Exemplo n.º 1
0
int main(int argc, char** argv) {
    signal(SIGINT,  stopHandler);
    signal(SIGTERM, stopHandler);

    UA_ServerConfig config = UA_ServerConfig_standard;
    UA_ServerNetworkLayer nl;
    nl = UA_ServerNetworkLayerUDP(UA_ConnectionConfig_standard, 16664);
    config.networkLayers = &nl;
    config.networkLayersSize = 1;
    UA_Server *server = UA_Server_new(config);

    // add a variable node to the adresspace
    UA_VariableAttributes attr;
    UA_VariableAttributes_init(&attr);
    UA_Int32 myInteger = 42;
    UA_Variant_setScalar(&attr.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
    attr.description = UA_LOCALIZEDTEXT("en_US","the answer");
    attr.displayName = UA_LOCALIZEDTEXT("en_US","the answer");
    UA_NodeId myIntegerNodeId = UA_NODEID_STRING(1, "the.answer");
    UA_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, "the answer");
    UA_NodeId parentNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
    UA_NodeId parentReferenceNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
    UA_Server_addVariableNode(server, myIntegerNodeId, parentNodeId,
                              parentReferenceNodeId, myIntegerName,
                              UA_NODEID_NULL, attr, NULL, NULL);

    UA_StatusCode retval = UA_Server_run(server, &running);
    UA_Server_delete(server);

    return (int) retval;
}
Exemplo n.º 2
0
int main(int argc, char** argv) {
    signal(SIGINT, stopHandler); /* catches ctrl-c */

    UA_ServerConfig config = UA_ServerConfig_standard;
    UA_ServerNetworkLayer nl = UA_ServerNetworkLayerTCP(UA_ConnectionConfig_standard, 16664);
    config.networkLayers = &nl;
    config.networkLayersSize = 1;
    UA_Server *server = UA_Server_new(config);

    /* add a variable node to the address space */
    UA_Int32 myInteger = 42;
    UA_NodeId myIntegerNodeId = UA_NODEID_STRING(1, "the.answer");
    UA_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, "the answer");
    UA_DataSource dateDataSource = (UA_DataSource) {
        .handle = &myInteger, .read = readInteger, .write = writeInteger};
    UA_VariableAttributes attr;
    UA_VariableAttributes_init(&attr);
    attr.description = UA_LOCALIZEDTEXT("en_US","the answer");
    attr.displayName = UA_LOCALIZEDTEXT("en_US","the answer");

    UA_Server_addDataSourceVariableNode(server, myIntegerNodeId,
                                        UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
                                        UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
                                        myIntegerName, UA_NODEID_NULL, attr, dateDataSource, NULL);

    UA_StatusCode retval = UA_Server_run(server, &running);
    UA_Server_delete(server);
    nl.deleteMembers(&nl);

    return (int)retval;
}
Exemplo n.º 3
0
int main(int argc, char** argv) {
    signal(SIGINT, stopHandler); /* catches ctrl-c */
#ifdef UA_ENABLE_MULTITHREADING
    pthread_rwlock_init(&writeLock, 0);
#endif

    UA_ServerNetworkLayer nl = UA_ServerNetworkLayerTCP(UA_ConnectionConfig_standard, 16664);
    UA_ServerConfig config = UA_ServerConfig_standard;
    config.serverCertificate = loadCertificate();
    config.networkLayers = &nl;
    config.networkLayersSize = 1;
    UA_Server *server = UA_Server_new(config);

    // add node with the datetime data source
    UA_DataSource dateDataSource = (UA_DataSource) {.handle = NULL, .read = readTimeData, .write = NULL};
    UA_VariableAttributes v_attr;
    UA_VariableAttributes_init(&v_attr);
    v_attr.description = UA_LOCALIZEDTEXT("en_US","current time");
    v_attr.displayName = UA_LOCALIZEDTEXT("en_US","current time");
    v_attr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
    const UA_QualifiedName dateName = UA_QUALIFIEDNAME(1, "current time");
    UA_NodeId dataSourceId;
    UA_Server_addDataSourceVariableNode(server, UA_NODEID_NULL,
                                        UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
                                        UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), dateName,
                                        UA_NODEID_NULL, v_attr, dateDataSource, &dataSourceId);

#ifndef _WIN32
    /* cpu temperature monitoring for linux machines */
    const char *temperatureFileName = "/sys/class/thermal/thermal_zone0/temp"; // RaspberryPi
    // const char *temperatureFileName = "/sys/class/hwmon/hwmon0/device/temp1_input"; // Beaglebone
    // const char *temperatureFileName = "/sys/class/thermal/thermal_zone3/temp"; // Intel Edison Alternative 1
    // const char *temperatureFileName = "/sys/class/thermal/thermal_zone4/temp"; // Intel Edison Alternative 2
    if((temperatureFile = fopen(temperatureFileName, "r"))) {
        // add node with the data source
        UA_DataSource temperatureDataSource = (UA_DataSource) {
            .handle = NULL, .read = readTemperature, .write = NULL};
        const UA_QualifiedName tempName = UA_QUALIFIEDNAME(1, "cpu temperature");
        UA_VariableAttributes_init(&v_attr);
        v_attr.description = UA_LOCALIZEDTEXT("en_US","temperature");
        v_attr.displayName = UA_LOCALIZEDTEXT("en_US","temperature");
        v_attr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
        UA_Server_addDataSourceVariableNode(server, UA_NODEID_NULL,
                                            UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
                                            UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), tempName,
                                            UA_NODEID_NULL, v_attr, temperatureDataSource, NULL);
    }
Exemplo n.º 4
0
/* copy an existing variable under the given parent. then instantiate the
   variable for all hastypedefinitions of the original version. */
static UA_StatusCode
copyExistingVariable(UA_Server *server, UA_Session *session, const UA_NodeId *variable,
                     const UA_NodeId *referenceType, const UA_NodeId *parent) {
    const UA_VariableNode *node = (const UA_VariableNode*)UA_NodeStore_get(server->nodestore, variable);
    if(!node)
        return UA_STATUSCODE_BADNODEIDINVALID;
    if(node->nodeClass != UA_NODECLASS_VARIABLE)
        return UA_STATUSCODE_BADNODECLASSINVALID;
    
    // copy the variable attributes
    UA_VariableAttributes attr;
    UA_VariableAttributes_init(&attr);
    UA_LocalizedText_copy(&node->displayName, &attr.displayName);
    UA_LocalizedText_copy(&node->description, &attr.description);
    attr.writeMask = node->writeMask;
    attr.userWriteMask = node->userWriteMask;
    // todo: handle data sources!!!!
    UA_Variant_copy(&node->value.variant.value, &attr.value);
    // datatype is taken from the value
    // valuerank is taken from the value
    // array dimensions are taken from the value
    attr.accessLevel = node->accessLevel;
    attr.userAccessLevel = node->userAccessLevel;
    attr.minimumSamplingInterval = node->minimumSamplingInterval;
    attr.historizing = node->historizing;

    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_VARIABLE;
    item.nodeAttributes.encoding = UA_EXTENSIONOBJECT_DECODED_NODELETE;
    item.nodeAttributes.content.decoded.type = &UA_TYPES[UA_TYPES_VARIABLEATTRIBUTES];
    item.nodeAttributes.content.decoded.data = &attr;
    // don't add a typedefinition here.

    // add the new variable
    UA_AddNodesResult res;
    UA_AddNodesResult_init(&res);
    Service_AddNodes_single(server, session, &item, &res);
    UA_VariableAttributes_deleteMembers(&attr);
    UA_AddNodesItem_deleteMembers(&item);

    // now instantiate the variable 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;
        instantiateVariableNode(server, session, &res.addedNodeId, &rn->targetId.nodeId);
    }

    UA_AddNodesResult_deleteMembers(&res);
    return UA_STATUSCODE_GOOD;
}
Exemplo n.º 5
0
//#######################################MAIN#######################################
int main(int argc, char** argv) {
    signal(SIGINT, stopHandler); /* catches ctrl-c */


    if (gpioInitialise() < 0)
   {
      fprintf(stderr, "pigpio initialisation failed\n");
      return 1;

}

    gpioSetMode(17, PI_OUTPUT);
    gpioSetMode(22, PI_INPUT);
    gpioSetMode(24, PI_OUTPUT);


    UA_ServerConfig config = UA_ServerConfig_standard;
    UA_ServerNetworkLayer nl = UA_ServerNetworkLayerTCP(UA_ConnectionConfig_standard, 16664);
    config.networkLayers = &nl;
    config.networkLayersSize = 1;
    UA_Server *server = UA_Server_new(config);

 /* add a variable node to the address space */
    UA_Int32 myIntegerB = 32;
    UA_NodeId myIntegerBNodeId = UA_NODEID_STRING(1, "button");
    UA_QualifiedName myIntegerBName = UA_QUALIFIEDNAME(1, "button");
    UA_DataSource dateDataSource = (UA_DataSource) {
        .handle = &myIntegerB, .read = readIntegerB, .write = writeIntegerB};
    UA_VariableAttributes attr;
    UA_VariableAttributes_init(&attr);
    attr.description = UA_LOCALIZEDTEXT("en_US","button_on_off");
    attr.displayName = UA_LOCALIZEDTEXT("en_US","button");

    UA_Server_addDataSourceVariableNode(server, myIntegerBNodeId,
                                        UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
                                        UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
                                        myIntegerBName, UA_NODEID_NULL, attr, dateDataSource, NULL);



 /* add a repeated job to the server */
    UA_Job job = {.type = UA_JOBTYPE_METHODCALL,
                  .job.methodCall = {.method = testCallback, .data = NULL} };
    UA_Server_addRepeatedJob(server, job, 2000, NULL); // call every 2 sec




    UA_StatusCode retval = UA_Server_run(server, &running);
    UA_Server_delete(server);
    nl.deleteMembers(&nl);


    return (int)retval;
}
Exemplo n.º 6
0
int main(int argc, char** argv)
{
    signal(SIGINT, signalHandler); /* catch ctrl-c */

    /* Create a server with one network layer listening on port 4840 */
    UA_ServerConfig config = UA_ServerConfig_standard;
    UA_ServerNetworkLayer nl = UA_ServerNetworkLayerTCP(UA_ConnectionConfig_standard, 4840);
    config.networkLayers = &nl;
    config.networkLayersSize = 1;
    UA_Server *server = UA_Server_new(config);

    /* Add a variable node */
    UA_VariableAttributes attr;
    UA_VariableAttributes_init(&attr);
    attr.displayName = UA_LOCALIZEDTEXT("en_US", "Test Var");
    UA_Int32 myInteger = 2572;
    UA_Variant_setScalar(&attr.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]);

    UA_NodeId newNodeId = UA_NODEID_STRING(1, "Test.Var");
    UA_NodeId parentNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
    UA_NodeId parentReferenceNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
    UA_NodeId variableType = UA_NODEID_NULL; /* take the default variable type */
    UA_QualifiedName browseName = UA_QUALIFIEDNAME(1, "Test Node");


    UA_DataSource dateDataSource = (UA_DataSource) {.handle = &myInteger, .read = onRead, .write = NULL};

    UA_Server_addDataSourceVariableNode(server, newNodeId,
                                        parentNodeId, parentReferenceNodeId,
                                        browseName, UA_NODEID_NULL, attr, dateDataSource, NULL);

    UA_Job job = {.type = UA_JOBTYPE_METHODCALL,
                  .job.methodCall = {.method = testCallback, .data = NULL} };
    UA_Server_addRepeatedJob(server, job, 2000, NULL); // call every 2 sec


    /* Run the server loop */
    UA_StatusCode status = UA_Server_run(server, &running);
    UA_Server_delete(server);
    nl.deleteMembers(&nl);
    return status;
}
Exemplo n.º 7
0
} END_TEST

START_TEST(AddNodeTwiceGivesError) {
    UA_Server *server = UA_Server_new(UA_ServerConfig_standard);

    /* add a variable node to the address space */
    UA_VariableAttributes attr;
    UA_VariableAttributes_init(&attr);
    UA_Int32 myInteger = 42;
    UA_Variant_setScalar(&attr.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
    attr.description = UA_LOCALIZEDTEXT("en_US","the answer");
    attr.displayName = UA_LOCALIZEDTEXT("en_US","the answer");
    UA_NodeId myIntegerNodeId = UA_NODEID_STRING(1, "the.answer");
    UA_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, "the answer");
    UA_NodeId parentNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
    UA_NodeId parentReferenceNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
    UA_StatusCode res = UA_Server_addVariableNode(server, myIntegerNodeId, parentNodeId, parentReferenceNodeId,
                                                  myIntegerName, UA_NODEID_NULL, attr, NULL);
    ck_assert_int_eq(UA_STATUSCODE_GOOD, res);
    res = UA_Server_addVariableNode(server, myIntegerNodeId, parentNodeId, parentReferenceNodeId,
                                    myIntegerName, UA_NODEID_NULL, attr, NULL);
    ck_assert_int_eq(res, UA_STATUSCODE_BADNODEIDEXISTS);
    UA_Server_delete(server);
} END_TEST
Exemplo n.º 8
0
int main(int argc, char** argv) {
    signal(SIGINT, stopHandler); /* catches ctrl-c */

    UA_ServerConfig config = UA_ServerConfig_standard;
    UA_ServerNetworkLayer nl = UA_ServerNetworkLayerTCP(UA_ConnectionConfig_standard, 16664, logger);
    config.logger = Logger_Stdout;
    config.networkLayers = &nl;
    config.networkLayersSize = 1;
    UA_Server *server = UA_Server_new(config);

    /* add a variable node to the address space */
    UA_VariableAttributes attr;
    UA_VariableAttributes_init(&attr);
    UA_Int32 myInteger = 42;
    UA_Variant_setScalar(&attr.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
    attr.description = UA_LOCALIZEDTEXT("en_US","the answer");
    attr.displayName = UA_LOCALIZEDTEXT("en_US","the answer");
    UA_NodeId myIntegerNodeId = UA_NODEID_STRING(1, "the.answer");
    UA_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, "the answer");
    UA_NodeId parentNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
    UA_NodeId parentReferenceNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
    UA_Server_addVariableNode(server, myIntegerNodeId, parentNodeId,
                              parentReferenceNodeId, myIntegerName,
                              UA_NODEID_NULL, attr, NULL, NULL);

    UA_ReadRequest request;
    UA_ReadRequest_init(&request);
    UA_ReadValueId rvi;
    rvi.nodeId = myIntegerNodeId;
    rvi.attributeId = UA_ATTRIBUTEID_VALUE;
    rvi.indexRange = UA_STRING_NULL;
    rvi.dataEncoding = UA_QUALIFIEDNAME(0, "DefaultBinary");
    request.timestampsToReturn = UA_TIMESTAMPSTORETURN_NEITHER;
    request.nodesToReadSize = 1;
    request.nodesToRead = &rvi;

    UA_StatusCode retval = UA_STATUSCODE_GOOD;
    UA_ByteString request_msg;
    retval |= UA_ByteString_allocBuffer(&request_msg, 1000);
    UA_ByteString response_msg;
    retval |= UA_ByteString_allocBuffer(&response_msg, 1000);
    size_t offset = 0;
    retval |= UA_encodeBinary(&request, &UA_TYPES[UA_TYPES_READREQUEST], &request_msg, &offset);
    
    clock_t begin, end;
    begin = clock();

    UA_ReadRequest rq;
    UA_ReadResponse rr;

    for(int i = 0; i < 900000; i++) {
        offset = 0;
        retval |= UA_decodeBinary(&request_msg, &offset, &rq, &UA_TYPES[UA_TYPES_READREQUEST]);

        UA_ReadResponse_init(&rr);
        Service_Read(server, &adminSession, &rq, &rr);

        offset = 0;
        retval |= UA_encodeBinary(&rr, &UA_TYPES[UA_TYPES_READRESPONSE], &response_msg, &offset);

        UA_ReadRequest_deleteMembers(&rq);
        UA_ReadResponse_deleteMembers(&rr);
    }

    end = clock();
    double time_spent = (double)(end - begin) / CLOCKS_PER_SEC;
    printf("duration was %f s\n", time_spent);
    printf("retval is %i\n", retval);

    UA_ByteString_deleteMembers(&request_msg);
    UA_ByteString_deleteMembers(&response_msg);

    retval |= UA_Server_run(server, &running);
    UA_Server_delete(server);
    nl.deleteMembers(&nl);

    return (int)retval;
}
Exemplo n.º 9
0
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;
}