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doc(pubsub): Add documentation for PubSub
- Tutorial subscribe example - Pubsub realtime examples - Pubsub nodeset realtime examples Change-Id: I75b2581f87ccd0179d817c124b3e85c9de9b4d3a
This commit is contained in:
Selva Suba Jenifer Joseph
Julius Pfrommer
parent
b219820258
commit
563b150def
@ -60,7 +60,11 @@ generate_rst(${PROJECT_SOURCE_DIR}/examples/tutorial_server_object.c ${DOC_SRC_D
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generate_rst(${PROJECT_SOURCE_DIR}/examples/tutorial_server_method.c ${DOC_SRC_DIR}/tutorial_server_method.rst)
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generate_rst(${PROJECT_SOURCE_DIR}/examples/tutorial_client_firststeps.c ${DOC_SRC_DIR}/tutorial_client_firststeps.rst)
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generate_rst(${PROJECT_SOURCE_DIR}/examples/pubsub/tutorial_pubsub_publish.c ${DOC_SRC_DIR}/tutorial_pubsub_publish.rst)
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generate_rst(${PROJECT_SOURCE_DIR}/examples/pubsub/tutorial_pubsub_subscribe.c ${DOC_SRC_DIR}/tutorial_pubsub_subscribe.rst)
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generate_rst(${PROJECT_SOURCE_DIR}/examples/pubsub_realtime/pubsub_TSN_publisher.c ${DOC_SRC_DIR}/pubsub_TSN_publisher.rst)
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generate_rst(${PROJECT_SOURCE_DIR}/examples/pubsub_realtime/pubsub_TSN_loopback.c ${DOC_SRC_DIR}/pubsub_TSN_loopback.rst)
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generate_rst(${PROJECT_SOURCE_DIR}/examples/pubsub_realtime/nodeset/pubsub_nodeset_rt_publisher.c ${DOC_SRC_DIR}/pubsub_nodeset_rt_publisher.rst)
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generate_rst(${PROJECT_SOURCE_DIR}/examples/pubsub_realtime/nodeset/pubsub_nodeset_rt_subscriber.c ${DOC_SRC_DIR}/pubsub_nodeset_rt_subscriber.rst)
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# Doc targets
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@ -17,3 +17,8 @@ Tutorials
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tutorial_server_alarms_conditions.rst
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tutorial_client_firststeps.rst
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tutorial_pubsub_publish.rst
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tutorial_pubsub_subscribe.rst
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pubsub_TSN_publisher.rst
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pubsub_TSN_loopback.rst
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pubsub_nodeset_rt_publisher.rst
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pubsub_nodeset_rt_subscriber.rst
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@ -5,11 +5,30 @@
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*/
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/**
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* IMPORTANT ANNOUNCEMENT
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* The PubSub Subscriber API is currently not finished. This example can be used
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* to receive and display values that are published by tutorial_pubsub_publish
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* example in the TargetVariables of Subscriber Information Model .
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* .. _pubsub-tutorial:
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*
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* **IMPORTANT ANNOUNCEMENT**
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*
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* The PubSub Subscriber API is currently not finished. This Tutorial will be
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* continuously extended during the next PubSub batches. More details about the
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* PubSub extension and corresponding open62541 API are located here: :ref:`pubsub`.
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*
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* Subscribing Fields
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* ^^^^^^^^^^^^^^^^^^
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* The PubSub subscribe example demonstrates the simplest way to receive information over two transport layers such as
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* UDP and Ethernet, that are published by tutorial_pubsub_publish example and update values in the TargetVariables
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* of Subscriber Information Model.
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*
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* Run step of the application is as mentioned below:
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*
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* ./bin/examples/tutorial_pubsub_subscribe
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*
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* **Connection handling**
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*
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* PubSubConnections can be created and deleted on runtime. More details about
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* the system preconfiguration and connection can be found in ``tutorial_pubsub_connection.c``.
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*/
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#include <open62541/plugin/log_stdout.h>
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#include <open62541/plugin/pubsub_udp.h>
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#include <open62541/server.h>
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@ -18,7 +37,7 @@
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#include "ua_pubsub.h"
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#ifdef UA_ENABLE_PUBSUB_ETH_UADP
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#if defined (UA_ENABLE_PUBSUB_ETH_UADP)
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#include <open62541/plugin/pubsub_ethernet.h>
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#endif
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@ -61,6 +80,12 @@ addPubSubConnection(UA_Server *server, UA_String *transportProfile,
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return retval;
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}
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/**
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* **ReaderGroup**
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*
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* ReaderGroup is used to group a list of DataSetReaders. All ReaderGroups are
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* created within a PubSubConnection and automatically deleted if the connection
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* is removed. All network message related filters are only available in the DataSetReader. */
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/* Add ReaderGroup to the created connection */
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static UA_StatusCode
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addReaderGroup(UA_Server *server) {
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@ -78,6 +103,14 @@ addReaderGroup(UA_Server *server) {
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return retval;
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}
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/**
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* **DataSetReader**
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*
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* DataSetReader can receive NetworkMessages with the DataSetMessage
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* of interest sent by the Publisher. DataSetReader provides
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* the configuration necessary to receive and process DataSetMessages
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* on the Subscriber side. DataSetReader must be linked with a
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* SubscribedDataSet and be contained within a ReaderGroup. */
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/* Add DataSetReader to the ReaderGroup */
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static UA_StatusCode
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addDataSetReader(UA_Server *server) {
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@ -107,7 +140,10 @@ addDataSetReader(UA_Server *server) {
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return retval;
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}
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/* Set SubscribedDataSet type to TargetVariables data type
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/**
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* **SubscribedDataSet**
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*
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* Set SubscribedDataSet type to TargetVariables data type.
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* Add subscribedvariables to the DataSetReader */
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static UA_StatusCode
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addSubscribedVariables (UA_Server *server, UA_NodeId dataSetReaderId) {
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@ -136,6 +172,12 @@ addSubscribedVariables (UA_Server *server, UA_NodeId dataSetReaderId) {
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folderBrowseName, UA_NODEID_NUMERIC (0,
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UA_NS0ID_BASEOBJECTTYPE), oAttr, NULL, &folderId);
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/**
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* **TargetVariables**
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*
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* The SubscribedDataSet option TargetVariables defines a list of Variable mappings between
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* received DataSet fields and target Variables in the Subscriber AddressSpace.
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* The values subscribed from the Publisher are updated in the value field of these variables */
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/* Create the TargetVariables with respect to DataSetMetaData fields */
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UA_FieldTargetVariable *targetVars = (UA_FieldTargetVariable *)
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UA_calloc(readerConfig.dataSetMetaData.fieldsSize, sizeof(UA_FieldTargetVariable));
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@ -172,6 +214,13 @@ addSubscribedVariables (UA_Server *server, UA_NodeId dataSetReaderId) {
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return retval;
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}
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/**
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* **DataSetMetaData**
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*
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* The DataSetMetaData describes the content of a DataSet. It provides the information necessary to decode
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* DataSetMessages on the Subscriber side. DataSetMessages received from the Publisher are decoded into
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* DataSet and each field is updated in the Subscriber based on datatype match of TargetVariable fields of Subscriber
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* and PublishedDataSetFields of Publisher */
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/* Define MetaData for TargetVariables */
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static void fillTestDataSetMetaData(UA_DataSetMetaDataType *pMetaData) {
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if(pMetaData == NULL) {
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@ -221,6 +270,8 @@ static void fillTestDataSetMetaData(UA_DataSetMetaDataType *pMetaData) {
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pMetaData->fields[3].valueRank = -1; /* scalar */
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}
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/**
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* Followed by the main server code, making use of the above definitions */
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UA_Boolean running = true;
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static void stopHandler(int sign) {
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "received ctrl-c");
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@ -250,7 +301,7 @@ run(UA_String *transportProfile, UA_NetworkAddressUrlDataType *networkAddressUrl
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config->pubsubTransportLayers[0] = UA_PubSubTransportLayerUDPMP();
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config->pubsubTransportLayersSize++;
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#ifdef UA_ENABLE_PUBSUB_ETH_UADP
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#if defined (UA_ENABLE_PUBSUB_ETH_UADP)
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config->pubsubTransportLayers[1] = UA_PubSubTransportLayerEthernet();
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config->pubsubTransportLayersSize++;
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#endif
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@ -2,14 +2,23 @@
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* See http://creativecommons.org/publicdomain/zero/1.0/ for more information. */
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/**
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* .. _pubsub-tutorial:
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*
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* Publisher Realtime example using custom nodes
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* ---------------------------------------------
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*
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* The purpose of this example file is to use the custom nodes of the XML
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* file(pubDataModel.xml) for publisher
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* file(pubDataModel.xml) for publisher.
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* This Publisher example uses the two custom nodes (PublisherCounterVariable and Pressure)
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* created using the XML file(pubDataModel.xml) for publishing the packet
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* created using the XML file(pubDataModel.xml) for publishing the packet.
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* The pubDataModel.csv will contain the nodeids of custom nodes(object and variables) and
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* the nodeids of the custom nodes are harcoded inside the addDataSetField API
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* the nodeids of the custom nodes are harcoded inside the addDataSetField API.
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* This example uses two threads namely the Publisher and UserApplication. The Publisher thread is used to publish data at every cycle.
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* The UserApplication thread serves the functionality of the Control loop, which increments the counterdata to be published
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* by the Publisher and also writes the published data in a csv along with transmission timestamp.
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*
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* Run steps of the Publisher application as mentioned below:
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*
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* ./bin/examples/pubsub_nodeset_rt_publisher -i <iface>
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* For more information run ./bin/examples/pubsub_nodeset_rt_publisher -h */
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@ -147,7 +156,6 @@ static void stopHandler(int sign) {
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* Nanosecond field in timespec is checked for overflowing and one second
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* is added to seconds field and nanosecond field is set to zero
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*/
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static void nanoSecondFieldConversion(struct timespec *timeSpecValue) {
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/* Check if ns field is greater than '1 ns less than 1sec' */
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while (timeSpecValue->tv_nsec > (SECONDS -1)) {
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@ -158,6 +166,11 @@ static void nanoSecondFieldConversion(struct timespec *timeSpecValue) {
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}
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/**
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* **Custom callback handling**
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*
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* Custom callback thread handling overwrites the default timer based
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* callback function with the custom (user-specified) callback interval. */
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/* Add a callback for cyclic repetition */
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static UA_StatusCode
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addPubSubApplicationCallback(UA_Server *server, UA_NodeId identifier,
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@ -195,7 +208,10 @@ removePubSubApplicationCallback(UA_Server *server, UA_NodeId identifier, UA_UInt
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"Pthread Join Failed thread: %ld\n", callbackId);
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}
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/* If the external data source is written over the information model, the
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/**
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* **External data source handling**
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*
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* If the external data source is written over the information model, the
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* externalDataWriteCallback will be triggered. The user has to take care and assure
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* that the write leads not to synchronization issues and race conditions. */
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static UA_StatusCode
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@ -392,12 +408,14 @@ updateMeasurementsPublisher(struct timespec start_time,
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measurementsPublisher++;
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}
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/**
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* **Publisher thread routine**
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*
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* The Publisher thread sleeps for 60% of the cycletime (250us) and prepares the tranmission packet within 40% of
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* cycletime. The data published by this thread in one cycle is subscribed by the subscriber thread of pubsub_nodeset_rt_subscriber in the
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* next cycle (two cycle timing model).
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*
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* The publisherETF function is the routine used by the publisher thread.
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* This routine publishes the data at a cycle time of 250us.
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*/
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void *publisherETF(void *arg) {
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struct timespec nextnanosleeptime;
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@ -453,6 +471,8 @@ void *publisherETF(void *arg) {
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/**
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* **UserApplication thread routine**
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*
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* The userapplication thread will wakeup at 30% of cycle time and handles the userdata in the Information Model.
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* This thread is used to increment the counterdata that will be published by the Publisher thread and also writes the published data in a csv.
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*/
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void *userApplicationPub(void *arg) {
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struct timespec nextnanosleeptimeUserApplication;
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@ -477,6 +497,12 @@ void *userApplicationPub(void *arg) {
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return (void*)NULL;
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}
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/**
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* **Thread creation**
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*
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* The threadcreation functionality creates thread with given threadpriority, coreaffinity. The function returns the threadID of the newly
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* created thread.
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*/
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static pthread_t threadCreation(UA_Int32 threadPriority, UA_Int32 coreAffinity, void *(*thread) (void *), char *applicationName, void *serverConfig){
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/* Core affinity set */
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@ -517,6 +543,13 @@ static pthread_t threadCreation(UA_Int32 threadPriority, UA_Int32 coreAffinity,
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}
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/**
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* **Usage function**
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*
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* The usage function gives the list of options that can be configured in the application.
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*
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* ./bin/examples/pubsub_nodeset_rt_publisher -h gives the list of options for running the application.
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*/
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static void usage(char *appname)
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{
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fprintf(stderr,
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@ -540,9 +573,9 @@ static void usage(char *appname)
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}
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/**
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* ***Main Server code**
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* **Main Server code**
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*
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* The main function contains publisher threads running
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* The main function contains publisher threads running
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*/
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int main(int argc, char **argv) {
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signal(SIGINT, stopHandler);
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@ -1,13 +1,22 @@
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/* This work is licensed under a Creative Commons CCZero 1.0 Universal License.
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* See http://creativecommons.org/publicdomain/zero/1.0/ for more information. */
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/**
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* .. _pubsub-tutorial:
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*
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* Subscriber Realtime example using custom nodes
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* ---------------------------------------------
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*
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* The purpose of this example file is to use the custom nodes of the XML
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* file(subDataModel.xml) for subscriber
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* file(subDataModel.xml) for subscriber.
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* This Subscriber example uses the two custom nodes (SubscriberCounterVariable and Pressure)
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* created using the XML file(subDataModel.xml) for subscribing the packet
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* created using the XML file(subDataModel.xml) for subscribing the packet.
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* The subDataModel.csv will contain the nodeids of custom nodes(object and variables) and
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* the nodeids of the custom nodes are harcoded inside the addSubscribedVariables API
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*
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* This example uses two threads namely the Subscriber and UserApplication. The Subscriber thread is used to subscribe to data at every cycle.
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* The UserApplication thread serves the functionality of the Control loop, which reads the Information Model of the Subscriber and
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* the new counterdata will be written in the csv along with received timestamp.
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*
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* Run steps of the Subscriber application as mentioned below:
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* ./bin/examples/pubsub_nodeset_rt_subscriber -i <iface>
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* For more information run ./bin/examples/pubsub_nodeset_rt_subscriber -h */
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@ -72,9 +81,7 @@ static UA_Int32 userAppCore = DEFAULT_USER_APP_CORE;
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/* user data write in Information model */
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/* After 60% is left for publisher */
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static UA_Double userAppWakeupPercentage = 0.3;
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/* Publisher will sleep for 60% of cycle time and then prepares the */
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/* transmission packet within 40% */
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/* after some prototyping and analyzing it */
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/* Subscriber will wake up at the start of cycle time and then receives the packet */
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static UA_Double subWakeupPercentage = 0;
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static UA_Boolean fileWrite = UA_FALSE;
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@ -139,7 +146,6 @@ static void stopHandler(int sign) {
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* Nanosecond field in timespec is checked for overflowing and one second
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* is added to seconds field and nanosecond field is set to zero
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*/
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static void nanoSecondFieldConversion(struct timespec *timeSpecValue) {
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/* Check if ns field is greater than '1 ns less than 1sec' */
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while (timeSpecValue->tv_nsec > (SECONDS -1)) {
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@ -150,6 +156,11 @@ static void nanoSecondFieldConversion(struct timespec *timeSpecValue) {
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}
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/**
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* **Custom callback handling**
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*
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* Custom callback thread handling overwrites the default timer based
|
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* callback function with the custom (user-specified) callback interval. */
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/* Add a callback for cyclic repetition */
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static UA_StatusCode
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addPubSubApplicationCallback(UA_Server *server, UA_NodeId identifier, UA_ServerCallback callback,
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@ -186,7 +197,10 @@ removePubSubApplicationCallback(UA_Server *server, UA_NodeId identifier, UA_UInt
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"Pthread Join Failed thread: %ld\n", callbackId);
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}
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/* If the external data source is written over the information model, the
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/**
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* **External data source handling**
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*
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* If the external data source is written over the information model, the
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* externalDataWriteCallback will be triggered. The user has to take care and assure
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* that the write leads not to synchronization issues and race conditions. */
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static UA_StatusCode
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@ -206,6 +220,12 @@ externalDataReadNotificationCallback(UA_Server *server, const UA_NodeId *session
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//allow read without any preparation
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return UA_STATUSCODE_GOOD;
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}
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/**
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* **Subscriber Connection Creation**
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*
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* Create Subscriber connection for the Subscriber thread
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*/
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static void
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addPubSubConnectionSubscriber(UA_Server *server, UA_NetworkAddressUrlDataType *networkAddressUrlSubscriber){
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UA_StatusCode retval = UA_STATUSCODE_GOOD;
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@ -224,6 +244,12 @@ addPubSubConnectionSubscriber(UA_Server *server, UA_NetworkAddressUrlDataType *n
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER,"The PubSub Connection was created successfully!");
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}
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/**
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* **ReaderGroup**
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*
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* ReaderGroup is used to group a list of DataSetReaders. All ReaderGroups are
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* created within a PubSubConnection and automatically deleted if the connection
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* is removed. */
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/* Add ReaderGroup to the created connection */
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static void
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addReaderGroup(UA_Server *server) {
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@ -242,7 +268,10 @@ addReaderGroup(UA_Server *server) {
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&readerGroupIdentifier);
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}
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/* Set SubscribedDataSet type to TargetVariables data type
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/**
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* **SubscribedDataSet**
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*
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* Set SubscribedDataSet type to TargetVariables data type
|
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* Add SubscriberCounter variable to the DataSetReader */
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static void addSubscribedVariables (UA_Server *server) {
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if (server == NULL) {
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@ -294,6 +323,14 @@ static void addSubscribedVariables (UA_Server *server) {
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readerConfig.subscribedDataSet.subscribedDataSetTarget.targetVariablesSize = 2;
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}
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/**
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* **DataSetReader**
|
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*
|
||||
* DataSetReader can receive NetworkMessages with the DataSetMessage
|
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* of interest sent by the Publisher. DataSetReader provides
|
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* the configuration necessary to receive and process DataSetMessages
|
||||
* on the Subscriber side. DataSetReader must be linked with a
|
||||
* SubscribedDataSet and be contained within a ReaderGroup. */
|
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/* Add DataSetReader to the ReaderGroup */
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static void
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addDataSetReader(UA_Server *server) {
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@ -356,7 +393,8 @@ addDataSetReader(UA_Server *server) {
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}
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/**
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* Subscribed data handling**
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* **Subscribed data handling**
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||||
*
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||||
* The subscribed data is updated in the array using this function Subscribed data handling**
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*/
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static void
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||||
@ -370,9 +408,9 @@ updateMeasurementsSubscriber(struct timespec receive_time, UA_UInt64 counterValu
|
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/**
|
||||
* **Subscriber thread routine**
|
||||
*
|
||||
* Subscriber thread will wakeup during the start of cycle at 250us interval and check if the packets are received.
|
||||
* The subscriber function is the routine used by the subscriber thread.
|
||||
*/
|
||||
|
||||
void *subscriber(void *arg) {
|
||||
UA_Server* server;
|
||||
UA_ReaderGroup* currentReaderGroup;
|
||||
@ -406,6 +444,8 @@ void *subscriber(void *arg) {
|
||||
/**
|
||||
* **UserApplication thread routine**
|
||||
*
|
||||
* The userapplication thread will wakeup at 30% of cycle time and handles the userdata in the Information Model.
|
||||
* This thread is used to write the counterdata that is subscribed by the Subscriber thread in a csv.
|
||||
*/
|
||||
void *userApplicationSub(void *arg) {
|
||||
struct timespec nextnanosleeptimeUserApplication;
|
||||
@ -430,6 +470,12 @@ void *userApplicationSub(void *arg) {
|
||||
return (void*)NULL;
|
||||
}
|
||||
|
||||
/**
|
||||
* **Thread creation**
|
||||
*
|
||||
* The threadcreation functionality creates thread with given threadpriority, coreaffinity. The function returns the threadID of the newly
|
||||
* created thread.
|
||||
*/
|
||||
static pthread_t threadCreation(UA_Int32 threadPriority, UA_Int32 coreAffinity, void *(*thread) (void *), \
|
||||
char *applicationName, void *serverConfig){
|
||||
|
||||
@ -471,6 +517,13 @@ static pthread_t threadCreation(UA_Int32 threadPriority, UA_Int32 coreAffinity,
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* **Usage function**
|
||||
*
|
||||
* The usage function gives the list of options that can be configured in the application.
|
||||
*
|
||||
* ./bin/examples/pubsub_nodeset_rt_subscriber -h gives the list of options for running the application.
|
||||
*/
|
||||
static void usage(char *appname)
|
||||
{
|
||||
fprintf(stderr,
|
||||
@ -492,7 +545,7 @@ static void usage(char *appname)
|
||||
}
|
||||
|
||||
/**
|
||||
* ***Main Server code**
|
||||
* **Main Server code**
|
||||
*
|
||||
* The main function contains subscriber threads running
|
||||
*/
|
||||
|
||||
Loading…
Reference in New Issue
Block a user