initial
This commit is contained in:
Wolfgang Hottgenroth
commit
afd1c22f17
23
Makefile
Normal file
23
Makefile
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@ -0,0 +1,23 @@
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CC = gcc
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CFLAGS = -std=c99 -I ./ # put pre-processor settings (-I, -D, etc) here
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LDFLAGS = # put linker settings here
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.PHONY: all
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all: myServer server_method server_folders
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myServer: myServer.o open62541.o
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$(CC) -o $@ $(CFLAGS) $(LDFLAGS) $^
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server_method: server_method.o open62541.o
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$(CC) -o $@ $(CFLAGS) $(LDFLAGS) $^
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server_folders: server_folders.o open62541.o
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$(CC) -o $@ $(CFLAGS) $(LDFLAGS) $^
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.c.o:
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$(CC) $(CFLAGS) -c $<
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.PHONY: clean
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clean:
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-rm -f *.o myServer server_method server_folders
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77
myServer.c
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77
myServer.c
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#include <stdio.h>
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#include <signal.h>
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#include <time.h>
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#include "open62541.h"
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UA_Logger logger = Logger_Stdout;
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UA_Boolean running = true;
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static void stopHandler(int signal) {
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running = false;
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}
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static UA_StatusCode
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readInteger(void *handle, const UA_NodeId nodeid, UA_Boolean sourceTimeStamp,
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const UA_NumericRange *range, UA_DataValue *dataValue) {
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dataValue->hasValue = true;
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UA_UInt32 t = time(0);
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UA_Variant_setScalarCopy(&dataValue->value, &t, &UA_TYPES[UA_TYPES_INT32]);
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// we know the nodeid is a string
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UA_LOG_INFO(logger, UA_LOGCATEGORY_USERLAND, "Node read %.*s",
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nodeid.identifier.string.length, nodeid.identifier.string.data);
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UA_LOG_INFO(logger, UA_LOGCATEGORY_USERLAND, "read value %i", t);
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return UA_STATUSCODE_GOOD;
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}
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static UA_StatusCode
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writeInteger(void *handle, const UA_NodeId nodeid,
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const UA_Variant *data, const UA_NumericRange *range) {
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if(UA_Variant_isScalar(data) && data->type == &UA_TYPES[UA_TYPES_INT32] && data->data){
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*(UA_UInt32*)handle = *(UA_UInt32*)data->data;
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}
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// we know the nodeid is a string
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UA_LOG_INFO(logger, UA_LOGCATEGORY_USERLAND, "Node written %.*s",
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nodeid.identifier.string.length, nodeid.identifier.string.data);
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UA_LOG_INFO(logger, UA_LOGCATEGORY_USERLAND, "written value %i", *(UA_UInt32*)handle);
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return UA_STATUSCODE_GOOD;
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}
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int main(void) {
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signal(SIGINT, stopHandler);
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signal(SIGTERM, stopHandler);
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UA_ServerConfig config = UA_ServerConfig_standard;
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UA_ServerNetworkLayer nl = UA_ServerNetworkLayerTCP(UA_ConnectionConfig_standard, 16664);
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config.logger = Logger_Stdout;
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config.networkLayers = &nl;
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config.networkLayersSize = 1;
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UA_Server *server = UA_Server_new(config);
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/* add a variable node to the address space */
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UA_Int32 myInteger = 42;
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UA_NodeId myIntegerNodeId = UA_NODEID_STRING(1, "the.answer");
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UA_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, "the answer");
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UA_DataSource dateDataSource = (UA_DataSource) {
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.handle = &myInteger, .read = readInteger, .write = writeInteger};
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UA_VariableAttributes attr;
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UA_VariableAttributes_init(&attr);
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attr.description = UA_LOCALIZEDTEXT("en_US","the answer");
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attr.displayName = UA_LOCALIZEDTEXT("en_US","the answer");
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UA_Server_addDataSourceVariableNode(server, myIntegerNodeId,
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UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
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myIntegerName, UA_NODEID_NULL, attr, dateDataSource, NULL);
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UA_StatusCode retval = UA_Server_run(server, &running);
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UA_Server_delete(server);
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nl.deleteMembers(&nl);
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return retval;
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}
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22347
open62541.c
Normal file
22347
open62541.c
Normal file
File diff suppressed because it is too large
Load Diff
6688
open62541.h
Normal file
6688
open62541.h
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File diff suppressed because it is too large
Load Diff
91
server_folders.c
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91
server_folders.c
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#include <stdio.h>
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#include <signal.h>
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#include <time.h>
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#include "open62541.h"
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// bla
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UA_Logger logger = Logger_Stdout;
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UA_Boolean running = true;
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static void stopHandler(int signal) {
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running = false;
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}
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static UA_StatusCode
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readInteger(void *handle, const UA_NodeId nodeid, UA_Boolean sourceTimeStamp,
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const UA_NumericRange *range, UA_DataValue *dataValue) {
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dataValue->hasValue = true;
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UA_UInt32 t = time(0);
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UA_Variant_setScalarCopy(&dataValue->value, &t, &UA_TYPES[UA_TYPES_INT32]);
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// we know the nodeid is a string
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UA_LOG_INFO(logger, UA_LOGCATEGORY_USERLAND, "Node read %.*s",
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nodeid.identifier.string.length, nodeid.identifier.string.data);
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UA_LOG_INFO(logger, UA_LOGCATEGORY_USERLAND, "read value %i", t);
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return UA_STATUSCODE_GOOD;
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}
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static UA_StatusCode
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writeInteger(void *handle, const UA_NodeId nodeid,
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const UA_Variant *data, const UA_NumericRange *range) {
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if(UA_Variant_isScalar(data) && data->type == &UA_TYPES[UA_TYPES_INT32] && data->data){
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*(UA_UInt32*)handle = *(UA_UInt32*)data->data;
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}
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// we know the nodeid is a string
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UA_LOG_INFO(logger, UA_LOGCATEGORY_USERLAND, "Node written %.*s",
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nodeid.identifier.string.length, nodeid.identifier.string.data);
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UA_LOG_INFO(logger, UA_LOGCATEGORY_USERLAND, "written value %i", *(UA_UInt32*)handle);
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return UA_STATUSCODE_GOOD;
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}
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int main(void) {
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signal(SIGINT, stopHandler);
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signal(SIGTERM, stopHandler);
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UA_ServerConfig config = UA_ServerConfig_standard;
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UA_ServerNetworkLayer nl = UA_ServerNetworkLayerTCP(UA_ConnectionConfig_standard, 16664);
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config.logger = Logger_Stdout;
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config.networkLayers = &nl;
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config.networkLayersSize = 1;
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UA_Server *server = UA_Server_new(config);
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UA_NodeId myObjectsId;
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UA_ObjectAttributes attr2;
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UA_ObjectAttributes_init(&attr2);
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attr2.description = UA_LOCALIZEDTEXT("en_US", "MyObjects");
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attr2.displayName = UA_LOCALIZEDTEXT("en_US", "A folder containing example objects and variables created by the client.");
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UA_Server_addObjectNode(
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server, UA_NODEID_NUMERIC(1,1000),
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UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
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UA_QUALIFIEDNAME(1, "MyObjects"),
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UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE),
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attr2, 0, &myObjectsId);
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/* add a variable node to the address space */
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UA_Int32 myInteger = 42;
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UA_NodeId myIntegerNodeId = UA_NODEID_STRING(1, "seconds.since.epoch");
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UA_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, "seconds since epoch");
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UA_DataSource dateDataSource = (UA_DataSource) {
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.handle = &myInteger, .read = readInteger, .write = writeInteger};
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UA_VariableAttributes attr;
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UA_VariableAttributes_init(&attr);
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attr.description = UA_LOCALIZEDTEXT("en_US","seconds since epoch");
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attr.displayName = UA_LOCALIZEDTEXT("en_US","seconds since epoch");
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UA_Server_addDataSourceVariableNode(server, myIntegerNodeId,
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myObjectsId,
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UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
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myIntegerName, UA_NODEID_NULL, attr, dateDataSource, NULL);
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UA_StatusCode retval = UA_Server_run(server, &running);
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UA_Server_delete(server);
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nl.deleteMembers(&nl);
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return retval;
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}
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164
server_method.c
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164
server_method.c
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/*
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* This work is licensed under a Creative Commons CCZero 1.0 Universal License.
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* See http://creativecommons.org/publicdomain/zero/1.0/ for more information.
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*/
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#include <signal.h>
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#include <stdlib.h>
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#include "open62541.h"
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UA_Boolean running = true;
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UA_Logger logger = Logger_Stdout;
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static UA_StatusCode
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helloWorldMethod(void *handle, const UA_NodeId objectId, size_t inputSize, const UA_Variant *input,
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size_t outputSize, UA_Variant *output) {
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UA_String *inputStr = (UA_String*)input->data;
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UA_String tmp = UA_STRING_ALLOC("Hello ");
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if(inputStr->length > 0) {
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tmp.data = realloc(tmp.data, tmp.length + inputStr->length);
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memcpy(&tmp.data[tmp.length], inputStr->data, inputStr->length);
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tmp.length += inputStr->length;
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}
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UA_Variant_setScalarCopy(output, &tmp, &UA_TYPES[UA_TYPES_STRING]);
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UA_String_deleteMembers(&tmp);
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UA_LOG_INFO(logger, UA_LOGCATEGORY_SERVER, "Hello World was called");
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return UA_STATUSCODE_GOOD;
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}
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static UA_StatusCode
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fooBarMethod(void *handle, const UA_NodeId objectId, size_t inputSize, const UA_Variant *input,
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size_t outputSize, UA_Variant *output) {
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// Exactly the same as helloWorld, but returns foobar
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UA_String *inputStr = (UA_String*)input->data;
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UA_String tmp = UA_STRING_ALLOC("FooBar! ");
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if(inputStr->length > 0) {
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tmp.data = realloc(tmp.data, tmp.length + inputStr->length);
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memcpy(&tmp.data[tmp.length], inputStr->data, inputStr->length);
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tmp.length += inputStr->length;
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}
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UA_Variant_setScalarCopy(output, &tmp, &UA_TYPES[UA_TYPES_STRING]);
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UA_String_deleteMembers(&tmp);
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UA_LOG_INFO(logger, UA_LOGCATEGORY_SERVER, "Hello World was called");
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return UA_STATUSCODE_GOOD;
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}
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static UA_StatusCode
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IncInt32ArrayValuesMethod(void *handle, const UA_NodeId objectId, size_t inputSize,
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const UA_Variant *input, size_t outputSize, UA_Variant *output) {
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UA_Variant_setArrayCopy(output, input->data, 5, &UA_TYPES[UA_TYPES_INT32]);
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for(size_t i = 0; i< input->arrayLength; i++)
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((UA_Int32*)output->data)[i] = ((UA_Int32*)input->data)[i] + 1;
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return UA_STATUSCODE_GOOD;
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}
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static void stopHandler(int sign) {
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UA_LOG_INFO(logger, UA_LOGCATEGORY_SERVER, "received ctrl-c");
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running = 0;
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}
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int main(int argc, char** argv) {
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signal(SIGINT, stopHandler); /* catches ctrl-c */
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/* initialize the server */
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UA_ServerConfig config = UA_ServerConfig_standard;
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UA_ServerNetworkLayer nl = UA_ServerNetworkLayerTCP(UA_ConnectionConfig_standard, 16664);
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config.networkLayers = &nl;
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config.networkLayersSize = 1;
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UA_Server *server = UA_Server_new(config);
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//EXAMPLE 1
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/* add the method node with the callback */
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UA_Argument inputArguments;
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UA_Argument_init(&inputArguments);
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inputArguments.arrayDimensionsSize = 0;
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inputArguments.arrayDimensions = NULL;
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inputArguments.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
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inputArguments.description = UA_LOCALIZEDTEXT("en_US", "A String");
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inputArguments.name = UA_STRING("MyInput");
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inputArguments.valueRank = -1;
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UA_Argument outputArguments;
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UA_Argument_init(&outputArguments);
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outputArguments.arrayDimensionsSize = 0;
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outputArguments.arrayDimensions = NULL;
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outputArguments.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
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outputArguments.description = UA_LOCALIZEDTEXT("en_US", "A String");
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outputArguments.name = UA_STRING("MyOutput");
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outputArguments.valueRank = -1;
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UA_MethodAttributes helloAttr;
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UA_MethodAttributes_init(&helloAttr);
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helloAttr.description = UA_LOCALIZEDTEXT("en_US","Say `Hello World`");
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helloAttr.displayName = UA_LOCALIZEDTEXT("en_US","Hello World");
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helloAttr.executable = true;
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helloAttr.userExecutable = true;
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UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1,62541),
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UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
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UA_QUALIFIEDNAME(1, "hello world"),
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helloAttr, &helloWorldMethod, NULL,
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1, &inputArguments, 1, &outputArguments, NULL);
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//END OF EXAMPLE 1
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//EXAMPLE 2
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/* add another method node: output argument as 1d Int32 array*/
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// define input arguments
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UA_Argument_init(&inputArguments);
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inputArguments.arrayDimensionsSize = 1;
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UA_UInt32 * pInputDimensions = UA_UInt32_new();
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pInputDimensions[0] = 5;
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inputArguments.arrayDimensions = pInputDimensions;
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inputArguments.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
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inputArguments.description = UA_LOCALIZEDTEXT("en_US",
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"input an array with 5 elements, type int32");
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inputArguments.name = UA_STRING("int32 value");
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inputArguments.valueRank = 1;
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// define output arguments
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UA_Argument_init(&outputArguments);
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outputArguments.arrayDimensionsSize = 1;
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UA_UInt32 * pOutputDimensions = UA_UInt32_new();
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pOutputDimensions[0] = 5;
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outputArguments.arrayDimensions = pOutputDimensions;
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outputArguments.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
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outputArguments.description = UA_LOCALIZEDTEXT("en_US", "increment each array index");
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outputArguments.name = UA_STRING("output is the array, each index is incremented by one");
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outputArguments.valueRank = 1;
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UA_MethodAttributes incAttr;
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UA_MethodAttributes_init(&incAttr);
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incAttr.description = UA_LOCALIZEDTEXT("en_US","1dArrayExample");
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incAttr.displayName = UA_LOCALIZEDTEXT("en_US","1dArrayExample");
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incAttr.executable = true;
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incAttr.userExecutable = true;
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UA_Server_addMethodNode(server, UA_NODEID_STRING(1, "IncInt32ArrayValues"),
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UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
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UA_QUALIFIEDNAME(1, "IncInt32ArrayValues"),
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incAttr, &IncInt32ArrayValuesMethod, NULL,
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1, &inputArguments, 1, &outputArguments, NULL);
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//END OF EXAMPLE 2
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/* If out methodnode is part of an instantiated object, we never had
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the opportunity to define the callback... we could do that now
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*/
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UA_Server_setMethodNode_callback(server, UA_NODEID_NUMERIC(1,62541), &fooBarMethod, NULL);
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//END OF EXAMPLE 3
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/* start server */
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UA_StatusCode retval = UA_Server_run(server, &running);
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/* ctrl-c received -> clean up */
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UA_UInt32_delete(pInputDimensions);
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UA_UInt32_delete(pOutputDimensions);
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UA_Server_delete(server);
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nl.deleteMembers(&nl);
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return (int)retval;
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}
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