int main(int argc, char** argv) {
signal(SIGINT, stopHandler); /* catches ctrl-c */
/* initialize the server */
UA_ServerConfig config = UA_ServerConfig_standard;
UA_ServerNetworkLayer nl = UA_ServerNetworkLayerTCP(UA_ConnectionConfig_standard, 16664);
config.logger = Logger_Stdout;
config.networkLayers = &nl;
config.networkLayersSize = 1;
UA_Server *server = UA_Server_new(config);
//EXAMPLE 1
/* add the method node with the callback */
UA_Argument inputArguments;
UA_Argument_init(&inputArguments);
inputArguments.arrayDimensionsSize = 0;
inputArguments.arrayDimensions = NULL;
inputArguments.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
inputArguments.description = UA_LOCALIZEDTEXT("en_US", "A String");
inputArguments.name = UA_STRING("MyInput");
inputArguments.valueRank = -1;
UA_Argument outputArguments;
UA_Argument_init(&outputArguments);
outputArguments.arrayDimensionsSize = 0;
outputArguments.arrayDimensions = NULL;
outputArguments.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
outputArguments.description = UA_LOCALIZEDTEXT("en_US", "A String");
outputArguments.name = UA_STRING("MyOutput");
outputArguments.valueRank = -1;
UA_MethodAttributes helloAttr;
UA_MethodAttributes_init(&helloAttr);
helloAttr.description = UA_LOCALIZEDTEXT("en_US","Say `Hello World`");
helloAttr.displayName = UA_LOCALIZEDTEXT("en_US","Hello World");
helloAttr.executable = true;
helloAttr.userExecutable = true;
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1,62541),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "hello world"),
helloAttr, &helloWorldMethod, NULL,
1, &inputArguments, 1, &outputArguments, NULL);
//END OF EXAMPLE 1
//EXAMPLE 2
/* add another method node: output argument as 1d Int32 array*/
// define input arguments
UA_Argument_init(&inputArguments);
inputArguments.arrayDimensionsSize = 1;
UA_UInt32 * pInputDimensions = UA_UInt32_new();
pInputDimensions[0] = 5;
inputArguments.arrayDimensions = pInputDimensions;
inputArguments.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
inputArguments.description = UA_LOCALIZEDTEXT("en_US",
"input an array with 5 elements, type int32");
inputArguments.name = UA_STRING("int32 value");
inputArguments.valueRank = 1;
// define output arguments
UA_Argument_init(&outputArguments);
outputArguments.arrayDimensionsSize = 1;
UA_UInt32 * pOutputDimensions = UA_UInt32_new();
pOutputDimensions[0] = 5;
outputArguments.arrayDimensions = pOutputDimensions;
outputArguments.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
outputArguments.description = UA_LOCALIZEDTEXT("en_US", "increment each array index");
outputArguments.name = UA_STRING("output is the array, each index is incremented by one");
outputArguments.valueRank = 1;
UA_MethodAttributes incAttr;
UA_MethodAttributes_init(&incAttr);
incAttr.description = UA_LOCALIZEDTEXT("en_US","1dArrayExample");
incAttr.displayName = UA_LOCALIZEDTEXT("en_US","1dArrayExample");
incAttr.executable = true;
incAttr.userExecutable = true;
UA_Server_addMethodNode(server, UA_NODEID_STRING(1, "IncInt32ArrayValues"),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "IncInt32ArrayValues"),
incAttr, &IncInt32ArrayValuesMethod, NULL,
1, &inputArguments, 1, &outputArguments, NULL);
//END OF EXAMPLE 2
/* start server */
UA_StatusCode retval = UA_Server_run(server, &running);
/* ctrl-c received -> clean up */
UA_UInt32_delete(pInputDimensions);
UA_UInt32_delete(pOutputDimensions);
UA_Server_delete(server);
nl.deleteMembers(&nl);
return retval;
}
OV_DLLFNCEXPORT UA_StatusCode servicesOPCUAInterface_interface_ovServiceOutputArgumentsNodeToOPCUA(
void *handle, const UA_NodeId *nodeId, UA_Node** opcuaNode) {
UA_Node *newNode = NULL;
UA_StatusCode result = UA_STATUSCODE_GOOD;
OV_PATH path;
OV_INSTPTR_ov_object pobj = NULL;
OV_TICKET *pTicket = NULL;
OV_VTBLPTR_ov_object pVtblObj = NULL;
OV_ACCESS access;
UA_NodeClass nodeClass;
OV_ELEMENT element;
OV_STRING tmpString = NULL;
OV_UINT len = 0;
OV_STRING *plist = NULL;
copyOPCUAStringToOV(nodeId->identifier.string, &tmpString);
plist = ov_string_split(tmpString, "||", &len);
ov_string_setvalue(&tmpString, NULL);
UA_NodeId tmpNodeId;
UA_NodeId_init(&tmpNodeId);
tmpNodeId.namespaceIndex = nodeId->namespaceIndex;
tmpNodeId.identifierType = nodeId->identifierType;
tmpNodeId.identifier.string = UA_String_fromChars(plist[0]);
ov_string_freelist(plist);
ov_memstack_lock();
result = opcua_nodeStoreFunctions_resolveNodeIdToPath(tmpNodeId, &path);
UA_NodeId_deleteMembers(&tmpNodeId);
if(result != UA_STATUSCODE_GOOD){
ov_memstack_unlock();
return result;
}
element = path.elements[path.size-1];
ov_memstack_unlock();
result = opcua_nodeStoreFunctions_getVtblPointerAndCheckAccess(&(element), pTicket, &pobj, &pVtblObj, &access);
if(result != UA_STATUSCODE_GOOD){
return result;
}
nodeClass = UA_NODECLASS_VARIABLE;
newNode = (UA_Node*)UA_calloc(1, sizeof(UA_VariableNode));
// Basic Attribute
// BrowseName
UA_QualifiedName qName;
qName.name = UA_String_fromChars("OutputArguments");
qName.namespaceIndex = 0; //pinterface->v_interfacenamespace.index;
newNode->browseName = qName;
// Description
OV_STRING tempString = pVtblObj->m_getcomment(pobj, &element);
UA_LocalizedText lText;
UA_LocalizedText_init(&lText);
lText.locale = UA_String_fromChars("en");
if(tempString){
lText.text = UA_String_fromChars(tempString);
} else {
lText.text = UA_String_fromChars("");
}
UA_LocalizedText_copy(&lText,&newNode->description);
UA_LocalizedText_deleteMembers(&lText);
// DisplayName
UA_LocalizedText displayName;
UA_LocalizedText_init(&displayName);
displayName.locale = UA_String_fromChars("en");
displayName.text = UA_String_fromChars("OutputArguments");
UA_LocalizedText_copy(&displayName, &newNode->displayName);
UA_LocalizedText_deleteMembers(&displayName);
// NodeId
UA_NodeId_copy(nodeId, &newNode->nodeId);
// NodeClass
newNode->nodeClass = nodeClass;
// WriteMask
UA_UInt32 writeMask = 0;
if(element.elemtype != OV_ET_VARIABLE){
if(access & OV_AC_WRITE){
writeMask |= (1<<2); // BrowseName
writeMask |= (1<<6); // DisplayName
}
if(access & OV_AC_RENAMEABLE){
writeMask |= (1<<14); // NodeId
}
}
newNode->writeMask = writeMask;
// Variable specific attributes
// value
OV_ELEMENT tmpPart;
tmpPart.elemtype = OV_ET_NONE;
tmpPart.pobj = NULL;
OV_ELEMENT tmpParrent;
tmpParrent.pobj = pobj;
tmpParrent.elemtype = OV_ET_OBJECT;
OV_UINT sizeOutput = 0;
do {
ov_element_getnextpart(&tmpParrent, &tmpPart, OV_ET_VARIABLE);
if (tmpPart.elemtype == OV_ET_NONE)
break;
if (tmpPart.elemunion.pvar->v_flags == 16384){ // OutputFlag is set
sizeOutput++;
continue;
}
} while(TRUE);
// arrayDemensions
if (sizeOutput > 1){
((UA_VariableNode*)newNode)->arrayDimensionsSize = 1;
UA_UInt32 *pOutputDimension = UA_UInt32_new();
*pOutputDimension = sizeOutput;
((UA_VariableNode*)newNode)->arrayDimensions = pOutputDimension; //UA_Array_new(((UA_VariableNode*)newNode)->arrayDimensionsSize, &UA_TYPES[UA_TYPES_INT32]); /* scalar or one dimension */
// valuerank
((UA_VariableNode*)newNode)->valueRank = 1; /* one dimension */
}else{
((UA_VariableNode*)newNode)->arrayDimensionsSize = 0;
((UA_VariableNode*)newNode)->arrayDimensions = NULL; //UA_Array_new(((UA_VariableNode*)newNode)->arrayDimensionsSize, &UA_TYPES[UA_TYPES_INT32]); /* scalar or one dimension */
// valuerank
((UA_VariableNode*)newNode)->valueRank = -1; /* one dimension */
}
// value
((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->type = &UA_TYPES[UA_TYPES_ARGUMENT];
((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->arrayLength = sizeOutput;
if (sizeOutput > 1){
((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data = UA_Array_new(sizeOutput, &UA_TYPES[UA_TYPES_ARGUMENT]);
}else{
((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data = UA_Argument_new();
}
if (!((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data){
result = UA_STATUSCODE_BADOUTOFMEMORY;
return result;
}
((UA_VariableNode*)newNode)->value.data.value.hasValue = TRUE;
((UA_VariableNode*)newNode)->valueSource = UA_VALUESOURCE_DATA;
tmpPart.elemtype = OV_ET_NONE;
tmpPart.pobj = NULL;
OV_UINT count = 0;
do {
ov_element_getnextpart(&tmpParrent, &tmpPart, OV_ET_VARIABLE);
if (tmpPart.elemtype == OV_ET_NONE)
break;
if (tmpPart.elemunion.pvar->v_flags == 16384){ // OutputFlag is set
UA_Argument_init(&((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count]);
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].description = UA_LOCALIZEDTEXT_ALLOC("en_US","");
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].name = UA_STRING_ALLOC(tmpPart.elemunion.pvar->v_identifier);
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].valueRank = -1;
switch(tmpPart.elemunion.pvar->v_vartype){
case OV_VT_BOOL:
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].dataType = UA_TYPES[UA_TYPES_BOOLEAN].typeId;
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].valueRank = -1;
break;
case OV_VT_INT:
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].dataType = UA_TYPES[UA_TYPES_INT32].typeId;
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].valueRank = -1;
break;
case OV_VT_UINT:
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].dataType = UA_TYPES[UA_TYPES_UINT32].typeId;
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].valueRank = -1;
break;
case OV_VT_SINGLE:
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].dataType = UA_TYPES[UA_TYPES_FLOAT].typeId;
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].valueRank = -1;
break;
case OV_VT_DOUBLE:
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].dataType = UA_TYPES[UA_TYPES_DOUBLE].typeId;
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].valueRank = -1;
break;
case OV_VT_ANY:
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].dataType = UA_TYPES[UA_TYPES_VARIANT].typeId;
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].valueRank = 1;
break;
case OV_VT_STRING:
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].dataType = UA_TYPES[UA_TYPES_STRING].typeId;
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].valueRank = -1;
break;
case OV_VT_BOOL_VEC:
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].dataType = UA_TYPES[UA_TYPES_BOOLEAN].typeId;
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].valueRank = 1;
break;
case OV_VT_INT_VEC:
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].dataType = UA_TYPES[UA_TYPES_INT32].typeId;
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].valueRank = 1;
break;
case OV_VT_UINT_VEC:
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].dataType = UA_TYPES[UA_TYPES_UINT32].typeId;
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].valueRank = 1;
break;
case OV_VT_SINGLE_VEC:
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].dataType = UA_TYPES[UA_TYPES_FLOAT].typeId;
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].valueRank = 1;
break;
case OV_VT_DOUBLE_VEC:
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].dataType = UA_TYPES[UA_TYPES_DOUBLE].typeId;
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].valueRank = 1;
break;
case OV_VT_STRING_VEC:
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].dataType = UA_TYPES[UA_TYPES_STRING].typeId;
((UA_Argument*)((UA_Variant*)&((UA_VariableNode*)newNode)->value.data.value.value)->data)[count].valueRank = 1;
break;
default:
break;
}
count++;
if (count == sizeOutput){
break;
}else{
continue;
}
}
} while(TRUE);
ov_string_setvalue(&tmpString, NULL);
// accessLevel
UA_Byte accessLevel = 0;
if(access & OV_AC_READ){
accessLevel |= (1<<0);
}
if(access & OV_AC_WRITE){
accessLevel |= (1<<1);
}
((UA_VariableNode*)newNode)->accessLevel = accessLevel;
// minimumSamplingInterval
((UA_VariableNode*)newNode)->minimumSamplingInterval = -1;
// historizing
((UA_VariableNode*)newNode)->historizing = UA_FALSE;
// dataType
((UA_VariableNode*)newNode)->dataType = UA_NODEID_NUMERIC(0, 0);
// References have to do manual because it is an virtual node
size_t size_references = 0;
size_references = size_references + 2;// For Parent&TypeNode
newNode->references = UA_calloc(size_references, sizeof(UA_ReferenceNode));
if (!newNode->references){
result = ov_resultToUaStatusCode(OV_ERR_HEAPOUTOFMEMORY);
UA_free(newNode);
return result;
}
newNode->referencesSize = size_references;
// ParentNode
newNode->references[0].referenceTypeId = UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY);
newNode->references[0].isInverse = UA_TRUE;
len = 0;
plist = NULL;
tmpString = NULL;
copyOPCUAStringToOV(nodeId->identifier.string, &tmpString);
plist = ov_string_split(tmpString, "||", &len);
newNode->references[0].targetId = UA_EXPANDEDNODEID_STRING_ALLOC(pinterface->v_interfacenamespace.index, plist[0]);
ov_string_freelist(plist);
ov_string_setvalue(&tmpString, NULL);
// TypeNode
newNode->references[1].referenceTypeId = UA_NODEID_NUMERIC(0, UA_NS0ID_HASTYPEDEFINITION);
newNode->references[1].isInverse = UA_FALSE;
newNode->references[1].targetId = UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_PROPERTYTYPE);
*opcuaNode = newNode;
return UA_STATUSCODE_GOOD;
}
int main(int argc, char** argv) {
signal(SIGINT, stopHandler); /* catches ctrl-c */
/* initialize the server */
UA_ServerConfig config = UA_ServerConfig_standard;
UA_ServerNetworkLayer nl;
nl = UA_ServerNetworkLayerTCP(UA_ConnectionConfig_standard, 16664);
config.networkLayers = &nl;
config.networkLayersSize = 1;
UA_Server *server = UA_Server_new(config);
/* Example 1 */
/* add the method node with the callback */
UA_Argument inputArguments1;
UA_Argument_init(&inputArguments1);
inputArguments1.arrayDimensionsSize = 0;
inputArguments1.arrayDimensions = NULL;
inputArguments1.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
inputArguments1.description = UA_LOCALIZEDTEXT("en_US", "A String");
inputArguments1.name = UA_STRING("MyInput");
inputArguments1.valueRank = -1;
UA_Argument outputArguments1;
UA_Argument_init(&outputArguments1);
outputArguments1.arrayDimensionsSize = 0;
outputArguments1.arrayDimensions = NULL;
outputArguments1.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
outputArguments1.description = UA_LOCALIZEDTEXT("en_US", "A String");
outputArguments1.name = UA_STRING("MyOutput");
outputArguments1.valueRank = -1;
UA_MethodAttributes helloAttr;
UA_MethodAttributes_init(&helloAttr);
helloAttr.description = UA_LOCALIZEDTEXT("en_US","Say `Hello World`");
helloAttr.displayName = UA_LOCALIZEDTEXT("en_US","Hello World");
helloAttr.executable = true;
helloAttr.userExecutable = true;
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1,62541),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASORDEREDCOMPONENT),
UA_QUALIFIEDNAME(1, "hello world"),
helloAttr, &helloWorldMethod, NULL,
1, &inputArguments1, 1, &outputArguments1, NULL);
/* Example 2 */
/* add another method node: output argument as 1d Int32 array*/
UA_Argument inputArguments2;
UA_Argument_init(&inputArguments2);
inputArguments2.arrayDimensionsSize = 1;
UA_UInt32 * pInputDimensions = UA_UInt32_new();
pInputDimensions[0] = 5;
inputArguments2.arrayDimensions = pInputDimensions;
inputArguments2.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
inputArguments2.description = UA_LOCALIZEDTEXT("en_US",
"input an array with 5 elements, type int32");
inputArguments2.name = UA_STRING("int32 value");
inputArguments2.valueRank = 1;
UA_Argument outputArguments2;
UA_Argument_init(&outputArguments2);
outputArguments2.arrayDimensionsSize = 1;
UA_UInt32 * pOutputDimensions = UA_UInt32_new();
pOutputDimensions[0] = 5;
outputArguments2.arrayDimensions = pOutputDimensions;
outputArguments2.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
outputArguments2.description = UA_LOCALIZEDTEXT("en_US",
"increment each array index");
outputArguments2.name = UA_STRING("output is the array, "
"each index is incremented by one");
outputArguments2.valueRank = 1;
UA_MethodAttributes incAttr;
UA_MethodAttributes_init(&incAttr);
incAttr.description = UA_LOCALIZEDTEXT("en_US", "1dArrayExample");
incAttr.displayName = UA_LOCALIZEDTEXT("en_US", "1dArrayExample");
incAttr.executable = true;
incAttr.userExecutable = true;
UA_Server_addMethodNode(server, UA_NODEID_STRING(1, "IncInt32ArrayValues"),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "IncInt32ArrayValues"),
incAttr, &IncInt32ArrayValuesMethod, NULL,
1, &inputArguments2, 1, &outputArguments2, NULL);
/* Example 3 */
UA_MethodAttributes method3Attr;
UA_MethodAttributes_init(&method3Attr);
method3Attr.description = UA_LOCALIZEDTEXT("en_US", "FooBar");
method3Attr.displayName = UA_LOCALIZEDTEXT("en_US", "FooBar");
method3Attr.executable = true;
method3Attr.userExecutable = true;
UA_Server_addMethodNode(server, UA_NODEID_STRING(1, "FooBar"),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "FooBar"),
method3Attr, NULL, NULL,
1, &inputArguments1, 1, &outputArguments1, NULL);
/* If the method node has no callback (because it was instantiated without
* one) or if we just want to change it, this can be done
* UA_Server_setMethodNode_callback() */
UA_Server_setMethodNode_callback(server, UA_NODEID_NUMERIC(1,62542),
&fooBarMethod, NULL);
/* start server */
UA_StatusCode retval = UA_Server_run(server, &running);
/* ctrl-c received -> clean up */
UA_UInt32_delete(pInputDimensions);
UA_UInt32_delete(pOutputDimensions);
UA_Server_delete(server);
nl.deleteMembers(&nl);
return (int)retval;
}
