/* 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; }