._name: str = name
+        self._segment: str = sanitize_segment(name) if segment is None else segment
+        _ = ObjectPath((self._segment,))  # check the segment early
+        self._aliases: set[ObjectPath] = set()
         self._server: _ServerType | None = server
+        self._ua_node: Node | None = None
         if parent is not None:
             self.parent = parent  # via setter to allow optional runtime type checking
-        self._ua_node: Node | None = None
-        self._logger: structlog.BoundLogger = structlog.get_logger(
-            f"opensmi.{self.__class__.__name__}", name=self.name
-        )
+        self._logger: structlog.BoundLogger = structlog.get_logger(f"opensmi.{self.__class__.__name__}", name=self.name)
 
         super().__init__(**kwargs)  # cooperative __init__() after we are done
 
@@ -89,12 +98,60 @@ class BaseUaObject(Generic[_ServerType]):
         return f"/{self.name}"
 
     @property
-    def path(self) -> PurePosixPath:
-        """Return the full path of the object."""
+    def path(self) -> ObjectPath:
+        """Return the full path of the object: the parent's path, the OpenSMI folder (if any) and the segment."""
+        base = ObjectPath()
         if self.parent is not None:
             assert isinstance(self.parent, BaseUaObject)
-            return self.parent.path / self.name
-        return PurePosixPath("/") / self.name
+            base = self.parent.path
+        if self._folder is not None:
+            base /= self._folder
+        return base / self._segment
+
+    @property
+    def aliases(self) -> frozenset[ObjectPath]:
+        """Further paths of this object, e.g. of a variable also listed in other containers; ``path`` is canonical."""
+        return frozenset(self._aliases)
+
+    def _add_alias(self, path: ObjectPath) -> None:
+        """Add ``path`` as a further path of this object; ``server.resolve()`` finds it once the object has a node."""
+        self._aliases.add(path)
+        if self._ua_node is not None:
+            self.server._register_path(path, self)  # noqa: SLF001
+
+    def resolve(self, relative: str) -> "BaseUaObject[_ServerType]":
+        """Return the object at ``relative`` below this one, e.g. ``"Components/Gripper"``.
+
+        :raises KeyError: If no object has this path.
+        :raises ValueError: If ``relative`` starts with ``/`` or is no valid relative path.
+        """
+        return self.server.resolve(self._absolute(relative))
+
+    def resolve_optional(self, relative: str) -> "BaseUaObject[_ServerType] | None":
+        """Return the object at ``relative`` below this one, or ``None``.
+
+        :raises ValueError: If ``relative`` starts with ``/`` or is no valid relative path.
+        """
+        return self.server.resolve_optional(self._absolute(relative))
+
+    def find(self, pattern: str) -> "list[BaseUaObject[_ServerType]]":
+        """Return all objects below this one whose path matches the relative glob ``pattern``, e.g. ``"**/SkillSet/*"``.
+
+        :raises ValueError: If ``pattern`` starts with ``/`` or is no valid pattern.
+        """
+        self._check_relative(pattern)
+        prefix = "".join(f"/{ObjectPath.escape(segment)}" for segment in self.path.segments)
+        return [found for found in self.server.find(f"{prefix}/{pattern}") if found is not self]
+
+    def _absolute(self, relative: str) -> ObjectPath:
+        self._check_relative(relative)
+        return ObjectPath((*self.path.segments, *relative.split("/")))
+
+    @staticmethod
+    def _check_relative(relative: str) -> None:
+        if relative.startswith("/"):
+            msg = f"Expected a path relative to this object, got an absolute one: {relative!r}"
+            raise ValueError(msg)
 
     @property
     def logger(self) -> BoundLogger:
@@ -110,6 +167,16 @@ class BaseUaObject(Generic[_ServerType]):
     def parent(self, parent: "BaseUaObject[_ServerType]") -> None:
         """Set the parent of the UA object. Given ``parent`` must be an instance of `BaseUaObject`."""
         assert isinstance(parent, BaseUaObject)
+        self._set_parent(parent)
+
+    def _set_parent(self, parent: "BaseUaObject[_ServerType]") -> None:
+        """Set the parent; subclasses overriding the ``parent`` setter call this instead of setting ``_parent``.
+
+        :raises RuntimeError: If the object already has a node: its path is registered and must not change.
+        """
+        if self._ua_node is not None:
+            msg = f"Cannot change the parent of {self!r}: its path {self.path} is already registered"
+            raise RuntimeError(msg)
         self._parent = parent
 
     # TODO