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https://github.com/open62541/open62541.git
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263 lines
11 KiB
C
263 lines
11 KiB
C
#ifdef UA_NO_AMALGAMATION
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# include "ua_types.h"
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# include "ua_client.h"
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# include "ua_nodeids.h"
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# include "networklayer_tcp.h"
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# include "logger_stdout.h"
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# include "ua_types_encoding_binary.h"
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#include "ua_nodes.h"
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#else
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# include "open62541.h"
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# include <string.h>
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# include <stdlib.h>
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#endif
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#include <stdio.h>
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void handler_TheAnswerChanged(UA_UInt32 handle, UA_DataValue *value);
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void handler_TheAnswerChanged(UA_UInt32 handle, UA_DataValue *value) {
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printf("The Answer has changed!\n");
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return;
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}
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UA_StatusCode nodeIter(UA_NodeId childId, UA_Boolean isInverse, UA_NodeId referenceTypeId);
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UA_StatusCode nodeIter(UA_NodeId childId, UA_Boolean isInverse, UA_NodeId referenceTypeId) {
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printf("References ns=%d;i=%d using i=%d ", childId.namespaceIndex, childId.identifier.numeric, referenceTypeId.identifier.numeric);
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if (isInverse == UA_TRUE) {
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printf(" (inverse)");
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}
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printf("\n");
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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_standard, Logger_Stdout_new());
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UA_StatusCode retval = UA_Client_connect(client, ClientNetworkLayerTCP_connect,
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"opc.tcp://localhost:16664");
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if(retval != UA_STATUSCODE_GOOD) {
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UA_Client_delete(client);
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return 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_browse(client, &bReq);
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printf("%-9s %-16s %-16s %-16s\n", "NAMESPACE", "NODEID", "BROWSE NAME", "DISPLAY NAME");
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for (int i = 0; i < bResp.resultsSize; ++i) {
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for (int 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->browseName.namespaceIndex,
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ref->nodeId.nodeId.identifier.numeric, ref->browseName.name.length,
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ref->browseName.name.data, ref->displayName.text.length, 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->browseName.namespaceIndex,
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ref->nodeId.nodeId.identifier.string.length, ref->nodeId.nodeId.identifier.string.data,
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ref->browseName.name.length, ref->browseName.name.data, ref->displayName.text.length,
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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_deleteMembers(&bReq);
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UA_BrowseResponse_deleteMembers(&bResp);
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#ifdef ENABLE_SUBSCRIPTIONS
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// Create a subscription with interval 0 (immediate)...
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UA_Int32 subId = UA_Client_newSubscription(client, 0);
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if (subId)
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printf("Create subscription succeeded, id %u\n", subId);
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// .. and monitor TheAnswer
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UA_NodeId monitorThis;
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monitorThis = UA_NODEID_STRING_ALLOC(1, "the.answer");
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UA_UInt32 monId = UA_Client_monitorItemChanges(client, subId, monitorThis, UA_ATTRIBUTEID_VALUE, &handler_TheAnswerChanged );
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if (monId)
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printf("Monitoring 'the.answer', id %u\n", subId);
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UA_NodeId_deleteMembers(&monitorThis);
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// First Publish always generates data (current value) and call out handler.
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UA_Client_doPublish(client);
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// This should not generate anything
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UA_Client_doPublish(client);
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#endif
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UA_Int32 value = 0;
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// Read node's value
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printf("\nReading the value of node (1, \"the.answer\"):\n");
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UA_ReadRequest rReq;
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UA_ReadRequest_init(&rReq);
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rReq.nodesToRead = UA_ReadValueId_new();
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rReq.nodesToReadSize = 1;
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rReq.nodesToRead[0].nodeId = UA_NODEID_STRING_ALLOC(1, "the.answer"); /* assume this node exists */
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rReq.nodesToRead[0].attributeId = UA_ATTRIBUTEID_VALUE;
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UA_ReadResponse rResp = UA_Client_read(client, &rReq);
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if(rResp.responseHeader.serviceResult == UA_STATUSCODE_GOOD &&
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rResp.resultsSize > 0 && rResp.results[0].hasValue &&
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UA_Variant_isScalar(&rResp.results[0].value) &&
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rResp.results[0].value.type == &UA_TYPES[UA_TYPES_INT32]) {
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value = *(UA_Int32*)rResp.results[0].value.data;
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printf("the value is: %i\n", value);
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}
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UA_ReadRequest_deleteMembers(&rReq);
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UA_ReadResponse_deleteMembers(&rResp);
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value++;
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// Write node's 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"); /* assume this node exists */
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wReq.nodesToWrite[0].attributeId = UA_ATTRIBUTEID_VALUE;
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wReq.nodesToWrite[0].value.hasValue = UA_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_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_deleteMembers(&wReq);
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UA_WriteResponse_deleteMembers(&wResp);
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#ifdef ENABLE_SUBSCRIPTIONS
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// Take another look at the.answer... this should call the handler.
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UA_Client_doPublish(client);
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// Delete our subscription (which also unmonitors all items)
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if(!UA_Client_removeSubscription(client, subId))
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printf("Subscription removed\n");
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#endif
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#ifdef ENABLE_METHODCALLS
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/* Note: This example requires Namespace 0 Node 11489 (ServerType -> GetMonitoredItems)
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FIXME: Provide a namespace 0 independant example on the server side
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*/
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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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UA_Int32 outputSize;
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UA_Variant *output;
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retval = UA_Client_CallServerMethod(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 successfull, and %i returned values available.\n", outputSize);
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UA_Array_delete(output, &UA_TYPES[UA_TYPES_VARIANT], outputSize);
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} else {
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printf("Method call was unsuccessfull, and %x returned values available.\n", retval);
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}
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UA_Variant_deleteMembers(&input);
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#endif
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#ifdef ENABLE_ADDNODES
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/* Create a new object type node */
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// New ReferenceType
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UA_StatusCode addRes;
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UA_NodeId retNodeId;
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addRes = UA_Client_addReferenceTypeNode(client,
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UA_NODEID_NUMERIC(1, 12133), // Assign this NodeId (will fail if client is called multiple times)
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UA_QUALIFIEDNAME(0, "NewReference"),
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UA_LOCALIZEDTEXT("en_US", "TheNewReference"),
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UA_LOCALIZEDTEXT("en_US", "References something that might or might not exist."),
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UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
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(UA_UInt32) 0, (UA_UInt32) 0,
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UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_LOCALIZEDTEXT("en_US", "IsNewlyReferencedBy"),
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&retNodeId);
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if (addRes == UA_STATUSCODE_GOOD ) {
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printf("Created 'NewReference' with numeric NodeID %u\n", retNodeId.identifier.numeric );
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}
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// New ObjectType
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addRes = UA_Client_addObjectTypeNode(client,
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UA_NODEID_NUMERIC(1, 12134), // Assign this NodeId (will fail if client is called multiple times)
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UA_QUALIFIEDNAME(0, "NewObjectType"),
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UA_LOCALIZEDTEXT("en_US", "TheNewObjectType"),
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UA_LOCALIZEDTEXT("en_US", "Put innovative description here."),
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UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
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(UA_UInt32) 0, (UA_UInt32) 0,
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UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_FALSE,
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&retNodeId);
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if (addRes == UA_STATUSCODE_GOOD ) {
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printf("Created 'NewObjectType' with numeric NodeID %u\n", retNodeId.identifier.numeric );
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}
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// New Object
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addRes = UA_Client_addObjectNode(client,
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UA_NODEID_NUMERIC(1, 0), // Assign new/random NodeID
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UA_QUALIFIEDNAME(0, "TheNewGreatNodeBrowseName"),
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UA_LOCALIZEDTEXT("en_US", "TheNewGreatNode"),
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UA_LOCALIZEDTEXT("de_DE", "Hier koennte Ihre Webung stehen!"),
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UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
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(UA_UInt32) 0, (UA_UInt32) 0,
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UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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&retNodeId);
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if (addRes == UA_STATUSCODE_GOOD ) {
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printf("Created 'NewObject' with numeric NodeID %u\n", retNodeId.identifier.numeric );
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}
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// New Integer Variable
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UA_Variant *theValue = UA_Variant_new();
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UA_Int32 *theValueDate = UA_Int32_new();
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*theValueDate = 1234;
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theValue->type = &UA_TYPES[UA_TYPES_INT32];
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theValue->data = theValueDate;
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addRes = UA_Client_addVariableNode(client,
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UA_NODEID_NUMERIC(1, 0), // Assign new/random NodeID
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UA_QUALIFIEDNAME(0, "VariableNode"),
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UA_LOCALIZEDTEXT("en_US", "TheNewVariableNode"),
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UA_LOCALIZEDTEXT("en_US", "This integer is just amazing - it has digits and everything."),
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UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
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(UA_UInt32) 0, (UA_UInt32) 0,
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theValue,
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&retNodeId);
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if (addRes == UA_STATUSCODE_GOOD ) {
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printf("Created 'NewVariable' with numeric NodeID %u\n", retNodeId.identifier.numeric );
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}
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free(theValue);
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/* Done creating a new node*/
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#else
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// retNodeId is needed for the next test
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UA_NodeId retNodeId = UA_NODEID_STRING(1, "the.answer");
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#endif
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// Iterate over all nodes in 'Objects'
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UA_Client_forEachChildNodeCall(client, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER), nodeIter);
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// Get a copy of the node 'TheNewVariableNode'
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void *theCopy;
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UA_Client_getNodeCopy(client, retNodeId, (void*) &theCopy);
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UA_Client_deleteMethodNode(client, UA_NODEID_NUMERIC(1,62541));
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UA_Client_disconnect(client);
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UA_Client_delete(client);
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return UA_STATUSCODE_GOOD;
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}
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