/*
* Get the endpoint from the server, where we can call RegisterServer2 (or RegisterServer).
* This is normally the endpoint with highest supported encryption mode.
*
* @param discoveryServerUrl The discovery url from the remote server
* @return The endpoint description (which needs to be freed) or NULL
*/
static
UA_EndpointDescription *getRegisterEndpointFromServer(const char *discoveryServerUrl) {
UA_Client *client = UA_Client_new(UA_ClientConfig_default);
UA_EndpointDescription *endpointArray = NULL;
size_t endpointArraySize = 0;
UA_StatusCode retval = UA_Client_getEndpoints(client, discoveryServerUrl,
&endpointArraySize, &endpointArray);
if (retval != UA_STATUSCODE_GOOD) {
UA_Array_delete(endpointArray, endpointArraySize,
&UA_TYPES[UA_TYPES_ENDPOINTDESCRIPTION]);
UA_LOG_ERROR(logger, UA_LOGCATEGORY_SERVER, "GetEndpoints failed with %s", UA_StatusCode_name(retval));
UA_Client_delete(client);
return NULL;
}
UA_LOG_DEBUG(logger, UA_LOGCATEGORY_SERVER, "Server has %ld endpoints", endpointArraySize);
UA_EndpointDescription *foundEndpoint = NULL;
for (size_t i = 0; i < endpointArraySize; i++) {
UA_LOG_DEBUG(logger, UA_LOGCATEGORY_SERVER, "\tURL = %.*s, SecurityMode = %s",
(int) endpointArray[i].endpointUrl.length,
endpointArray[i].endpointUrl.data,
endpointArray[i].securityMode == UA_MESSAGESECURITYMODE_NONE ? "None" :
endpointArray[i].securityMode == UA_MESSAGESECURITYMODE_SIGN ? "Sign" :
endpointArray[i].securityMode == UA_MESSAGESECURITYMODE_SIGNANDENCRYPT ? "SignAndEncrypt" :
"Invalid"
);
// find the endpoint with highest supported security mode
if ((UA_String_equal(&endpointArray[i].securityPolicyUri, &UA_SECURITY_POLICY_NONE_URI) ||
UA_String_equal(&endpointArray[i].securityPolicyUri, &UA_SECURITY_POLICY_BASIC128_URI)) && (
foundEndpoint == NULL || foundEndpoint->securityMode < endpointArray[i].securityMode))
foundEndpoint = &endpointArray[i];
}
UA_EndpointDescription *returnEndpoint = NULL;
if (foundEndpoint != NULL) {
returnEndpoint = UA_EndpointDescription_new();
UA_EndpointDescription_copy(foundEndpoint, returnEndpoint);
}
UA_Array_delete(endpointArray, endpointArraySize,
&UA_TYPES[UA_TYPES_ENDPOINTDESCRIPTION]);
return returnEndpoint;
}
int main(void) {
/*
* Example for calling FindServersOnNetwork
*/
{
UA_ServerOnNetwork *serverOnNetwork = NULL;
size_t serverOnNetworkSize = 0;
UA_Client *client = UA_Client_new();
UA_ClientConfig_setDefault(UA_Client_getConfig(client));
UA_StatusCode retval = UA_Client_findServersOnNetwork(client, DISCOVERY_SERVER_ENDPOINT, 0, 0,
0, NULL, &serverOnNetworkSize, &serverOnNetwork);
if(retval != UA_STATUSCODE_GOOD) {
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER,
"Could not call FindServersOnNetwork service. "
"Is the discovery server started? StatusCode %s",
UA_StatusCode_name(retval));
UA_Client_delete(client);
return EXIT_FAILURE;
}
// output all the returned/registered servers
for(size_t i = 0; i < serverOnNetworkSize; i++) {
UA_ServerOnNetwork *server = &serverOnNetwork[i];
printf("Server[%lu]: %.*s", (unsigned long) i,
(int) server->serverName.length, server->serverName.data);
printf("\n\tRecordID: %d", server->recordId);
printf("\n\tDiscovery URL: %.*s", (int) server->discoveryUrl.length,
server->discoveryUrl.data);
printf("\n\tCapabilities: ");
for(size_t j = 0; j < server->serverCapabilitiesSize; j++) {
printf("%.*s,", (int) server->serverCapabilities[j].length,
server->serverCapabilities[j].data);
}
printf("\n\n");
}
UA_Array_delete(serverOnNetwork, serverOnNetworkSize,
&UA_TYPES[UA_TYPES_SERVERONNETWORK]);
}
/* Example for calling FindServers */
UA_ApplicationDescription *applicationDescriptionArray = NULL;
size_t applicationDescriptionArraySize = 0;
UA_StatusCode retval;
{
UA_Client *client = UA_Client_new();
UA_ClientConfig_setDefault(UA_Client_getConfig(client));
retval = UA_Client_findServers(client, DISCOVERY_SERVER_ENDPOINT, 0, NULL, 0, NULL,
&applicationDescriptionArraySize, &applicationDescriptionArray);
UA_Client_delete(client);
}
if(retval != UA_STATUSCODE_GOOD) {
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Could not call FindServers service. "
"Is the discovery server started? StatusCode %s", UA_StatusCode_name(retval));
return EXIT_FAILURE;
}
// output all the returned/registered servers
for(size_t i = 0; i < applicationDescriptionArraySize; i++) {
UA_ApplicationDescription *description = &applicationDescriptionArray[i];
printf("Server[%lu]: %.*s", (unsigned long) i, (int) description->applicationUri.length,
description->applicationUri.data);
printf("\n\tName: %.*s", (int) description->applicationName.text.length,
description->applicationName.text.data);
printf("\n\tApplication URI: %.*s", (int) description->applicationUri.length,
description->applicationUri.data);
printf("\n\tProduct URI: %.*s", (int) description->productUri.length,
description->productUri.data);
printf("\n\tType: ");
switch(description->applicationType) {
case UA_APPLICATIONTYPE_SERVER:
printf("Server");
break;
case UA_APPLICATIONTYPE_CLIENT:
printf("Client");
break;
case UA_APPLICATIONTYPE_CLIENTANDSERVER:
printf("Client and Server");
break;
case UA_APPLICATIONTYPE_DISCOVERYSERVER:
printf("Discovery Server");
break;
default:
printf("Unknown");
}
printf("\n\tDiscovery URLs:");
for(size_t j = 0; j < description->discoveryUrlsSize; j++) {
printf("\n\t\t[%lu]: %.*s", (unsigned long) j,
(int) description->discoveryUrls[j].length,
description->discoveryUrls[j].data);
}
printf("\n\n");
}
/*
* Now that we have the list of available servers, call get endpoints on all of them
*/
printf("-------- Server Endpoints --------\n");
for(size_t i = 0; i < applicationDescriptionArraySize; i++) {
UA_ApplicationDescription *description = &applicationDescriptionArray[i];
if(description->discoveryUrlsSize == 0) {
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT,
"[GetEndpoints] Server %.*s did not provide any discovery urls. Skipping.",
(int)description->applicationUri.length, description->applicationUri.data);
continue;
}
printf("\nEndpoints for Server[%lu]: %.*s\n", (unsigned long) i,
(int) description->applicationUri.length, description->applicationUri.data);
UA_Client *client = UA_Client_new();
UA_ClientConfig_setDefault(UA_Client_getConfig(client));
char *discoveryUrl = (char *) UA_malloc(sizeof(char) * description->discoveryUrls[0].length + 1);
memcpy(discoveryUrl, description->discoveryUrls[0].data, description->discoveryUrls[0].length);
discoveryUrl[description->discoveryUrls[0].length] = '\0';
UA_EndpointDescription *endpointArray = NULL;
size_t endpointArraySize = 0;
//TODO: adapt to the new async getEndpoint
retval = UA_Client_getEndpoints(client, discoveryUrl, &endpointArraySize, &endpointArray);
UA_free(discoveryUrl);
if(retval != UA_STATUSCODE_GOOD) {
UA_Client_disconnect(client);
UA_Client_delete(client);
break;
}
for(size_t j = 0; j < endpointArraySize; j++) {
UA_EndpointDescription *endpoint = &endpointArray[j];
printf("\n\tEndpoint[%lu]:", (unsigned long) j);
printf("\n\t\tEndpoint URL: %.*s", (int) endpoint->endpointUrl.length, endpoint->endpointUrl.data);
printf("\n\t\tTransport profile URI: %.*s", (int) endpoint->transportProfileUri.length,
endpoint->transportProfileUri.data);
printf("\n\t\tSecurity Mode: ");
switch(endpoint->securityMode) {
case UA_MESSAGESECURITYMODE_INVALID:
printf("Invalid");
break;
case UA_MESSAGESECURITYMODE_NONE:
printf("None");
break;
case UA_MESSAGESECURITYMODE_SIGN:
printf("Sign");
break;
case UA_MESSAGESECURITYMODE_SIGNANDENCRYPT:
printf("Sign and Encrypt");
break;
default:
printf("No valid security mode");
break;
}
printf("\n\t\tSecurity profile URI: %.*s", (int) endpoint->securityPolicyUri.length,
endpoint->securityPolicyUri.data);
printf("\n\t\tSecurity Level: %d", endpoint->securityLevel);
}
UA_Array_delete(endpointArray, endpointArraySize, &UA_TYPES[UA_TYPES_ENDPOINTDESCRIPTION]);
UA_Client_delete(client);
}
printf("\n");
UA_Array_delete(applicationDescriptionArray, applicationDescriptionArraySize,
&UA_TYPES[UA_TYPES_APPLICATIONDESCRIPTION]);
return EXIT_SUCCESS;
}
int main(int argc, char *argv[]) {
UA_Client *client = UA_Client_new(UA_ClientConfig_standard);
//listing endpoints
UA_EndpointDescription* endpointArray = NULL;
size_t endpointArraySize = 0;
UA_StatusCode retval =
UA_Client_getEndpoints(client, "opc.tcp://localhost:16664",
&endpointArraySize, &endpointArray);
//freeing the endpointArray
if(retval != UA_STATUSCODE_GOOD) {
//cleanup array
UA_Array_delete(endpointArray,endpointArraySize, &UA_TYPES[UA_TYPES_ENDPOINTDESCRIPTION]);
UA_Client_delete(client);
return (int)retval;
}
printf("%i endpoints found\n", (int)endpointArraySize);
for(size_t i=0;i<endpointArraySize;i++){
printf("URL of endpoint %i is %.*s\n", (int)i, (int)endpointArray[i].endpointUrl.length, endpointArray[i].endpointUrl.data);
}
//cleanup array of enpoints
UA_Array_delete(endpointArray,endpointArraySize, &UA_TYPES[UA_TYPES_ENDPOINTDESCRIPTION]);
//connect to a server
//anonymous connect would be: retval = UA_Client_connect_username(client, UA_ClientConnectionTCP, "opc.tcp://localhost:16664");
retval = UA_Client_connect_username(client, "opc.tcp://localhost:16664", "user1", "password");
if(retval != UA_STATUSCODE_GOOD) {
UA_Client_delete(client);
return (int)retval;
}
// Browse some objects
printf("Browsing nodes in objects folder:\n");
UA_BrowseRequest bReq;
UA_BrowseRequest_init(&bReq);
bReq.requestedMaxReferencesPerNode = 0;
bReq.nodesToBrowse = UA_BrowseDescription_new();
bReq.nodesToBrowseSize = 1;
bReq.nodesToBrowse[0].nodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER); //browse objects folder
bReq.nodesToBrowse[0].resultMask = UA_BROWSERESULTMASK_ALL; //return everything
UA_BrowseResponse bResp = UA_Client_Service_browse(client, bReq);
printf("%-9s %-16s %-16s %-16s\n", "NAMESPACE", "NODEID", "BROWSE NAME", "DISPLAY NAME");
for (size_t i = 0; i < bResp.resultsSize; ++i) {
for (size_t j = 0; j < bResp.results[i].referencesSize; ++j) {
UA_ReferenceDescription *ref = &(bResp.results[i].references[j]);
if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_NUMERIC) {
printf("%-9d %-16d %-16.*s %-16.*s\n", ref->browseName.namespaceIndex,
ref->nodeId.nodeId.identifier.numeric, (int)ref->browseName.name.length,
ref->browseName.name.data, (int)ref->displayName.text.length,
ref->displayName.text.data);
} else if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_STRING) {
printf("%-9d %-16.*s %-16.*s %-16.*s\n", ref->browseName.namespaceIndex,
(int)ref->nodeId.nodeId.identifier.string.length, ref->nodeId.nodeId.identifier.string.data,
(int)ref->browseName.name.length, ref->browseName.name.data,
(int)ref->displayName.text.length, ref->displayName.text.data);
}
//TODO: distinguish further types
}
}
UA_BrowseRequest_deleteMembers(&bReq);
UA_BrowseResponse_deleteMembers(&bResp);
// Same thing, this time using the node iterator...
UA_NodeId *parent = UA_NodeId_new();
*parent = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
UA_Client_forEachChildNodeCall(client, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER), nodeIter, (void *) parent);
UA_NodeId_delete(parent);
#ifdef UA_ENABLE_SUBSCRIPTIONS
// Create a subscription with interval 0 (immediate)...
UA_UInt32 subId=0;
UA_Client_Subscriptions_new(client, UA_SubscriptionSettings_standard, &subId);
if(subId)
printf("Create subscription succeeded, id %u\n", subId);
// .. and monitor TheAnswer
UA_NodeId monitorThis = UA_NODEID_STRING(1, "the.answer");
UA_UInt32 monId=0;
UA_Client_Subscriptions_addMonitoredItem(client, subId, monitorThis,
UA_ATTRIBUTEID_VALUE, &handler_TheAnswerChanged, NULL, &monId);
if (monId)
printf("Monitoring 'the.answer', id %u\n", subId);
// First Publish always generates data (current value) and call out handler.
UA_Client_Subscriptions_manuallySendPublishRequest(client);
// This should not generate anything
UA_Client_Subscriptions_manuallySendPublishRequest(client);
#endif
UA_Int32 value = 0;
// Read node's value
printf("\nReading the value of node (1, \"the.answer\"):\n");
UA_ReadRequest rReq;
UA_ReadRequest_init(&rReq);
rReq.nodesToRead = UA_Array_new(1, &UA_TYPES[UA_TYPES_READVALUEID]);
rReq.nodesToReadSize = 1;
rReq.nodesToRead[0].nodeId = UA_NODEID_STRING_ALLOC(1, "the.answer"); /* assume this node exists */
rReq.nodesToRead[0].attributeId = UA_ATTRIBUTEID_VALUE;
UA_ReadResponse rResp = UA_Client_Service_read(client, rReq);
if(rResp.responseHeader.serviceResult == UA_STATUSCODE_GOOD &&
rResp.resultsSize > 0 && rResp.results[0].hasValue &&
UA_Variant_isScalar(&rResp.results[0].value) &&
rResp.results[0].value.type == &UA_TYPES[UA_TYPES_INT32]) {
value = *(UA_Int32*)rResp.results[0].value.data;
printf("the value is: %i\n", value);
}
UA_ReadRequest_deleteMembers(&rReq);
UA_ReadResponse_deleteMembers(&rResp);
value++;
// Write node's value
printf("\nWriting a value of node (1, \"the.answer\"):\n");
UA_WriteRequest wReq;
UA_WriteRequest_init(&wReq);
wReq.nodesToWrite = UA_WriteValue_new();
wReq.nodesToWriteSize = 1;
wReq.nodesToWrite[0].nodeId = UA_NODEID_STRING_ALLOC(1, "the.answer"); /* assume this node exists */
wReq.nodesToWrite[0].attributeId = UA_ATTRIBUTEID_VALUE;
wReq.nodesToWrite[0].value.hasValue = true;
wReq.nodesToWrite[0].value.value.type = &UA_TYPES[UA_TYPES_INT32];
wReq.nodesToWrite[0].value.value.storageType = UA_VARIANT_DATA_NODELETE; //do not free the integer on deletion
wReq.nodesToWrite[0].value.value.data = &value;
UA_WriteResponse wResp = UA_Client_Service_write(client, wReq);
if(wResp.responseHeader.serviceResult == UA_STATUSCODE_GOOD)
printf("the new value is: %i\n", value);
UA_WriteRequest_deleteMembers(&wReq);
UA_WriteResponse_deleteMembers(&wResp);
// Alternate Form, this time using the hl API
value++;
UA_Variant *myVariant = UA_Variant_new();
UA_Variant_setScalarCopy(myVariant, &value, &UA_TYPES[UA_TYPES_INT32]);
UA_Client_writeValueAttribute(client, UA_NODEID_STRING(1, "the.answer"), myVariant);
UA_Variant_delete(myVariant);
#ifdef UA_ENABLE_SUBSCRIPTIONS
// Take another look at the.answer... this should call the handler.
UA_Client_Subscriptions_manuallySendPublishRequest(client);
// Delete our subscription (which also unmonitors all items)
if(!UA_Client_Subscriptions_remove(client, subId))
printf("Subscription removed\n");
#endif
#ifdef UA_ENABLE_METHODCALLS
/* Note: This example requires Namespace 0 Node 11489 (ServerType -> GetMonitoredItems)
FIXME: Provide a namespace 0 independant example on the server side
*/
UA_Variant input;
UA_String argString = UA_STRING("Hello Server");
UA_Variant_init(&input);
UA_Variant_setScalarCopy(&input, &argString, &UA_TYPES[UA_TYPES_STRING]);
size_t outputSize;
UA_Variant *output;
retval = UA_Client_call(client, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(1, 62541), 1, &input, &outputSize, &output);
if(retval == UA_STATUSCODE_GOOD) {
printf("Method call was successfull, and %lu returned values available.\n",
(unsigned long)outputSize);
UA_Array_delete(output, outputSize, &UA_TYPES[UA_TYPES_VARIANT]);
} else {
printf("Method call was unsuccessfull, and %x returned values available.\n", retval);
}
UA_Variant_deleteMembers(&input);
#endif
#ifdef UA_ENABLE_NODEMANAGEMENT
/* New ReferenceType */
UA_NodeId ref_id;
UA_ReferenceTypeAttributes ref_attr;
UA_ReferenceTypeAttributes_init(&ref_attr);
ref_attr.displayName = UA_LOCALIZEDTEXT("en_US", "NewReference");
ref_attr.description = UA_LOCALIZEDTEXT("en_US", "References something that might or might not exist");
ref_attr.inverseName = UA_LOCALIZEDTEXT("en_US", "IsNewlyReferencedBy");
retval = UA_Client_addReferenceTypeNode(client,
UA_NODEID_NUMERIC(1, 12133),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
UA_QUALIFIEDNAME(1, "NewReference"),
ref_attr, &ref_id);
if(retval == UA_STATUSCODE_GOOD )
printf("Created 'NewReference' with numeric NodeID %u\n", ref_id.identifier.numeric);
/* New ObjectType */
UA_NodeId objt_id;
UA_ObjectTypeAttributes objt_attr;
UA_ObjectTypeAttributes_init(&objt_attr);
objt_attr.displayName = UA_LOCALIZEDTEXT("en_US", "TheNewObjectType");
objt_attr.description = UA_LOCALIZEDTEXT("en_US", "Put innovative description here");
retval = UA_Client_addObjectTypeNode(client,
UA_NODEID_NUMERIC(1, 12134),
UA_NODEID_NUMERIC(0, UA_NS0ID_BASEOBJECTTYPE),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
UA_QUALIFIEDNAME(1, "NewObjectType"),
objt_attr, &objt_id);
if(retval == UA_STATUSCODE_GOOD)
printf("Created 'NewObjectType' with numeric NodeID %u\n", objt_id.identifier.numeric);
/* New Object */
UA_NodeId obj_id;
UA_ObjectAttributes obj_attr;
UA_ObjectAttributes_init(&obj_attr);
obj_attr.displayName = UA_LOCALIZEDTEXT("en_US", "TheNewGreatNode");
obj_attr.description = UA_LOCALIZEDTEXT("de_DE", "Hier koennte Ihre Webung stehen!");
retval = UA_Client_addObjectNode(client,
UA_NODEID_NUMERIC(1, 0),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
UA_QUALIFIEDNAME(1, "TheGreatNode"),
UA_NODEID_NUMERIC(1, 12134),
obj_attr, &obj_id);
if(retval == UA_STATUSCODE_GOOD )
printf("Created 'NewObject' with numeric NodeID %u\n", obj_id.identifier.numeric);
/* New Integer Variable */
UA_NodeId var_id;
UA_VariableAttributes var_attr;
UA_VariableAttributes_init(&var_attr);
var_attr.displayName = UA_LOCALIZEDTEXT("en_US", "TheNewVariableNode");
var_attr.description =
UA_LOCALIZEDTEXT("en_US", "This integer is just amazing - it has digits and everything.");
UA_Int32 int_value = 1234;
/* This does not copy the value */
UA_Variant_setScalar(&var_attr.value, &int_value, &UA_TYPES[UA_TYPES_INT32]);
var_attr.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
retval = UA_Client_addVariableNode(client,
UA_NODEID_NUMERIC(1, 0), // Assign new/random NodeID
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
UA_QUALIFIEDNAME(0, "VariableNode"),
UA_NODEID_NULL, // no variable type
var_attr, &var_id);
if(retval == UA_STATUSCODE_GOOD )
printf("Created 'NewVariable' with numeric NodeID %u\n", var_id.identifier.numeric);
#endif
UA_Client_disconnect(client);
UA_Client_delete(client);
return (int) UA_STATUSCODE_GOOD;
}
