/* copy an existing object under the given parent. then instantiate the
variable for all hastypedefinitions of the original version. */
static UA_StatusCode
copyExistingObject(UA_Server *server, UA_Session *session, const UA_NodeId *variable,
const UA_NodeId *referenceType, const UA_NodeId *parent,
UA_InstantiationCallback *instantiationCallback) {
const UA_ObjectNode *node = (const UA_ObjectNode*)UA_NodeStore_get(server->nodestore, variable);
if(!node)
return UA_STATUSCODE_BADNODEIDINVALID;
if(node->nodeClass != UA_NODECLASS_OBJECT)
return UA_STATUSCODE_BADNODECLASSINVALID;
// copy the variable attributes
UA_ObjectAttributes attr;
UA_ObjectAttributes_init(&attr);
UA_LocalizedText_copy(&node->displayName, &attr.displayName);
UA_LocalizedText_copy(&node->description, &attr.description);
attr.writeMask = node->writeMask;
attr.userWriteMask = node->userWriteMask;
attr.eventNotifier = node->eventNotifier;
UA_AddNodesItem item;
UA_AddNodesItem_init(&item);
UA_NodeId_copy(parent, &item.parentNodeId.nodeId);
UA_NodeId_copy(referenceType, &item.referenceTypeId);
UA_QualifiedName_copy(&node->browseName, &item.browseName);
item.nodeClass = UA_NODECLASS_OBJECT;
item.nodeAttributes.encoding = UA_EXTENSIONOBJECT_DECODED_NODELETE;
item.nodeAttributes.content.decoded.type = &UA_TYPES[UA_TYPES_OBJECTATTRIBUTES];
item.nodeAttributes.content.decoded.data = &attr;
// don't add a typedefinition here.
// add the new object
UA_AddNodesResult res;
UA_AddNodesResult_init(&res);
Service_AddNodes_single(server, session, &item, &res, instantiationCallback);
UA_ObjectAttributes_deleteMembers(&attr);
UA_AddNodesItem_deleteMembers(&item);
// now instantiate the object for all hastypedefinition references
for(size_t i = 0; i < node->referencesSize; i++) {
UA_ReferenceNode *rn = &node->references[i];
if(rn->isInverse)
continue;
const UA_NodeId hasTypeDef = UA_NODEID_NUMERIC(0, UA_NS0ID_HASTYPEDEFINITION);
if(!UA_NodeId_equal(&rn->referenceTypeId, &hasTypeDef))
continue;
instantiateObjectNode(server, session, &res.addedNodeId, &rn->targetId.nodeId, instantiationCallback);
}
if (instantiationCallback != NULL)
instantiationCallback->method(res.addedNodeId, node->nodeId, instantiationCallback->handle);
UA_AddNodesResult_deleteMembers(&res);
return UA_STATUSCODE_GOOD;
}
int main(int argc, char *argv[]) {
UA_Client *client = UA_Client_new(UA_ClientConfig_standard, Logger_Stdout);
UA_StatusCode retval = UA_Client_connect(client, ClientNetworkLayerTCP_connect,
"opc.tcp://localhost:16664");
if(retval != UA_STATUSCODE_GOOD) {
UA_Client_delete(client);
return 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);
#ifdef ENABLE_SUBSCRIPTIONS
// Create a subscription with interval 0 (immediate)...
UA_UInt32 subId;
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;
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_ReadValueId_new();
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 = UA_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);
#ifdef 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 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]);
UA_Int32 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 %i returned values available.\n", 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 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 UA_STATUSCODE_GOOD;
}
