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;
}
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;
}
