mirror of
https://github.com/open62541/open62541.git
synced 2025-06-03 04:00:21 +00:00
183 lines
7.9 KiB
C
183 lines
7.9 KiB
C
/* This work is licensed under a Creative Commons CCZero 1.0 Universal License.
|
|
* See http://creativecommons.org/publicdomain/zero/1.0/ for more information. */
|
|
|
|
/**
|
|
* Adding Methods to Objects
|
|
* -------------------------
|
|
*
|
|
* An object in an OPC UA information model may contain methods similar to
|
|
* objects in a programming language. Methods are represented by a MethodNode.
|
|
* Note that several objects may reference the same MethodNode. When an object
|
|
* type is instantiated, a reference to the method is added instead of copying
|
|
* the MethodNode. Therefore, the identifier of the context object is always
|
|
* explicitly stated when a method is called.
|
|
*
|
|
* The method callback takes as input a custom data pointer attached to the
|
|
* method node, the identifier of the object from which the method is called,
|
|
* and two arrays for the input and output arguments. The input and output
|
|
* arguments are all of type :ref:`variant`. Each variant may in turn contain a
|
|
* (multi-dimensional) array or scalar of any data type.
|
|
*
|
|
* Constraints for the method arguments are defined in terms of data type, value
|
|
* rank and array dimension (similar to variable definitions). The argument
|
|
* definitions are stored in child VariableNodes of the MethodNode with the
|
|
* respective BrowseNames ``(0, "InputArguments")`` and ``(0,
|
|
* "OutputArguments")``.
|
|
*
|
|
* Example: Hello World Method
|
|
* ^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
|
* The method takes a string scalar and returns a string scalar with "Hello "
|
|
* prepended. The type and length of the input arguments is checked internally
|
|
* by the SDK, so that we don't have to verify the arguments in the callback. */
|
|
|
|
#include "open62541.h"
|
|
#include <signal.h>
|
|
|
|
static UA_StatusCode
|
|
helloWorldMethodCallback(UA_Server *server,
|
|
const UA_NodeId *sessionId, void *sessionHandle,
|
|
const UA_NodeId *methodId, void *methodContext,
|
|
const UA_NodeId *objectId, void *objectContext,
|
|
size_t inputSize, const UA_Variant *input,
|
|
size_t outputSize, UA_Variant *output) {
|
|
UA_String *inputStr = (UA_String*)input->data;
|
|
UA_String tmp = UA_STRING_ALLOC("Hello ");
|
|
if(inputStr->length > 0) {
|
|
tmp.data = (UA_Byte *)UA_realloc(tmp.data, tmp.length + inputStr->length);
|
|
memcpy(&tmp.data[tmp.length], inputStr->data, inputStr->length);
|
|
tmp.length += inputStr->length;
|
|
}
|
|
UA_Variant_setScalarCopy(output, &tmp, &UA_TYPES[UA_TYPES_STRING]);
|
|
UA_String_clear(&tmp);
|
|
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Hello World was called");
|
|
return UA_STATUSCODE_GOOD;
|
|
}
|
|
|
|
static void
|
|
addHellWorldMethod(UA_Server *server) {
|
|
UA_Argument inputArgument;
|
|
UA_Argument_init(&inputArgument);
|
|
inputArgument.description = UA_LOCALIZEDTEXT("en-US", "A String");
|
|
inputArgument.name = UA_STRING("MyInput");
|
|
inputArgument.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
|
|
inputArgument.valueRank = UA_VALUERANK_SCALAR;
|
|
|
|
UA_Argument outputArgument;
|
|
UA_Argument_init(&outputArgument);
|
|
outputArgument.description = UA_LOCALIZEDTEXT("en-US", "A String");
|
|
outputArgument.name = UA_STRING("MyOutput");
|
|
outputArgument.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
|
|
outputArgument.valueRank = UA_VALUERANK_SCALAR;
|
|
|
|
UA_MethodAttributes helloAttr = UA_MethodAttributes_default;
|
|
helloAttr.description = UA_LOCALIZEDTEXT("en-US","Say `Hello World`");
|
|
helloAttr.displayName = UA_LOCALIZEDTEXT("en-US","Hello World");
|
|
helloAttr.executable = true;
|
|
helloAttr.userExecutable = true;
|
|
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1,62541),
|
|
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
|
|
UA_NODEID_NUMERIC(0, UA_NS0ID_HASORDEREDCOMPONENT),
|
|
UA_QUALIFIEDNAME(1, "hello world"),
|
|
helloAttr, &helloWorldMethodCallback,
|
|
1, &inputArgument, 1, &outputArgument, NULL, NULL);
|
|
}
|
|
|
|
/**
|
|
* Increase Array Values Method
|
|
* ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
|
* The method takes an array of 5 integers and a scalar as input. It returns a
|
|
* copy of the array with every entry increased by the scalar. */
|
|
|
|
static UA_StatusCode
|
|
IncInt32ArrayMethodCallback(UA_Server *server,
|
|
const UA_NodeId *sessionId, void *sessionContext,
|
|
const UA_NodeId *methodId, void *methodContext,
|
|
const UA_NodeId *objectId, void *objectContext,
|
|
size_t inputSize, const UA_Variant *input,
|
|
size_t outputSize, UA_Variant *output) {
|
|
UA_Int32 *inputArray = (UA_Int32*)input[0].data;
|
|
UA_Int32 delta = *(UA_Int32*)input[1].data;
|
|
|
|
/* Copy the input array */
|
|
UA_StatusCode retval = UA_Variant_setArrayCopy(output, inputArray, 5,
|
|
&UA_TYPES[UA_TYPES_INT32]);
|
|
if(retval != UA_STATUSCODE_GOOD)
|
|
return retval;
|
|
|
|
/* Increate the elements */
|
|
UA_Int32 *outputArray = (UA_Int32*)output->data;
|
|
for(size_t i = 0; i < input->arrayLength; i++)
|
|
outputArray[i] = inputArray[i] + delta;
|
|
|
|
return UA_STATUSCODE_GOOD;
|
|
}
|
|
|
|
static void
|
|
addIncInt32ArrayMethod(UA_Server *server) {
|
|
/* Two input arguments */
|
|
UA_Argument inputArguments[2];
|
|
UA_Argument_init(&inputArguments[0]);
|
|
inputArguments[0].description = UA_LOCALIZEDTEXT("en-US", "int32[5] array");
|
|
inputArguments[0].name = UA_STRING("int32 array");
|
|
inputArguments[0].dataType = UA_TYPES[UA_TYPES_INT32].typeId;
|
|
inputArguments[0].valueRank = UA_VALUERANK_ONE_DIMENSION;
|
|
UA_UInt32 pInputDimension = 5;
|
|
inputArguments[0].arrayDimensionsSize = 1;
|
|
inputArguments[0].arrayDimensions = &pInputDimension;
|
|
|
|
UA_Argument_init(&inputArguments[1]);
|
|
inputArguments[1].description = UA_LOCALIZEDTEXT("en-US", "int32 delta");
|
|
inputArguments[1].name = UA_STRING("int32 delta");
|
|
inputArguments[1].dataType = UA_TYPES[UA_TYPES_INT32].typeId;
|
|
inputArguments[1].valueRank = UA_VALUERANK_SCALAR;
|
|
|
|
/* One output argument */
|
|
UA_Argument outputArgument;
|
|
UA_Argument_init(&outputArgument);
|
|
outputArgument.description = UA_LOCALIZEDTEXT("en-US", "int32[5] array");
|
|
outputArgument.name = UA_STRING("each entry is incremented by the delta");
|
|
outputArgument.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
|
|
outputArgument.valueRank = UA_VALUERANK_ONE_DIMENSION;
|
|
UA_UInt32 pOutputDimension = 5;
|
|
outputArgument.arrayDimensionsSize = 1;
|
|
outputArgument.arrayDimensions = &pOutputDimension;
|
|
|
|
/* Add the method node */
|
|
UA_MethodAttributes incAttr = UA_MethodAttributes_default;
|
|
incAttr.description = UA_LOCALIZEDTEXT("en-US", "IncInt32ArrayValues");
|
|
incAttr.displayName = UA_LOCALIZEDTEXT("en-US", "IncInt32ArrayValues");
|
|
incAttr.executable = true;
|
|
incAttr.userExecutable = true;
|
|
UA_Server_addMethodNode(server, UA_NODEID_STRING(1, "IncInt32ArrayValues"),
|
|
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
|
|
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
|
|
UA_QUALIFIEDNAME(1, "IncInt32ArrayValues"),
|
|
incAttr, &IncInt32ArrayMethodCallback,
|
|
2, inputArguments, 1, &outputArgument,
|
|
NULL, NULL);
|
|
}
|
|
|
|
/** It follows the main server code, making use of the above definitions. */
|
|
|
|
UA_Boolean running = true;
|
|
static void stopHandler(int sign) {
|
|
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "received ctrl-c");
|
|
running = false;
|
|
}
|
|
|
|
int main(void) {
|
|
signal(SIGINT, stopHandler);
|
|
signal(SIGTERM, stopHandler);
|
|
|
|
UA_ServerConfig *config = UA_ServerConfig_new_default();
|
|
UA_Server *server = UA_Server_new(config);
|
|
|
|
addHellWorldMethod(server);
|
|
addIncInt32ArrayMethod(server);
|
|
|
|
UA_StatusCode retval = UA_Server_run(server, &running);
|
|
UA_Server_delete(server);
|
|
UA_ServerConfig_delete(config);
|
|
return (int)retval;
|
|
}
|