mirror of
https://github.com/open62541/open62541.git
synced 2025-06-03 04:00:21 +00:00
258 lines
12 KiB
C
258 lines
12 KiB
C
#ifdef UA_NO_AMALGAMATION
|
|
# include "ua_types.h"
|
|
# include "ua_client.h"
|
|
# include "ua_client_highlevel.h"
|
|
# include "ua_nodeids.h"
|
|
# include "networklayer_tcp.h"
|
|
# include "logger_stdout.h"
|
|
# include "ua_types_encoding_binary.h"
|
|
#else
|
|
# include "open62541.h"
|
|
# include <string.h>
|
|
# include <stdlib.h>
|
|
#endif
|
|
|
|
#include <stdio.h>
|
|
|
|
static void handler_TheAnswerChanged(UA_UInt32 monId, UA_DataValue *value, void *context) {
|
|
printf("The Answer has changed!\n");
|
|
return;
|
|
}
|
|
|
|
int main(int argc, char *argv[]) {
|
|
UA_Client *client = UA_Client_new(UA_ClientConfig_standard, Logger_Stdout);
|
|
|
|
//listing endpoints
|
|
UA_EndpointDescription* endpointArray = NULL;
|
|
size_t endpointArraySize = 0;
|
|
UA_StatusCode retval =
|
|
UA_Client_getEndpoints(client, UA_ClientConnectionTCP, "opc.tcp://localhost:16664",
|
|
&endpointArraySize, &endpointArray);
|
|
|
|
//freeing the endpointArray
|
|
if(retval != UA_STATUSCODE_GOOD) {
|
|
//cleanup array
|
|
UA_Array_delete(endpointArray,endpointArraySize, &UA_TYPES[UA_TYPES_ENDPOINTDESCRIPTION]);
|
|
UA_Client_delete(client);
|
|
return (int)retval;
|
|
}
|
|
|
|
printf("%i endpoints found\n", (int)endpointArraySize);
|
|
for(size_t i=0;i<endpointArraySize;i++){
|
|
printf("URL of endpoint %i is %.*s\n", (int)i, (int)endpointArray[i].endpointUrl.length, endpointArray[i].endpointUrl.data);
|
|
}
|
|
|
|
//cleanup array of enpoints
|
|
UA_Array_delete(endpointArray,endpointArraySize, &UA_TYPES[UA_TYPES_ENDPOINTDESCRIPTION]);
|
|
|
|
//connect to a server
|
|
retval = UA_Client_connect(client, UA_ClientConnectionTCP, "opc.tcp://localhost:16664");
|
|
|
|
if(retval != UA_STATUSCODE_GOOD) {
|
|
UA_Client_delete(client);
|
|
return (int)retval;
|
|
}
|
|
// Browse some objects
|
|
printf("Browsing nodes in objects folder:\n");
|
|
|
|
UA_BrowseRequest bReq;
|
|
UA_BrowseRequest_init(&bReq);
|
|
bReq.requestedMaxReferencesPerNode = 0;
|
|
bReq.nodesToBrowse = UA_BrowseDescription_new();
|
|
bReq.nodesToBrowseSize = 1;
|
|
bReq.nodesToBrowse[0].nodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER); //browse objects folder
|
|
bReq.nodesToBrowse[0].resultMask = UA_BROWSERESULTMASK_ALL; //return everything
|
|
|
|
UA_BrowseResponse bResp = UA_Client_Service_browse(client, bReq);
|
|
printf("%-9s %-16s %-16s %-16s\n", "NAMESPACE", "NODEID", "BROWSE NAME", "DISPLAY NAME");
|
|
for (size_t i = 0; i < bResp.resultsSize; ++i) {
|
|
for (size_t j = 0; j < bResp.results[i].referencesSize; ++j) {
|
|
UA_ReferenceDescription *ref = &(bResp.results[i].references[j]);
|
|
if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_NUMERIC) {
|
|
printf("%-9d %-16d %-16.*s %-16.*s\n", ref->browseName.namespaceIndex,
|
|
ref->nodeId.nodeId.identifier.numeric, (int)ref->browseName.name.length,
|
|
ref->browseName.name.data, (int)ref->displayName.text.length,
|
|
ref->displayName.text.data);
|
|
} else if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_STRING) {
|
|
printf("%-9d %-16.*s %-16.*s %-16.*s\n", ref->browseName.namespaceIndex,
|
|
(int)ref->nodeId.nodeId.identifier.string.length, ref->nodeId.nodeId.identifier.string.data,
|
|
(int)ref->browseName.name.length, ref->browseName.name.data,
|
|
(int)ref->displayName.text.length, ref->displayName.text.data);
|
|
}
|
|
//TODO: distinguish further types
|
|
}
|
|
}
|
|
UA_BrowseRequest_deleteMembers(&bReq);
|
|
UA_BrowseResponse_deleteMembers(&bResp);
|
|
|
|
#ifdef UA_ENABLE_SUBSCRIPTIONS
|
|
// Create a subscription with interval 0 (immediate)...
|
|
UA_UInt32 subId=0;
|
|
UA_Client_Subscriptions_new(client, UA_SubscriptionSettings_standard, &subId);
|
|
if(subId)
|
|
printf("Create subscription succeeded, id %u\n", subId);
|
|
|
|
// .. and monitor TheAnswer
|
|
UA_NodeId monitorThis = UA_NODEID_STRING(1, "the.answer");
|
|
UA_UInt32 monId=0;
|
|
UA_Client_Subscriptions_addMonitoredItem(client, subId, monitorThis,
|
|
UA_ATTRIBUTEID_VALUE, &handler_TheAnswerChanged, NULL, &monId);
|
|
if (monId)
|
|
printf("Monitoring 'the.answer', id %u\n", subId);
|
|
|
|
// First Publish always generates data (current value) and call out handler.
|
|
UA_Client_Subscriptions_manuallySendPublishRequest(client);
|
|
|
|
// This should not generate anything
|
|
UA_Client_Subscriptions_manuallySendPublishRequest(client);
|
|
#endif
|
|
|
|
UA_Int32 value = 0;
|
|
// Read node's value
|
|
printf("\nReading the value of node (1, \"the.answer\"):\n");
|
|
UA_ReadRequest rReq;
|
|
UA_ReadRequest_init(&rReq);
|
|
rReq.nodesToRead = UA_Array_new(1, &UA_TYPES[UA_TYPES_READVALUEID]);
|
|
rReq.nodesToReadSize = 1;
|
|
rReq.nodesToRead[0].nodeId = UA_NODEID_STRING_ALLOC(1, "the.answer"); /* assume this node exists */
|
|
rReq.nodesToRead[0].attributeId = UA_ATTRIBUTEID_VALUE;
|
|
|
|
UA_ReadResponse rResp = UA_Client_Service_read(client, rReq);
|
|
if(rResp.responseHeader.serviceResult == UA_STATUSCODE_GOOD &&
|
|
rResp.resultsSize > 0 && rResp.results[0].hasValue &&
|
|
UA_Variant_isScalar(&rResp.results[0].value) &&
|
|
rResp.results[0].value.type == &UA_TYPES[UA_TYPES_INT32]) {
|
|
value = *(UA_Int32*)rResp.results[0].value.data;
|
|
printf("the value is: %i\n", value);
|
|
}
|
|
|
|
UA_ReadRequest_deleteMembers(&rReq);
|
|
UA_ReadResponse_deleteMembers(&rResp);
|
|
|
|
value++;
|
|
// Write node's value
|
|
printf("\nWriting a value of node (1, \"the.answer\"):\n");
|
|
UA_WriteRequest wReq;
|
|
UA_WriteRequest_init(&wReq);
|
|
wReq.nodesToWrite = UA_WriteValue_new();
|
|
wReq.nodesToWriteSize = 1;
|
|
wReq.nodesToWrite[0].nodeId = UA_NODEID_STRING_ALLOC(1, "the.answer"); /* assume this node exists */
|
|
wReq.nodesToWrite[0].attributeId = UA_ATTRIBUTEID_VALUE;
|
|
wReq.nodesToWrite[0].value.hasValue = true;
|
|
wReq.nodesToWrite[0].value.value.type = &UA_TYPES[UA_TYPES_INT32];
|
|
wReq.nodesToWrite[0].value.value.storageType = UA_VARIANT_DATA_NODELETE; //do not free the integer on deletion
|
|
wReq.nodesToWrite[0].value.value.data = &value;
|
|
|
|
UA_WriteResponse wResp = UA_Client_Service_write(client, wReq);
|
|
if(wResp.responseHeader.serviceResult == UA_STATUSCODE_GOOD)
|
|
printf("the new value is: %i\n", value);
|
|
UA_WriteRequest_deleteMembers(&wReq);
|
|
UA_WriteResponse_deleteMembers(&wResp);
|
|
|
|
#ifdef UA_ENABLE_SUBSCRIPTIONS
|
|
// Take another look at the.answer... this should call the handler.
|
|
UA_Client_Subscriptions_manuallySendPublishRequest(client);
|
|
|
|
// Delete our subscription (which also unmonitors all items)
|
|
if(!UA_Client_Subscriptions_remove(client, subId))
|
|
printf("Subscription removed\n");
|
|
#endif
|
|
|
|
#ifdef UA_ENABLE_METHODCALLS
|
|
/* Note: This example requires Namespace 0 Node 11489 (ServerType -> GetMonitoredItems)
|
|
FIXME: Provide a namespace 0 independant example on the server side
|
|
*/
|
|
UA_Variant input;
|
|
UA_String argString = UA_STRING("Hello Server");
|
|
UA_Variant_init(&input);
|
|
UA_Variant_setScalarCopy(&input, &argString, &UA_TYPES[UA_TYPES_STRING]);
|
|
|
|
size_t outputSize;
|
|
UA_Variant *output;
|
|
retval = UA_Client_call(client, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
|
|
UA_NODEID_NUMERIC(1, 62541), 1, &input, &outputSize, &output);
|
|
if(retval == UA_STATUSCODE_GOOD) {
|
|
printf("Method call was successfull, and %zu returned values available.\n", outputSize);
|
|
UA_Array_delete(output, outputSize, &UA_TYPES[UA_TYPES_VARIANT]);
|
|
} else {
|
|
printf("Method call was unsuccessfull, and %x returned values available.\n", retval);
|
|
}
|
|
UA_Variant_deleteMembers(&input);
|
|
|
|
#endif
|
|
|
|
#ifdef UA_ENABLE_NODEMANAGEMENT
|
|
/* New ReferenceType */
|
|
UA_NodeId ref_id;
|
|
UA_ReferenceTypeAttributes ref_attr;
|
|
UA_ReferenceTypeAttributes_init(&ref_attr);
|
|
ref_attr.displayName = UA_LOCALIZEDTEXT("en_US", "NewReference");
|
|
ref_attr.description = UA_LOCALIZEDTEXT("en_US", "References something that might or might not exist");
|
|
ref_attr.inverseName = UA_LOCALIZEDTEXT("en_US", "IsNewlyReferencedBy");
|
|
retval = UA_Client_addReferenceTypeNode(client,
|
|
UA_NODEID_NUMERIC(1, 12133),
|
|
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
|
|
UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
|
|
UA_QUALIFIEDNAME(1, "NewReference"),
|
|
ref_attr, &ref_id);
|
|
if(retval == UA_STATUSCODE_GOOD )
|
|
printf("Created 'NewReference' with numeric NodeID %u\n", ref_id.identifier.numeric);
|
|
|
|
/* New ObjectType */
|
|
UA_NodeId objt_id;
|
|
UA_ObjectTypeAttributes objt_attr;
|
|
UA_ObjectTypeAttributes_init(&objt_attr);
|
|
objt_attr.displayName = UA_LOCALIZEDTEXT("en_US", "TheNewObjectType");
|
|
objt_attr.description = UA_LOCALIZEDTEXT("en_US", "Put innovative description here");
|
|
retval = UA_Client_addObjectTypeNode(client,
|
|
UA_NODEID_NUMERIC(1, 12134),
|
|
UA_NODEID_NUMERIC(0, UA_NS0ID_BASEOBJECTTYPE),
|
|
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
|
|
UA_QUALIFIEDNAME(1, "NewObjectType"),
|
|
objt_attr, &objt_id);
|
|
if(retval == UA_STATUSCODE_GOOD)
|
|
printf("Created 'NewObjectType' with numeric NodeID %u\n", objt_id.identifier.numeric);
|
|
|
|
/* New Object */
|
|
UA_NodeId obj_id;
|
|
UA_ObjectAttributes obj_attr;
|
|
UA_ObjectAttributes_init(&obj_attr);
|
|
obj_attr.displayName = UA_LOCALIZEDTEXT("en_US", "TheNewGreatNode");
|
|
obj_attr.description = UA_LOCALIZEDTEXT("de_DE", "Hier koennte Ihre Webung stehen!");
|
|
retval = UA_Client_addObjectNode(client,
|
|
UA_NODEID_NUMERIC(1, 0),
|
|
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
|
|
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
|
|
UA_QUALIFIEDNAME(1, "TheGreatNode"),
|
|
UA_NODEID_NUMERIC(1, 12134),
|
|
obj_attr, &obj_id);
|
|
if(retval == UA_STATUSCODE_GOOD )
|
|
printf("Created 'NewObject' with numeric NodeID %u\n", obj_id.identifier.numeric);
|
|
|
|
/* New Integer Variable */
|
|
UA_NodeId var_id;
|
|
UA_VariableAttributes var_attr;
|
|
UA_VariableAttributes_init(&var_attr);
|
|
var_attr.displayName = UA_LOCALIZEDTEXT("en_US", "TheNewVariableNode");
|
|
var_attr.description =
|
|
UA_LOCALIZEDTEXT("en_US", "This integer is just amazing - it has digits and everything.");
|
|
UA_Int32 int_value = 1234;
|
|
/* This does not copy the value */
|
|
UA_Variant_setScalar(&var_attr.value, &int_value, &UA_TYPES[UA_TYPES_INT32]);
|
|
var_attr.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
|
|
retval = UA_Client_addVariableNode(client,
|
|
UA_NODEID_NUMERIC(1, 0), // Assign new/random NodeID
|
|
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
|
|
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
|
|
UA_QUALIFIEDNAME(0, "VariableNode"),
|
|
UA_NODEID_NULL, // no variable type
|
|
var_attr, &var_id);
|
|
if(retval == UA_STATUSCODE_GOOD )
|
|
printf("Created 'NewVariable' with numeric NodeID %u\n", var_id.identifier.numeric);
|
|
#endif
|
|
UA_Client_disconnect(client);
|
|
UA_Client_delete(client);
|
|
return UA_STATUSCODE_GOOD;
|
|
}
|
|
|