int
main(int argc, char **argv) {
signal(SIGINT, stopHandler); /* catches ctrl-c */
signal(SIGTERM, stopHandler);
#ifdef UA_ENABLE_ENCRYPTION
if(argc < 3) {
UA_LOG_FATAL(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"Missing arguments for encryption support. "
"Arguments are <server-certificate.der> "
"<private-key.der> [<trustlist1.crl>, ...]");
return 1;
}
/* Load certificate and private key */
UA_ByteString certificate = loadFile(argv[1]);
UA_ByteString privateKey = loadFile(argv[2]);
/* Load the trustlist */
size_t trustListSize = 0;
if(argc > 3)
trustListSize = (size_t)argc-3;
UA_STACKARRAY(UA_ByteString, trustList, trustListSize);
for(size_t i = 0; i < trustListSize; i++)
trustList[i] = loadFile(argv[i+3]);
/* Loading of a revocation list currently unsupported */
UA_ByteString *revocationList = NULL;
size_t revocationListSize = 0;
UA_ServerConfig *config =
UA_ServerConfig_new_allSecurityPolicies(4840, &certificate, &privateKey,
trustList, trustListSize,
revocationList, revocationListSize);
UA_ByteString_deleteMembers(&certificate);
UA_ByteString_deleteMembers(&privateKey);
for(size_t i = 0; i < trustListSize; i++)
UA_ByteString_deleteMembers(&trustList[i]);
if(!config) {
UA_LOG_FATAL(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"Could not create the server config");
return 1;
}
#else
if(argc < 2) {
UA_LOG_FATAL(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"Missing argument for the server certificate");
return 1;
}
UA_ByteString certificate = loadFile(argv[1]);
UA_ServerConfig *config = UA_ServerConfig_new_minimal(4840, &certificate);
UA_ByteString_deleteMembers(&certificate);
#endif
/* uncomment next line to add a custom hostname */
// UA_ServerConfig_set_customHostname(config, UA_STRING("custom"));
UA_Server *server = UA_Server_new(config);
if(server == NULL)
return 1;
/* add a static variable node to the server */
UA_VariableAttributes myVar = UA_VariableAttributes_default;
myVar.description = UA_LOCALIZEDTEXT("en-US", "the answer");
myVar.displayName = UA_LOCALIZEDTEXT("en-US", "the answer");
myVar.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
myVar.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
myVar.valueRank = -1;
UA_Int32 myInteger = 42;
UA_Variant_setScalarCopy(&myVar.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
const UA_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, "the answer");
const UA_NodeId myIntegerNodeId = UA_NODEID_STRING(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, baseDataVariableType, myVar, NULL, NULL);
UA_Variant_deleteMembers(&myVar.value);
/* add a static variable that is readable but not writable*/
myVar = UA_VariableAttributes_default;
myVar.description = UA_LOCALIZEDTEXT("en-US", "the answer - not readable");
myVar.displayName = UA_LOCALIZEDTEXT("en-US", "the answer - not readable");
myVar.accessLevel = UA_ACCESSLEVELMASK_WRITE;
myVar.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
myVar.valueRank = -1;
UA_Variant_setScalarCopy(&myVar.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
const UA_QualifiedName myInteger2Name = UA_QUALIFIEDNAME(1, "the answer - not readable");
const UA_NodeId myInteger2NodeId = UA_NODEID_STRING(1, "the.answer.no.read");
UA_Server_addVariableNode(server, myInteger2NodeId, parentNodeId, parentReferenceNodeId,
myInteger2Name, baseDataVariableType, myVar, NULL, NULL);
UA_Variant_deleteMembers(&myVar.value);
/* add a variable with the datetime data source */
UA_DataSource dateDataSource;
dateDataSource.read = readTimeData;
dateDataSource.write = NULL;
UA_VariableAttributes v_attr = UA_VariableAttributes_default;
v_attr.description = UA_LOCALIZEDTEXT("en-US", "current time");
v_attr.displayName = UA_LOCALIZEDTEXT("en-US", "current time");
v_attr.accessLevel = UA_ACCESSLEVELMASK_READ;
v_attr.dataType = UA_TYPES[UA_TYPES_DATETIME].typeId;
v_attr.valueRank = -1;
const UA_QualifiedName dateName = UA_QUALIFIEDNAME(1, "current time");
UA_Server_addDataSourceVariableNode(server, UA_NODEID_NULL, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), dateName,
baseDataVariableType, v_attr, dateDataSource, NULL, NULL);
/* Add HelloWorld method to the server */
#ifdef UA_ENABLE_METHODCALLS
/* Method with IO Arguments */
UA_Argument inputArguments;
UA_Argument_init(&inputArguments);
inputArguments.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
inputArguments.description = UA_LOCALIZEDTEXT("en-US", "Say your name");
inputArguments.name = UA_STRING("Name");
inputArguments.valueRank = -1; /* scalar argument */
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", "Receive a greeting");
outputArguments.name = UA_STRING("greeting");
outputArguments.valueRank = -1;
UA_MethodAttributes addmethodattributes = UA_MethodAttributes_default;
addmethodattributes.displayName = UA_LOCALIZEDTEXT("en-US", "Hello World");
addmethodattributes.executable = true;
addmethodattributes.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"), addmethodattributes,
&helloWorld, /* callback of the method node */
1, &inputArguments, 1, &outputArguments, NULL, NULL);
#endif
/* Add folders for demo information model */
#define DEMOID 50000
#define SCALARID 50001
#define ARRAYID 50002
#define MATRIXID 50003
#define DEPTHID 50004
UA_ObjectAttributes object_attr = UA_ObjectAttributes_default;
object_attr.description = UA_LOCALIZEDTEXT("en-US", "Demo");
object_attr.displayName = UA_LOCALIZEDTEXT("en-US", "Demo");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), UA_QUALIFIEDNAME(1, "Demo"),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
object_attr.description = UA_LOCALIZEDTEXT("en-US", "Scalar");
object_attr.displayName = UA_LOCALIZEDTEXT("en-US", "Scalar");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, SCALARID),
UA_NODEID_NUMERIC(1, DEMOID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
UA_QUALIFIEDNAME(1, "Scalar"),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
object_attr.description = UA_LOCALIZEDTEXT("en-US", "Array");
object_attr.displayName = UA_LOCALIZEDTEXT("en-US", "Array");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, ARRAYID),
UA_NODEID_NUMERIC(1, DEMOID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
UA_QUALIFIEDNAME(1, "Array"),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
object_attr.description = UA_LOCALIZEDTEXT("en-US", "Matrix");
object_attr.displayName = UA_LOCALIZEDTEXT("en-US", "Matrix");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, MATRIXID), UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), UA_QUALIFIEDNAME(1, "Matrix"),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
/* Fill demo nodes for each type*/
UA_UInt32 id = 51000; // running id in namespace 0
for(UA_UInt32 type = 0; type < UA_TYPES_DIAGNOSTICINFO; type++) {
if(type == UA_TYPES_VARIANT || type == UA_TYPES_DIAGNOSTICINFO)
continue;
UA_VariableAttributes attr = UA_VariableAttributes_default;
attr.valueRank = -2;
attr.dataType = UA_TYPES[type].typeId;
#ifndef UA_ENABLE_TYPENAMES
char name[15];
#if defined(_WIN32) && !defined(__MINGW32__)
sprintf_s(name, 15, "%02d", type);
#else
sprintf(name, "%02d", type);
#endif
attr.displayName = UA_LOCALIZEDTEXT("en-US", name);
UA_QualifiedName qualifiedName = UA_QUALIFIEDNAME(1, name);
#else
attr.displayName = UA_LOCALIZEDTEXT_ALLOC("en-US", UA_TYPES[type].typeName);
UA_QualifiedName qualifiedName = UA_QUALIFIEDNAME_ALLOC(1, UA_TYPES[type].typeName);
#endif
attr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
attr.writeMask = UA_WRITEMASK_DISPLAYNAME | UA_WRITEMASK_DESCRIPTION;
attr.userWriteMask = UA_WRITEMASK_DISPLAYNAME | UA_WRITEMASK_DESCRIPTION;
/* add a scalar node for every built-in type */
void *value = UA_new(&UA_TYPES[type]);
UA_Variant_setScalar(&attr.value, value, &UA_TYPES[type]);
UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, ++id),
UA_NODEID_NUMERIC(1, SCALARID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
qualifiedName, baseDataVariableType, attr, NULL, NULL);
UA_Variant_deleteMembers(&attr.value);
/* add an array node for every built-in type */
UA_Variant_setArray(&attr.value, UA_Array_new(10, &UA_TYPES[type]), 10, &UA_TYPES[type]);
UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, ++id), UA_NODEID_NUMERIC(1, ARRAYID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), qualifiedName,
baseDataVariableType, attr, NULL, NULL);
UA_Variant_deleteMembers(&attr.value);
/* add an matrix node for every built-in type */
void *myMultiArray = UA_Array_new(9, &UA_TYPES[type]);
attr.value.arrayDimensions = (UA_UInt32 *)UA_Array_new(2, &UA_TYPES[UA_TYPES_INT32]);
attr.value.arrayDimensions[0] = 3;
attr.value.arrayDimensions[1] = 3;
attr.value.arrayDimensionsSize = 2;
attr.value.arrayLength = 9;
attr.value.data = myMultiArray;
attr.value.type = &UA_TYPES[type];
UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, ++id), UA_NODEID_NUMERIC(1, MATRIXID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), qualifiedName,
baseDataVariableType, attr, NULL, NULL);
UA_Variant_deleteMembers(&attr.value);
#ifdef UA_ENABLE_TYPENAMES
UA_LocalizedText_deleteMembers(&attr.displayName);
UA_QualifiedName_deleteMembers(&qualifiedName);
#endif
}
/* Hierarchy of depth 10 for CTT testing with forward and inverse references */
/* Enter node "depth 9" in CTT configuration - Project->Settings->Server
Test->NodeIds->Paths->Starting Node 1 */
object_attr.description = UA_LOCALIZEDTEXT("en-US", "DepthDemo");
object_attr.displayName = UA_LOCALIZEDTEXT("en-US", "DepthDemo");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, DEPTHID), UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), UA_QUALIFIEDNAME(1, "DepthDemo"),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
id = DEPTHID; // running id in namespace 0 - Start with Matrix NODE
for(UA_UInt32 i = 1; i <= 20; i++) {
char name[15];
#if defined(_WIN32) && !defined(__MINGW32__)
sprintf_s(name, 15, "depth%i", i);
#else
sprintf(name, "depth%i", i);
#endif
object_attr.description = UA_LOCALIZEDTEXT("en-US", name);
object_attr.displayName = UA_LOCALIZEDTEXT("en-US", name);
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, id + i),
UA_NODEID_NUMERIC(1, i == 1 ? DEPTHID : id + i - 1),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
UA_QUALIFIEDNAME(1, name),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
}
/* Add the variable to some more places to get a node with three inverse references for the CTT */
UA_ExpandedNodeId answer_nodeid = UA_EXPANDEDNODEID_STRING(1, "the.answer");
UA_Server_addReference(server, UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), answer_nodeid, true);
UA_Server_addReference(server, UA_NODEID_NUMERIC(1, SCALARID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), answer_nodeid, true);
/* Example for manually setting an attribute within the server */
UA_LocalizedText objectsName = UA_LOCALIZEDTEXT("en-US", "Objects");
UA_Server_writeDisplayName(server, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER), objectsName);
#define NOARGID 60000
#define INARGID 60001
#define OUTARGID 60002
#define INOUTARGID 60003
#ifdef UA_ENABLE_METHODCALLS
/* adding some more method nodes to pass CTT */
/* Method without arguments */
addmethodattributes = UA_MethodAttributes_default;
addmethodattributes.displayName = UA_LOCALIZEDTEXT("en-US", "noarg");
addmethodattributes.executable = true;
addmethodattributes.userExecutable = true;
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, NOARGID),
UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "noarg"), addmethodattributes,
&noargMethod, /* callback of the method node */
0, NULL, 0, NULL, NULL, NULL);
/* Method with in arguments */
addmethodattributes = UA_MethodAttributes_default;
addmethodattributes.displayName = UA_LOCALIZEDTEXT("en-US", "inarg");
addmethodattributes.executable = true;
addmethodattributes.userExecutable = true;
UA_Argument_init(&inputArguments);
inputArguments.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
inputArguments.description = UA_LOCALIZEDTEXT("en-US", "Input");
inputArguments.name = UA_STRING("Input");
inputArguments.valueRank = -1; //uaexpert will crash if set to 0 ;)
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, INARGID),
UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "noarg"), addmethodattributes,
&noargMethod, /* callback of the method node */
1, &inputArguments, 0, NULL, NULL, NULL);
/* Method with out arguments */
addmethodattributes = UA_MethodAttributes_default;
addmethodattributes.displayName = UA_LOCALIZEDTEXT("en-US", "outarg");
addmethodattributes.executable = true;
addmethodattributes.userExecutable = true;
UA_Argument_init(&outputArguments);
outputArguments.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
outputArguments.description = UA_LOCALIZEDTEXT("en-US", "Output");
outputArguments.name = UA_STRING("Output");
outputArguments.valueRank = -1;
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, OUTARGID),
UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "outarg"), addmethodattributes,
&outargMethod, /* callback of the method node */
0, NULL, 1, &outputArguments, NULL, NULL);
/* Method with inout arguments */
addmethodattributes = UA_MethodAttributes_default;
addmethodattributes.displayName = UA_LOCALIZEDTEXT("en-US", "inoutarg");
addmethodattributes.executable = true;
addmethodattributes.userExecutable = true;
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, INOUTARGID),
UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "inoutarg"), addmethodattributes,
&outargMethod, /* callback of the method node */
1, &inputArguments, 1, &outputArguments, NULL, NULL);
#endif
/* run server */
UA_StatusCode retval = UA_Server_run(server, &running);
UA_Server_delete(server);
UA_ServerConfig_delete(config);
return (int)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 = 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;
}
static void
setInformationModel(UA_Server *server) {
/* add a static variable node to the server */
UA_VariableAttributes myVar = UA_VariableAttributes_default;
myVar.description = UA_LOCALIZEDTEXT("en-US", "the answer");
myVar.displayName = UA_LOCALIZEDTEXT("en-US", "the answer");
myVar.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
myVar.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
myVar.valueRank = UA_VALUERANK_SCALAR;
UA_Int32 myInteger = 42;
UA_Variant_setScalar(&myVar.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
const UA_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, "the answer");
const UA_NodeId myIntegerNodeId = UA_NODEID_STRING(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, baseDataVariableType, myVar, NULL, NULL);
/* add a static variable that is readable but not writable*/
myVar = UA_VariableAttributes_default;
myVar.description = UA_LOCALIZEDTEXT("en-US", "the answer - not readable");
myVar.displayName = UA_LOCALIZEDTEXT("en-US", "the answer - not readable");
myVar.accessLevel = UA_ACCESSLEVELMASK_WRITE;
myVar.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
myVar.valueRank = UA_VALUERANK_SCALAR;
UA_Variant_setScalar(&myVar.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
const UA_QualifiedName myInteger2Name = UA_QUALIFIEDNAME(1, "the answer - not readable");
const UA_NodeId myInteger2NodeId = UA_NODEID_STRING(1, "the.answer.no.read");
UA_Server_addVariableNode(server, myInteger2NodeId, parentNodeId, parentReferenceNodeId,
myInteger2Name, baseDataVariableType, myVar, NULL, NULL);
/* add a variable that is not readable or writable for the current user */
myVar = UA_VariableAttributes_default;
myVar.description = UA_LOCALIZEDTEXT("en-US", "the answer - not current user");
myVar.displayName = UA_LOCALIZEDTEXT("en-US", "the answer - not current user");
myVar.accessLevel = UA_ACCESSLEVELMASK_WRITE;
myVar.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
myVar.valueRank = UA_VALUERANK_SCALAR;
myVar.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
UA_Variant_setScalar(&myVar.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
const UA_QualifiedName accessDeniedName = UA_QUALIFIEDNAME(1, "the answer - not current user");
UA_Server_addVariableNode(server, accessDenied, parentNodeId, parentReferenceNodeId,
accessDeniedName, baseDataVariableType, myVar, NULL, NULL);
/* add a variable with the datetime data source */
UA_DataSource dateDataSource;
dateDataSource.read = readTimeData;
dateDataSource.write = NULL;
UA_VariableAttributes v_attr = UA_VariableAttributes_default;
v_attr.description = UA_LOCALIZEDTEXT("en-US", "current time");
v_attr.displayName = UA_LOCALIZEDTEXT("en-US", "current time");
v_attr.accessLevel = UA_ACCESSLEVELMASK_READ;
v_attr.dataType = UA_TYPES[UA_TYPES_DATETIME].typeId;
v_attr.valueRank = UA_VALUERANK_SCALAR;
const UA_QualifiedName dateName = UA_QUALIFIEDNAME(1, "current time");
UA_Server_addDataSourceVariableNode(server, UA_NODEID_NUMERIC(1, 2345),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), dateName,
baseDataVariableType, v_attr, dateDataSource, NULL, NULL);
/* add a bytestring variable with some content */
myVar = UA_VariableAttributes_default;
myVar.description = UA_LOCALIZEDTEXT("", "");
myVar.displayName = UA_LOCALIZEDTEXT("", "example bytestring");
myVar.dataType = UA_TYPES[UA_TYPES_BYTESTRING].typeId;
myVar.valueRank = UA_VALUERANK_SCALAR;
myVar.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
UA_ByteString myByteString = UA_BYTESTRING("test123\0test123");
UA_Variant_setScalar(&myVar.value, &myByteString, &UA_TYPES[UA_TYPES_BYTESTRING]);
const UA_QualifiedName byteStringName = UA_QUALIFIEDNAME(1, "example bytestring");
UA_Server_addVariableNode(server, UA_NODEID_STRING(1, "myByteString"),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), byteStringName,
baseDataVariableType, myVar, NULL, NULL);
/* Add HelloWorld method to the server */
#ifdef UA_ENABLE_METHODCALLS
/* Method with IO Arguments */
UA_Argument inputArguments;
UA_Argument_init(&inputArguments);
inputArguments.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
inputArguments.description = UA_LOCALIZEDTEXT("en-US", "Say your name");
inputArguments.name = UA_STRING("Name");
inputArguments.valueRank = UA_VALUERANK_SCALAR; /* scalar argument */
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", "Receive a greeting");
outputArguments.name = UA_STRING("greeting");
outputArguments.valueRank = UA_VALUERANK_SCALAR;
UA_MethodAttributes addmethodattributes = UA_MethodAttributes_default;
addmethodattributes.displayName = UA_LOCALIZEDTEXT("en-US", "Hello World");
addmethodattributes.executable = true;
addmethodattributes.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"), addmethodattributes,
&helloWorld, /* callback of the method node */
1, &inputArguments, 1, &outputArguments, NULL, NULL);
#endif
/* Add folders for demo information model */
#define DEMOID 50000
#define SCALARID 50001
#define ARRAYID 50002
#define MATRIXID 50003
#define DEPTHID 50004
UA_ObjectAttributes object_attr = UA_ObjectAttributes_default;
object_attr.description = UA_LOCALIZEDTEXT("en-US", "Demo");
object_attr.displayName = UA_LOCALIZEDTEXT("en-US", "Demo");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), UA_QUALIFIEDNAME(1, "Demo"),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
object_attr.description = UA_LOCALIZEDTEXT("en-US", "Scalar");
object_attr.displayName = UA_LOCALIZEDTEXT("en-US", "Scalar");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, SCALARID),
UA_NODEID_NUMERIC(1, DEMOID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
UA_QUALIFIEDNAME(1, "Scalar"),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
object_attr.description = UA_LOCALIZEDTEXT("en-US", "Array");
object_attr.displayName = UA_LOCALIZEDTEXT("en-US", "Array");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, ARRAYID),
UA_NODEID_NUMERIC(1, DEMOID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
UA_QUALIFIEDNAME(1, "Array"),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
object_attr.description = UA_LOCALIZEDTEXT("en-US", "Matrix");
object_attr.displayName = UA_LOCALIZEDTEXT("en-US", "Matrix");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, MATRIXID), UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), UA_QUALIFIEDNAME(1, "Matrix"),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
/* Fill demo nodes for each type*/
UA_UInt32 matrixDims[2] = {3, 3};
UA_UInt32 id = 51000; // running id in namespace 0
for(UA_UInt32 type = 0; type < UA_TYPES_DIAGNOSTICINFO; type++) {
if(type == UA_TYPES_VARIANT || type == UA_TYPES_DIAGNOSTICINFO)
continue;
UA_VariableAttributes attr = UA_VariableAttributes_default;
attr.dataType = UA_TYPES[type].typeId;
#ifndef UA_ENABLE_TYPENAMES
char name[15];
UA_snprintf(name, 15, "%02d", type);
attr.displayName = UA_LOCALIZEDTEXT("en-US", name);
UA_QualifiedName qualifiedName = UA_QUALIFIEDNAME(1, name);
#else
attr.displayName = UA_LOCALIZEDTEXT_ALLOC("en-US", UA_TYPES[type].typeName);
UA_QualifiedName qualifiedName = UA_QUALIFIEDNAME_ALLOC(1, UA_TYPES[type].typeName);
#endif
attr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
attr.writeMask = UA_WRITEMASK_DISPLAYNAME | UA_WRITEMASK_DESCRIPTION;
attr.userWriteMask = UA_WRITEMASK_DISPLAYNAME | UA_WRITEMASK_DESCRIPTION;
/* add a scalar node for every built-in type */
attr.valueRank = UA_VALUERANK_SCALAR;
void *value = UA_new(&UA_TYPES[type]);
UA_Variant_setScalar(&attr.value, value, &UA_TYPES[type]);
UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, ++id),
UA_NODEID_NUMERIC(1, SCALARID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
qualifiedName, baseDataVariableType, attr, NULL, NULL);
UA_Variant_clear(&attr.value);
/* add an array node for every built-in type */
UA_UInt32 arrayDims = 0;
attr.valueRank = UA_VALUERANK_ONE_DIMENSION;
attr.arrayDimensions = &arrayDims;
attr.arrayDimensionsSize = 1;
UA_Variant_setArray(&attr.value, UA_Array_new(10, &UA_TYPES[type]), 10, &UA_TYPES[type]);
UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, ++id), UA_NODEID_NUMERIC(1, ARRAYID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), qualifiedName,
baseDataVariableType, attr, NULL, NULL);
UA_Variant_clear(&attr.value);
/* add an matrix node for every built-in type */
attr.valueRank = UA_VALUERANK_TWO_DIMENSIONS;
attr.arrayDimensions = matrixDims;
attr.arrayDimensionsSize = 2;
void *myMultiArray = UA_Array_new(9, &UA_TYPES[type]);
attr.value.arrayDimensions = (UA_UInt32 *)UA_Array_new(2, &UA_TYPES[UA_TYPES_INT32]);
attr.value.arrayDimensions[0] = 3;
attr.value.arrayDimensions[1] = 3;
attr.value.arrayDimensionsSize = 2;
attr.value.arrayLength = 9;
attr.value.data = myMultiArray;
attr.value.type = &UA_TYPES[type];
UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, ++id), UA_NODEID_NUMERIC(1, MATRIXID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), qualifiedName,
baseDataVariableType, attr, NULL, NULL);
UA_Variant_clear(&attr.value);
#ifdef UA_ENABLE_TYPENAMES
UA_LocalizedText_clear(&attr.displayName);
UA_QualifiedName_clear(&qualifiedName);
#endif
}
/* Add Integer and UInteger variables */
UA_VariableAttributes iattr = UA_VariableAttributes_default;
iattr.dataType = UA_NODEID_NUMERIC(0, UA_NS0ID_INTEGER);
iattr.displayName = UA_LOCALIZEDTEXT("en-US", "Integer");
iattr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
iattr.writeMask = UA_WRITEMASK_DISPLAYNAME | UA_WRITEMASK_DESCRIPTION;
iattr.userWriteMask = UA_WRITEMASK_DISPLAYNAME | UA_WRITEMASK_DESCRIPTION;
iattr.valueRank = UA_VALUERANK_SCALAR;
UA_QualifiedName iQualifiedName = UA_QUALIFIEDNAME(1, "integer");
UA_Server_addVariableNode(server, UA_NODEID_STRING(1, "integer"),
UA_NODEID_NUMERIC(1, SCALARID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
iQualifiedName, baseDataVariableType, iattr, NULL, NULL);
iattr.dataType = UA_NODEID_NUMERIC(0, UA_NS0ID_UINTEGER);
iattr.displayName = UA_LOCALIZEDTEXT("en-US", "UInteger");
UA_QualifiedName uQualifiedName = UA_QUALIFIEDNAME(1, "uinteger");
UA_Server_addVariableNode(server, UA_NODEID_STRING(1, "uinteger"),
UA_NODEID_NUMERIC(1, SCALARID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
uQualifiedName, baseDataVariableType, iattr, NULL, NULL);
UA_Variant_clear(&iattr.value);
/* Hierarchy of depth 10 for CTT testing with forward and inverse references */
/* Enter node "depth 9" in CTT configuration - Project->Settings->Server
Test->NodeIds->Paths->Starting Node 1 */
object_attr.description = UA_LOCALIZEDTEXT("en-US", "DepthDemo");
object_attr.displayName = UA_LOCALIZEDTEXT("en-US", "DepthDemo");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, DEPTHID), UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), UA_QUALIFIEDNAME(1, "DepthDemo"),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
id = DEPTHID; // running id in namespace 0 - Start with Matrix NODE
for(UA_UInt32 i = 1; i <= 20; i++) {
char name[15];
UA_snprintf(name, 15, "depth%i", i);
object_attr.description = UA_LOCALIZEDTEXT("en-US", name);
object_attr.displayName = UA_LOCALIZEDTEXT("en-US", name);
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, id + i),
UA_NODEID_NUMERIC(1, i == 1 ? DEPTHID : id + i - 1),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
UA_QUALIFIEDNAME(1, name),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
}
/* Add the variable to some more places to get a node with three inverse references for the CTT */
UA_ExpandedNodeId answer_nodeid = UA_EXPANDEDNODEID_STRING(1, "the.answer");
UA_Server_addReference(server, UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), answer_nodeid, true);
UA_Server_addReference(server, UA_NODEID_NUMERIC(1, SCALARID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), answer_nodeid, true);
/* Example for manually setting an attribute within the server */
UA_LocalizedText objectsName = UA_LOCALIZEDTEXT("en-US", "Objects");
UA_Server_writeDisplayName(server, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER), objectsName);
#define NOARGID 60000
#define INARGID 60001
#define OUTARGID 60002
#define INOUTARGID 60003
#ifdef UA_ENABLE_METHODCALLS
/* adding some more method nodes to pass CTT */
/* Method without arguments */
addmethodattributes = UA_MethodAttributes_default;
addmethodattributes.displayName = UA_LOCALIZEDTEXT("en-US", "noarg");
addmethodattributes.executable = true;
addmethodattributes.userExecutable = true;
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, NOARGID),
UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "noarg"), addmethodattributes,
&noargMethod, /* callback of the method node */
0, NULL, 0, NULL, NULL, NULL);
/* Method with in arguments */
addmethodattributes = UA_MethodAttributes_default;
addmethodattributes.displayName = UA_LOCALIZEDTEXT("en-US", "inarg");
addmethodattributes.executable = true;
addmethodattributes.userExecutable = true;
UA_Argument_init(&inputArguments);
inputArguments.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
inputArguments.description = UA_LOCALIZEDTEXT("en-US", "Input");
inputArguments.name = UA_STRING("Input");
inputArguments.valueRank = UA_VALUERANK_SCALAR; //uaexpert will crash if set to 0 ;)
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, INARGID),
UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "noarg"), addmethodattributes,
&noargMethod, /* callback of the method node */
1, &inputArguments, 0, NULL, NULL, NULL);
/* Method with out arguments */
addmethodattributes = UA_MethodAttributes_default;
addmethodattributes.displayName = UA_LOCALIZEDTEXT("en-US", "outarg");
addmethodattributes.executable = true;
addmethodattributes.userExecutable = true;
UA_Argument_init(&outputArguments);
outputArguments.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
outputArguments.description = UA_LOCALIZEDTEXT("en-US", "Output");
outputArguments.name = UA_STRING("Output");
outputArguments.valueRank = UA_VALUERANK_SCALAR;
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, OUTARGID),
UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "outarg"), addmethodattributes,
&outargMethod, /* callback of the method node */
0, NULL, 1, &outputArguments, NULL, NULL);
/* Method with inout arguments */
addmethodattributes = UA_MethodAttributes_default;
addmethodattributes.displayName = UA_LOCALIZEDTEXT("en-US", "inoutarg");
addmethodattributes.executable = true;
addmethodattributes.userExecutable = true;
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, INOUTARGID),
UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "inoutarg"), addmethodattributes,
&outargMethod, /* callback of the method node */
1, &inputArguments, 1, &outputArguments, NULL, NULL);
#endif
}
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;
}
