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d715db1057
For consistency we recommend using non-amalgamation install, thus the examples should also use the non-amalgamated headers.
265 lines
13 KiB
C
265 lines
13 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_server.h>
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#include <ua_config_default.h>
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#include <ua_log_stdout.h>
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#include <signal.h>
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UA_Boolean running = true;
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static void stopHandler(int sig) {
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running = false;
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}
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/**
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* This will create a type structure and some instances of the types:
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*
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* Create a rudimentary objectType
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*
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* Type:
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* + MamalType
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* v- Class = "mamalia"
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* v- Species
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* o- Abilities
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* v- MakeSound
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* v- Breathe = True
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* + DogType
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* v- Species = "Canis"
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* v- Name
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* o- Abilities
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* v- MakeSound = "Wuff"
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* v- FetchNewPaper
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*/
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static void createMamals(UA_Server *server) {
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UA_ObjectTypeAttributes otAttr = UA_ObjectTypeAttributes_default;
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otAttr.description = UA_LOCALIZEDTEXT("en-US", "A mamal");
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otAttr.displayName = UA_LOCALIZEDTEXT("en-US", "MamalType");
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UA_Server_addObjectTypeNode(server, UA_NODEID_NUMERIC(1, 10000),
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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, "MamalType"), otAttr, NULL, NULL);
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UA_VariableAttributes vAttr = UA_VariableAttributes_default;
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vAttr.description = UA_LOCALIZEDTEXT("en-US", "This mamals class");
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vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Class");
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UA_String classVar = UA_STRING("mamalia");
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UA_Variant_setScalar(&vAttr.value, &classVar, &UA_TYPES[UA_TYPES_STRING]);
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UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, 10001),
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UA_NODEID_NUMERIC(1, 10000),
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
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UA_QUALIFIEDNAME(1, "Class"), UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
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vAttr, NULL, NULL);
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vAttr = UA_VariableAttributes_default;
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vAttr.description = UA_LOCALIZEDTEXT("en-US", "This mamals species");
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vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Species");
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UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, 10002),
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UA_NODEID_NUMERIC(1, 10000),
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
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UA_QUALIFIEDNAME(1, "Species"), UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
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vAttr, NULL, NULL);
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otAttr = UA_ObjectTypeAttributes_default;
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otAttr.description = UA_LOCALIZEDTEXT("en-US", "A dog, subtype of mamal");
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otAttr.displayName = UA_LOCALIZEDTEXT("en-US", "DogType");
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UA_Server_addObjectTypeNode(server, UA_NODEID_NUMERIC(1, 20000),
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UA_NODEID_NUMERIC(1, 10000),
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
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UA_QUALIFIEDNAME(1, "DogType"), otAttr, NULL, NULL);
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vAttr = UA_VariableAttributes_default;
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vAttr.description = UA_LOCALIZEDTEXT("en-US", "This dogs species");
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vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Species");
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UA_String defaultSpecies = UA_STRING("Canis");
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UA_Variant_setScalar(&vAttr.value, &defaultSpecies, &UA_TYPES[UA_TYPES_STRING]);
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UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, 20001),
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UA_NODEID_NUMERIC(1, 20000),
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
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UA_QUALIFIEDNAME(1, "Species"), UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
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vAttr, NULL, NULL);
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vAttr = UA_VariableAttributes_default;
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vAttr.description = UA_LOCALIZEDTEXT("en-US", "This dogs name");
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vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Name");
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UA_String defaultName = UA_STRING("unnamed dog");
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UA_Variant_setScalar(&vAttr.value, &defaultName, &UA_TYPES[UA_TYPES_STRING]);
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UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, 20002),
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UA_NODEID_NUMERIC(1, 20000),
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
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UA_QUALIFIEDNAME(1, "Name"), UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
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vAttr, NULL, NULL);
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/* Instatiate a dog named bello:
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* (O) Objects
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* + O Bello <DogType>
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* + Age
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* + Name
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*/
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UA_ObjectAttributes oAttr = UA_ObjectAttributes_default;
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oAttr.description = UA_LOCALIZEDTEXT("en-US", "A dog named Bello");
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oAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Bello");
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UA_Server_addObjectNode(server, 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_HASCOMPONENT),
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UA_QUALIFIEDNAME(1, "Bello"), UA_NODEID_NUMERIC(1, 20000),
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oAttr, NULL, NULL);
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oAttr = UA_ObjectAttributes_default;
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oAttr.description = UA_LOCALIZEDTEXT("en-US", "Another dog");
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oAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Dog2");
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UA_Server_addObjectNode(server, 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_HASCOMPONENT),
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UA_QUALIFIEDNAME(1, "Dog2"), UA_NODEID_NUMERIC(1, 20000),
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oAttr, NULL, NULL);
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oAttr = UA_ObjectAttributes_default;
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oAttr.description = UA_LOCALIZEDTEXT("en-US", "A mamal");
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oAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Mamal1");
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UA_Server_addObjectNode(server, 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_HASCOMPONENT),
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UA_QUALIFIEDNAME(1, "Mamal1"), UA_NODEID_NUMERIC(1, 10000),
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oAttr, NULL, NULL);
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}
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/**
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* This method shows the usage of _begin and _finish methods.
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* Normally, if you create an instance of an object type, all its
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* mandatory children are inherited and created.
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* It could be the case that you first need to create a node,
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* add some children with specific IDs and then all the remaining
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* inherited children should be created.
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* For this use-case you can use first the _begin method,
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* which creates the node, including its parent references.
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* Then you can add any children, and then you should
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* call _finish on that node, which then adds all the inherited children.
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*
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* For further details check the example below or the corresponding
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* method documentation.
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*
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* To demonstrate this, we use the following example:
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*
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* + ObjectType
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* + LampType (Object)
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* + IsOn (Variable, Boolean, Mandatory)
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* + Brightness (Variable, UInt16, Mandatory)
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* + Objects
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* + LampGreen
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* Should inherit the mandatory IsOn and Brightness with a generated node ID
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* + LampRed
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* IsOn should have the node ID 30101, Brightness will be inherited with a generated node ID
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*
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*/
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static void createCustomInheritance(UA_Server *server) {
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/* Add LampType object type node */
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UA_ObjectTypeAttributes otAttr = UA_ObjectTypeAttributes_default;
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otAttr.description = UA_LOCALIZEDTEXT("en-US", "A Lamp");
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otAttr.displayName = UA_LOCALIZEDTEXT("en-US", "LampType");
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UA_Server_addObjectTypeNode(server, UA_NODEID_NUMERIC(1, 30000),
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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, "LampType"), otAttr, NULL, NULL);
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/* Add the two mandatory children, IsOn and Brightness */
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UA_VariableAttributes vAttr = UA_VariableAttributes_default;
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vAttr.description = UA_LOCALIZEDTEXT("en-US", "Switch lamp on/off");
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vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "IsOn");
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UA_Boolean isOn = UA_FALSE;
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UA_Variant_setScalar(&vAttr.value, &isOn, &UA_TYPES[UA_TYPES_BOOLEAN]);
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UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, 30001),
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UA_NODEID_NUMERIC(1, 30000),
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
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UA_QUALIFIEDNAME(1, "IsOn"), UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
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vAttr, NULL, NULL);
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UA_Server_addReference(server, UA_NODEID_NUMERIC(1, 30001),
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASMODELLINGRULE),
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UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_MODELLINGRULE_MANDATORY), true);
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vAttr = UA_VariableAttributes_default;
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vAttr.description = UA_LOCALIZEDTEXT("en-US", "Lamp brightness");
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vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Brightness");
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UA_UInt16 brightness = 142;
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UA_Variant_setScalar(&vAttr.value, &brightness, &UA_TYPES[UA_TYPES_UINT16]);
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UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, 30002),
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UA_NODEID_NUMERIC(1, 30000),
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
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UA_QUALIFIEDNAME(1, "Brightness"), UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
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vAttr, NULL, NULL);
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UA_Server_addReference(server, UA_NODEID_NUMERIC(1, 30002),
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASMODELLINGRULE),
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UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_MODELLINGRULE_MANDATORY), true);
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/* Now we want to inherit all the mandatory children for LampGreen and don't care about the node ids.
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* These will be automatically generated. This will internally call the _begin and _finish methods */
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UA_ObjectAttributes oAttr = UA_ObjectAttributes_default;
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oAttr.description = UA_LOCALIZEDTEXT("en-US", "A green lamp");
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oAttr.displayName = UA_LOCALIZEDTEXT("en-US", "LampGreen");
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UA_Server_addObjectNode(server, 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_HASCOMPONENT),
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UA_QUALIFIEDNAME(1, "LampGreen"), UA_NODEID_NUMERIC(1, 30000),
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oAttr, NULL, NULL);
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/* For the red lamp we want to set the node ID of the IsOn child manually, thus we need to use
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* the _begin method, add the child and then _finish: */
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/* The call to UA_Server_addNode_begin will create the node and its parent references,
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* but it will not instantiate the mandatory children */
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oAttr = UA_ObjectAttributes_default;
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oAttr.description = UA_LOCALIZEDTEXT("en-US", "A red lamp");
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oAttr.displayName = UA_LOCALIZEDTEXT("en-US", "LampRed");
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UA_Server_addNode_begin(server, UA_NODECLASS_OBJECT,
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UA_NODEID_NUMERIC(1, 30100),
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UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
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UA_QUALIFIEDNAME(1, "LampRed"),
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UA_NODEID_NUMERIC(1, 30000),
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(const UA_NodeAttributes*)&oAttr, &UA_TYPES[UA_TYPES_OBJECTATTRIBUTES],
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NULL, NULL);
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/* Now we can add the IsOn with our own node ID */
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vAttr = UA_VariableAttributes_default;
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vAttr.description = UA_LOCALIZEDTEXT("en-US", "Switch lamp on/off");
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vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "IsOn");
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isOn = UA_FALSE;
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UA_Variant_setScalar(&vAttr.value, &isOn, &UA_TYPES[UA_TYPES_BOOLEAN]);
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UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, 30101),
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UA_NODEID_NUMERIC(1, 30100),
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
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UA_QUALIFIEDNAME(1, "IsOn"), UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
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vAttr, NULL, NULL);
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/* And then we need to call the UA_Server_addNode_finish which adds all the remaining
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* children and does some further initialization. It will not add the IsNode child,
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* since a child with the same browse name already exists */
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UA_Server_addNode_finish(server, UA_NODEID_NUMERIC(1, 30100));
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}
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int main(void) {
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signal(SIGINT, stopHandler);
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signal(SIGTERM, stopHandler);
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UA_ServerConfig *config = UA_ServerConfig_new_default();
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UA_Server *server = UA_Server_new(config);
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createMamals(server);
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createCustomInheritance(server);
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/* Run the server */
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UA_StatusCode retval = UA_Server_run(server, &running);
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UA_Server_delete(server);
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UA_ServerConfig_delete(config);
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return (int)retval;
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}
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