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5bf6f0c3e7
The public Offset Table API should be used for realtime operations on the NetworkMessages instead.
268 lines
11 KiB
C
268 lines
11 KiB
C
/* 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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* Copyright (c) 2019 Kalycito Infotech Private Limited
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* Copyright (c) 2024 Fraunhofer IOSB (Author: Julius Pfrommer)
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*/
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/**
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* .. _pubsub-subscribe-tutorial:
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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
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* information over two transport layers such as UDP and Ethernet, that are
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* published by tutorial_pubsub_publish example and update values in the
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* TargetVariables of Subscriber Information Model. */
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#include <open62541/plugin/log_stdout.h>
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#include <open62541/server.h>
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#include <open62541/server_pubsub.h>
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#include <stdio.h>
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#include <stdlib.h>
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UA_NodeId connectionIdentifier;
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UA_NodeId readerGroupIdentifier;
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UA_NodeId readerIdentifier;
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UA_DataSetReaderConfig readerConfig;
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static void fillTestDataSetMetaData(UA_DataSetMetaDataType *pMetaData);
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/* Add new connection to the server */
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static void
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addPubSubConnection(UA_Server *server, UA_String *transportProfile,
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UA_NetworkAddressUrlDataType *networkAddressUrl) {
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/* Configuration creation for the connection */
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UA_PubSubConnectionConfig connectionConfig;
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memset (&connectionConfig, 0, sizeof(UA_PubSubConnectionConfig));
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connectionConfig.name = UA_STRING("UDPMC Connection 1");
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connectionConfig.transportProfileUri = *transportProfile;
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UA_Variant_setScalar(&connectionConfig.address, networkAddressUrl,
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&UA_TYPES[UA_TYPES_NETWORKADDRESSURLDATATYPE]);
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connectionConfig.publisherId.idType = UA_PUBLISHERIDTYPE_UINT32;
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connectionConfig.publisherId.id.uint32 = UA_UInt32_random();
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UA_Server_addPubSubConnection (server, &connectionConfig, &connectionIdentifier);
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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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static void
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addReaderGroup(UA_Server *server) {
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UA_ReaderGroupConfig readerGroupConfig;
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memset(&readerGroupConfig, 0, sizeof(UA_ReaderGroupConfig));
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readerGroupConfig.name = UA_STRING("ReaderGroup1");
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UA_Server_addReaderGroup(server, connectionIdentifier, &readerGroupConfig,
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&readerGroupIdentifier);
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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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static void
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addDataSetReader(UA_Server *server) {
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memset (&readerConfig, 0, sizeof(UA_DataSetReaderConfig));
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readerConfig.name = UA_STRING("DataSet Reader 1");
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/* Parameters to filter which DataSetMessage has to be processed
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* by the DataSetReader */
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/* The following parameters are used to show that the data published by
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* tutorial_pubsub_publish.c is being subscribed and is being updated in
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* the information model */
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UA_UInt16 publisherIdentifier = 2234;
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readerConfig.publisherId.idType = UA_PUBLISHERIDTYPE_UINT16;
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readerConfig.publisherId.id.uint16 = publisherIdentifier;
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readerConfig.writerGroupId = 100;
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readerConfig.dataSetWriterId = 62541;
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/* Setting up Meta data configuration in DataSetReader */
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fillTestDataSetMetaData(&readerConfig.dataSetMetaData);
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UA_Server_addDataSetReader(server, readerGroupIdentifier, &readerConfig,
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&readerIdentifier);
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}
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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 void
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addSubscribedVariables (UA_Server *server, UA_NodeId dataSetReaderId) {
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UA_NodeId folderId;
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UA_String folderName = readerConfig.dataSetMetaData.name;
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UA_ObjectAttributes oAttr = UA_ObjectAttributes_default;
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UA_QualifiedName folderBrowseName;
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if(folderName.length > 0) {
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oAttr.displayName.locale = UA_STRING ("en-US");
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oAttr.displayName.text = folderName;
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folderBrowseName.namespaceIndex = 1;
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folderBrowseName.name = folderName;
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}
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else {
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oAttr.displayName = UA_LOCALIZEDTEXT ("en-US", "Subscribed Variables");
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folderBrowseName = UA_QUALIFIEDNAME (1, "Subscribed Variables");
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}
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UA_Server_addObjectNode(server, UA_NODEID_NULL,
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UA_NS0ID(OBJECTSFOLDER), UA_NS0ID(ORGANIZES),
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folderBrowseName, 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
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* mappings between received DataSet fields and target Variables in the
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* Subscriber AddressSpace. The values subscribed from the Publisher are
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* 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_FieldTargetDataType *targetVars = (UA_FieldTargetDataType *)
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UA_calloc(readerConfig.dataSetMetaData.fieldsSize, sizeof(UA_FieldTargetDataType));
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for(size_t i = 0; i < readerConfig.dataSetMetaData.fieldsSize; i++) {
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/* Variable to subscribe data */
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UA_VariableAttributes vAttr = UA_VariableAttributes_default;
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UA_LocalizedText_copy(&readerConfig.dataSetMetaData.fields[i].description,
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&vAttr.description);
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vAttr.displayName.locale = UA_STRING("en-US");
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vAttr.displayName.text = readerConfig.dataSetMetaData.fields[i].name;
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vAttr.dataType = readerConfig.dataSetMetaData.fields[i].dataType;
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UA_NodeId newNode;
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UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, (UA_UInt32)i + 50000),
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folderId, UA_NS0ID(HASCOMPONENT),
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UA_QUALIFIEDNAME(1, (char *)readerConfig.dataSetMetaData.fields[i].name.data),
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UA_NS0ID(BASEDATAVARIABLETYPE),
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vAttr, NULL, &newNode);
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/* For creating Targetvariables */
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targetVars[i].attributeId = UA_ATTRIBUTEID_VALUE;
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targetVars[i].targetNodeId = newNode;
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}
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UA_Server_DataSetReader_createTargetVariables(server, dataSetReaderId,
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readerConfig.dataSetMetaData.fieldsSize,
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targetVars);
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UA_free(targetVars);
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UA_free(readerConfig.dataSetMetaData.fields);
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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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static void
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fillTestDataSetMetaData(UA_DataSetMetaDataType *pMetaData) {
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UA_DataSetMetaDataType_init (pMetaData);
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pMetaData->name = UA_STRING ("DataSet 1");
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/* Static definition of number of fields size to 4 to create four different
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* targetVariables of distinct datatype
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* Currently the publisher sends only DateTime data type */
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pMetaData->fieldsSize = 4;
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pMetaData->fields = (UA_FieldMetaData*)UA_Array_new (pMetaData->fieldsSize,
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&UA_TYPES[UA_TYPES_FIELDMETADATA]);
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/* DateTime DataType */
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UA_FieldMetaData_init (&pMetaData->fields[0]);
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UA_NodeId_copy (&UA_TYPES[UA_TYPES_DATETIME].typeId,
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&pMetaData->fields[0].dataType);
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pMetaData->fields[0].builtInType = UA_NS0ID_DATETIME;
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pMetaData->fields[0].name = UA_STRING ("DateTime");
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pMetaData->fields[0].valueRank = -1; /* scalar */
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/* Int32 DataType */
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UA_FieldMetaData_init (&pMetaData->fields[1]);
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UA_NodeId_copy(&UA_TYPES[UA_TYPES_INT32].typeId,
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&pMetaData->fields[1].dataType);
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pMetaData->fields[1].builtInType = UA_NS0ID_INT32;
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pMetaData->fields[1].name = UA_STRING ("Int32");
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pMetaData->fields[1].valueRank = -1; /* scalar */
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/* Int64 DataType */
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UA_FieldMetaData_init (&pMetaData->fields[2]);
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UA_NodeId_copy(&UA_TYPES[UA_TYPES_INT64].typeId,
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&pMetaData->fields[2].dataType);
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pMetaData->fields[2].builtInType = UA_NS0ID_INT64;
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pMetaData->fields[2].name = UA_STRING ("Int64");
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pMetaData->fields[2].valueRank = -1; /* scalar */
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/* Boolean DataType */
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UA_FieldMetaData_init (&pMetaData->fields[3]);
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UA_NodeId_copy (&UA_TYPES[UA_TYPES_BOOLEAN].typeId,
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&pMetaData->fields[3].dataType);
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pMetaData->fields[3].builtInType = UA_NS0ID_BOOLEAN;
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pMetaData->fields[3].name = UA_STRING ("BoolToggle");
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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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static int
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run(UA_String *transportProfile, UA_NetworkAddressUrlDataType *networkAddressUrl) {
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UA_Server *server = UA_Server_new();
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addPubSubConnection(server, transportProfile, networkAddressUrl);
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addReaderGroup(server);
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addDataSetReader(server);
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addSubscribedVariables(server, readerIdentifier);
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UA_Server_enableAllPubSubComponents(server);
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UA_Server_runUntilInterrupt(server);
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UA_Server_delete(server);
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return 0;
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}
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static void
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usage(char *progname) {
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printf("usage: %s <uri> [device]\n", progname);
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}
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int main(int argc, char **argv) {
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UA_String transportProfile =
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UA_STRING("http://opcfoundation.org/UA-Profile/Transport/pubsub-udp-uadp");
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UA_NetworkAddressUrlDataType networkAddressUrl =
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{UA_STRING_NULL , UA_STRING("opc.udp://224.0.0.22:4840/")};
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if(argc > 1) {
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if(strcmp(argv[1], "-h") == 0) {
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usage(argv[0]);
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return EXIT_SUCCESS;
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} else if(strncmp(argv[1], "opc.udp://", 10) == 0) {
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networkAddressUrl.url = UA_STRING(argv[1]);
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} else if(strncmp(argv[1], "opc.eth://", 10) == 0) {
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transportProfile =
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UA_STRING("http://opcfoundation.org/UA-Profile/Transport/pubsub-eth-uadp");
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if(argc < 3) {
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printf("Error: UADP/ETH needs an interface name\n");
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return EXIT_FAILURE;
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}
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networkAddressUrl.url = UA_STRING(argv[1]);
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} else {
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printf ("Error: unknown URI\n");
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return EXIT_FAILURE;
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}
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}
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if (argc > 2) {
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networkAddressUrl.networkInterface = UA_STRING(argv[2]);
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}
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return run(&transportProfile, &networkAddressUrl);
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}
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