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d715db1057
For consistency we recommend using non-amalgamation install, thus the examples should also use the non-amalgamated headers.
259 lines
12 KiB
C
259 lines
12 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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#include <ua_client_subscriptions.h>
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#include <ua_client_highlevel.h>
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#include <ua_config_default.h>
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#include <ua_log_stdout.h>
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#ifdef UA_ENABLE_SUBSCRIPTIONS
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static void
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handler_TheAnswerChanged(UA_Client *client, UA_UInt32 subId, void *subContext,
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UA_UInt32 monId, void *monContext, UA_DataValue *value) {
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printf("The Answer has changed!\n");
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}
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#endif
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static UA_StatusCode
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nodeIter(UA_NodeId childId, UA_Boolean isInverse, UA_NodeId referenceTypeId, void *handle) {
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if(isInverse)
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return UA_STATUSCODE_GOOD;
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UA_NodeId *parent = (UA_NodeId *)handle;
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printf("%d, %d --- %d ---> NodeId %d, %d\n",
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parent->namespaceIndex, parent->identifier.numeric,
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referenceTypeId.identifier.numeric, childId.namespaceIndex,
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childId.identifier.numeric);
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return UA_STATUSCODE_GOOD;
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}
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int main(int argc, char *argv[]) {
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UA_Client *client = UA_Client_new(UA_ClientConfig_default);
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/* Listing endpoints */
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UA_EndpointDescription* endpointArray = NULL;
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size_t endpointArraySize = 0;
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UA_StatusCode retval = UA_Client_getEndpoints(client, "opc.tcp://localhost:4840",
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&endpointArraySize, &endpointArray);
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if(retval != UA_STATUSCODE_GOOD) {
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UA_Array_delete(endpointArray, endpointArraySize, &UA_TYPES[UA_TYPES_ENDPOINTDESCRIPTION]);
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UA_Client_delete(client);
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return (int)retval;
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}
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printf("%i endpoints found\n", (int)endpointArraySize);
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for(size_t i=0;i<endpointArraySize;i++) {
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printf("URL of endpoint %i is %.*s\n", (int)i,
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(int)endpointArray[i].endpointUrl.length,
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endpointArray[i].endpointUrl.data);
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}
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UA_Array_delete(endpointArray,endpointArraySize, &UA_TYPES[UA_TYPES_ENDPOINTDESCRIPTION]);
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/* Connect to a server */
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/* anonymous connect would be: retval = UA_Client_connect(client, "opc.tcp://localhost:4840"); */
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retval = UA_Client_connect_username(client, "opc.tcp://localhost:4840", "user1", "password");
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if(retval != UA_STATUSCODE_GOOD) {
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UA_Client_delete(client);
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return (int)retval;
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}
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/* Browse some objects */
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printf("Browsing nodes in objects folder:\n");
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UA_BrowseRequest bReq;
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UA_BrowseRequest_init(&bReq);
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bReq.requestedMaxReferencesPerNode = 0;
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bReq.nodesToBrowse = UA_BrowseDescription_new();
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bReq.nodesToBrowseSize = 1;
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bReq.nodesToBrowse[0].nodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER); /* browse objects folder */
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bReq.nodesToBrowse[0].resultMask = UA_BROWSERESULTMASK_ALL; /* return everything */
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UA_BrowseResponse bResp = UA_Client_Service_browse(client, bReq);
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printf("%-9s %-16s %-16s %-16s\n", "NAMESPACE", "NODEID", "BROWSE NAME", "DISPLAY NAME");
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for(size_t i = 0; i < bResp.resultsSize; ++i) {
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for(size_t j = 0; j < bResp.results[i].referencesSize; ++j) {
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UA_ReferenceDescription *ref = &(bResp.results[i].references[j]);
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if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_NUMERIC) {
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printf("%-9d %-16d %-16.*s %-16.*s\n", ref->nodeId.nodeId.namespaceIndex,
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ref->nodeId.nodeId.identifier.numeric, (int)ref->browseName.name.length,
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ref->browseName.name.data, (int)ref->displayName.text.length,
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ref->displayName.text.data);
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} else if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_STRING) {
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printf("%-9d %-16.*s %-16.*s %-16.*s\n", ref->nodeId.nodeId.namespaceIndex,
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(int)ref->nodeId.nodeId.identifier.string.length,
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ref->nodeId.nodeId.identifier.string.data,
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(int)ref->browseName.name.length, ref->browseName.name.data,
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(int)ref->displayName.text.length, ref->displayName.text.data);
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}
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/* TODO: distinguish further types */
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}
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}
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UA_BrowseRequest_clear(&bReq);
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UA_BrowseResponse_clear(&bResp);
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/* Same thing, this time using the node iterator... */
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UA_NodeId *parent = UA_NodeId_new();
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*parent = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
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UA_Client_forEachChildNodeCall(client, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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nodeIter, (void *) parent);
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UA_NodeId_delete(parent);
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#ifdef UA_ENABLE_SUBSCRIPTIONS
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/* Create a subscription */
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UA_CreateSubscriptionRequest request = UA_CreateSubscriptionRequest_default();
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UA_CreateSubscriptionResponse response = UA_Client_Subscriptions_create(client, request,
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NULL, NULL, NULL);
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UA_UInt32 subId = response.subscriptionId;
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if(response.responseHeader.serviceResult == UA_STATUSCODE_GOOD)
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printf("Create subscription succeeded, id %u\n", subId);
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UA_MonitoredItemCreateRequest monRequest =
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UA_MonitoredItemCreateRequest_default(UA_NODEID_STRING(1, "the.answer"));
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UA_MonitoredItemCreateResult monResponse =
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UA_Client_MonitoredItems_createDataChange(client, response.subscriptionId,
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UA_TIMESTAMPSTORETURN_BOTH,
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monRequest, NULL, handler_TheAnswerChanged, NULL);
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if(monResponse.statusCode == UA_STATUSCODE_GOOD)
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printf("Monitoring 'the.answer', id %u\n", monResponse.monitoredItemId);
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/* The first publish request should return the initial value of the variable */
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UA_Client_run_iterate(client, 1000);
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#endif
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/* Read attribute */
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UA_Int32 value = 0;
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printf("\nReading the value of node (1, \"the.answer\"):\n");
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UA_Variant *val = UA_Variant_new();
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retval = UA_Client_readValueAttribute(client, UA_NODEID_STRING(1, "the.answer"), val);
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if(retval == UA_STATUSCODE_GOOD && UA_Variant_isScalar(val) &&
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val->type == &UA_TYPES[UA_TYPES_INT32]) {
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value = *(UA_Int32*)val->data;
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printf("the value is: %i\n", value);
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}
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UA_Variant_delete(val);
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/* Write node attribute */
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value++;
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printf("\nWriting a value of node (1, \"the.answer\"):\n");
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UA_WriteRequest wReq;
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UA_WriteRequest_init(&wReq);
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wReq.nodesToWrite = UA_WriteValue_new();
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wReq.nodesToWriteSize = 1;
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wReq.nodesToWrite[0].nodeId = UA_NODEID_STRING_ALLOC(1, "the.answer");
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wReq.nodesToWrite[0].attributeId = UA_ATTRIBUTEID_VALUE;
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wReq.nodesToWrite[0].value.hasValue = true;
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wReq.nodesToWrite[0].value.value.type = &UA_TYPES[UA_TYPES_INT32];
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wReq.nodesToWrite[0].value.value.storageType = UA_VARIANT_DATA_NODELETE; /* do not free the integer on deletion */
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wReq.nodesToWrite[0].value.value.data = &value;
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UA_WriteResponse wResp = UA_Client_Service_write(client, wReq);
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if(wResp.responseHeader.serviceResult == UA_STATUSCODE_GOOD)
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printf("the new value is: %i\n", value);
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UA_WriteRequest_clear(&wReq);
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UA_WriteResponse_clear(&wResp);
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/* Write node attribute (using the highlevel API) */
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value++;
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UA_Variant *myVariant = UA_Variant_new();
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UA_Variant_setScalarCopy(myVariant, &value, &UA_TYPES[UA_TYPES_INT32]);
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UA_Client_writeValueAttribute(client, UA_NODEID_STRING(1, "the.answer"), myVariant);
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UA_Variant_delete(myVariant);
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#ifdef UA_ENABLE_SUBSCRIPTIONS
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/* Take another look at the.answer */
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UA_Client_run_iterate(client, 100);
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/* Delete the subscription */
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if(UA_Client_Subscriptions_deleteSingle(client, subId) == UA_STATUSCODE_GOOD)
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printf("Subscription removed\n");
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#endif
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#ifdef UA_ENABLE_METHODCALLS
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/* Call a remote method */
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UA_Variant input;
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UA_String argString = UA_STRING("Hello Server");
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UA_Variant_init(&input);
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UA_Variant_setScalarCopy(&input, &argString, &UA_TYPES[UA_TYPES_STRING]);
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size_t outputSize;
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UA_Variant *output;
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retval = UA_Client_call(client, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_NODEID_NUMERIC(1, 62541), 1, &input, &outputSize, &output);
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if(retval == UA_STATUSCODE_GOOD) {
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printf("Method call was successful, and %lu returned values available.\n",
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(unsigned long)outputSize);
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UA_Array_delete(output, outputSize, &UA_TYPES[UA_TYPES_VARIANT]);
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} else {
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printf("Method call was unsuccessful, and %x returned values available.\n", retval);
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}
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UA_Variant_clear(&input);
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#endif
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#ifdef UA_ENABLE_NODEMANAGEMENT
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/* Add new nodes*/
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/* New ReferenceType */
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UA_NodeId ref_id;
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UA_ReferenceTypeAttributes ref_attr = UA_ReferenceTypeAttributes_default;
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ref_attr.displayName = UA_LOCALIZEDTEXT("en-US", "NewReference");
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ref_attr.description = UA_LOCALIZEDTEXT("en-US", "References something that might or might not exist");
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ref_attr.inverseName = UA_LOCALIZEDTEXT("en-US", "IsNewlyReferencedBy");
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retval = UA_Client_addReferenceTypeNode(client,
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UA_NODEID_NUMERIC(1, 12133),
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UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
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UA_QUALIFIEDNAME(1, "NewReference"),
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ref_attr, &ref_id);
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if(retval == UA_STATUSCODE_GOOD )
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printf("Created 'NewReference' with numeric NodeID %u\n", ref_id.identifier.numeric);
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/* New ObjectType */
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UA_NodeId objt_id;
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UA_ObjectTypeAttributes objt_attr = UA_ObjectTypeAttributes_default;
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objt_attr.displayName = UA_LOCALIZEDTEXT("en-US", "TheNewObjectType");
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objt_attr.description = UA_LOCALIZEDTEXT("en-US", "Put innovative description here");
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retval = UA_Client_addObjectTypeNode(client,
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UA_NODEID_NUMERIC(1, 12134),
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UA_NODEID_NUMERIC(0, UA_NS0ID_BASEOBJECTTYPE),
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
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UA_QUALIFIEDNAME(1, "NewObjectType"),
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objt_attr, &objt_id);
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if(retval == UA_STATUSCODE_GOOD)
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printf("Created 'NewObjectType' with numeric NodeID %u\n", objt_id.identifier.numeric);
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/* New Object */
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UA_NodeId obj_id;
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UA_ObjectAttributes obj_attr = UA_ObjectAttributes_default;
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obj_attr.displayName = UA_LOCALIZEDTEXT("en-US", "TheNewGreatNode");
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obj_attr.description = UA_LOCALIZEDTEXT("de-DE", "Hier koennte Ihre Webung stehen!");
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retval = UA_Client_addObjectNode(client,
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UA_NODEID_NUMERIC(1, 0),
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UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
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UA_QUALIFIEDNAME(1, "TheGreatNode"),
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UA_NODEID_NUMERIC(1, 12134),
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obj_attr, &obj_id);
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if(retval == UA_STATUSCODE_GOOD )
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printf("Created 'NewObject' with numeric NodeID %u\n", obj_id.identifier.numeric);
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/* New Integer Variable */
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UA_NodeId var_id;
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UA_VariableAttributes var_attr = UA_VariableAttributes_default;
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var_attr.displayName = UA_LOCALIZEDTEXT("en-US", "TheNewVariableNode");
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var_attr.description =
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UA_LOCALIZEDTEXT("en-US", "This integer is just amazing - it has digits and everything.");
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UA_Int32 int_value = 1234;
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/* This does not copy the value */
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UA_Variant_setScalar(&var_attr.value, &int_value, &UA_TYPES[UA_TYPES_INT32]);
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var_attr.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
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retval = UA_Client_addVariableNode(client,
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UA_NODEID_NUMERIC(1, 0), // Assign new/random NodeID
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UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
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UA_QUALIFIEDNAME(0, "VariableNode"),
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UA_NODEID_NULL, // no variable type
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var_attr, &var_id);
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if(retval == UA_STATUSCODE_GOOD )
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printf("Created 'NewVariable' with numeric NodeID %u\n", var_id.identifier.numeric);
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#endif
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UA_Client_disconnect(client);
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UA_Client_delete(client);
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return (int) UA_STATUSCODE_GOOD;
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}
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