| /* 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 Variables to a Server |
| * ---------------------------- |
| * |
| * This tutorial shows how to work with data types and how to add variable nodes |
| * to a server. First, we add a new variable to the server. Take a look at the |
| * definition of the ``UA_VariableAttributes`` structure to see the list of all |
| * attributes defined for VariableNodes. |
| * |
| * Note that the default settings have the AccessLevel of the variable value as |
| * read only. See below for making the variable writable. |
| */ |
| |
| #include <open62541/plugin/log_stdout.h> |
| #include <open62541/server.h> |
| #include <open62541/server_config_default.h> |
| |
| #include <signal.h> |
| #include <stdlib.h> |
| |
| static void |
| addVariable(UA_Server *server) { |
| /* Define the attribute of the myInteger variable node */ |
| UA_VariableAttributes attr = UA_VariableAttributes_default; |
| UA_Int32 myInteger = 42; |
| UA_Variant_setScalar(&attr.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]); |
| attr.description = UA_LOCALIZEDTEXT("en-US","the answer"); |
| attr.displayName = UA_LOCALIZEDTEXT("en-US","the answer"); |
| attr.dataType = UA_TYPES[UA_TYPES_INT32].typeId; |
| attr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE; |
| |
| /* Add the variable node to the information model */ |
| UA_NodeId myIntegerNodeId = UA_NODEID_STRING(1, "the.answer"); |
| UA_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, "the answer"); |
| UA_NodeId parentNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER); |
| UA_NodeId parentReferenceNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES); |
| UA_Server_addVariableNode(server, myIntegerNodeId, parentNodeId, |
| parentReferenceNodeId, myIntegerName, |
| UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE), attr, NULL, NULL); |
| } |
| |
| static void |
| addMatrixVariable(UA_Server *server) { |
| UA_VariableAttributes attr = UA_VariableAttributes_default; |
| attr.displayName = UA_LOCALIZEDTEXT("en-US", "Double Matrix"); |
| attr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE; |
| |
| /* Set the variable value constraints */ |
| attr.dataType = UA_TYPES[UA_TYPES_DOUBLE].typeId; |
| attr.valueRank = UA_VALUERANK_TWO_DIMENSIONS; |
| UA_UInt32 arrayDims[2] = {2,2}; |
| attr.arrayDimensions = arrayDims; |
| attr.arrayDimensionsSize = 2; |
| |
| /* Set the value. The array dimensions need to be the same for the value. */ |
| UA_Double zero[4] = {0.0, 0.0, 0.0, 0.0}; |
| UA_Variant_setArray(&attr.value, zero, 4, &UA_TYPES[UA_TYPES_DOUBLE]); |
| attr.value.arrayDimensions = arrayDims; |
| attr.value.arrayDimensionsSize = 2; |
| |
| UA_NodeId myIntegerNodeId = UA_NODEID_STRING(1, "double.matrix"); |
| UA_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, "double matrix"); |
| UA_NodeId parentNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER); |
| UA_NodeId parentReferenceNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES); |
| UA_Server_addVariableNode(server, myIntegerNodeId, parentNodeId, |
| parentReferenceNodeId, myIntegerName, |
| UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE), |
| attr, NULL, NULL); |
| } |
| |
| /** |
| * Now we change the value with the write service. This uses the same service |
| * implementation that can also be reached over the network by an OPC UA client. |
| */ |
| |
| static void |
| writeVariable(UA_Server *server) { |
| UA_NodeId myIntegerNodeId = UA_NODEID_STRING(1, "the.answer"); |
| |
| /* Write a different integer value */ |
| UA_Int32 myInteger = 43; |
| UA_Variant myVar; |
| UA_Variant_init(&myVar); |
| UA_Variant_setScalar(&myVar, &myInteger, &UA_TYPES[UA_TYPES_INT32]); |
| UA_Server_writeValue(server, myIntegerNodeId, myVar); |
| |
| /* Set the status code of the value to an error code. The function |
| * UA_Server_write provides access to the raw service. The above |
| * UA_Server_writeValue is syntactic sugar for writing a specific node |
| * attribute with the write service. */ |
| UA_WriteValue wv; |
| UA_WriteValue_init(&wv); |
| wv.nodeId = myIntegerNodeId; |
| wv.attributeId = UA_ATTRIBUTEID_VALUE; |
| wv.value.status = UA_STATUSCODE_BADNOTCONNECTED; |
| wv.value.hasStatus = true; |
| UA_Server_write(server, &wv); |
| |
| /* Reset the variable to a good statuscode with a value */ |
| wv.value.hasStatus = false; |
| wv.value.value = myVar; |
| wv.value.hasValue = true; |
| UA_Server_write(server, &wv); |
| } |
| |
| /** |
| * Note how we initially set the DataType attribute of the variable node to the |
| * NodeId of the Int32 data type. This forbids writing values that are not an |
| * Int32. The following code shows how this consistency check is performed for |
| * every write. |
| */ |
| |
| static void |
| writeWrongVariable(UA_Server *server) { |
| UA_NodeId myIntegerNodeId = UA_NODEID_STRING(1, "the.answer"); |
| |
| /* Write a string */ |
| UA_String myString = UA_STRING("test"); |
| UA_Variant myVar; |
| UA_Variant_init(&myVar); |
| UA_Variant_setScalar(&myVar, &myString, &UA_TYPES[UA_TYPES_STRING]); |
| UA_StatusCode retval = UA_Server_writeValue(server, myIntegerNodeId, myVar); |
| printf("Writing a string returned statuscode %s\n", UA_StatusCode_name(retval)); |
| } |
| |
| /** It follows the main server code, making use of the above definitions. */ |
| |
| static volatile 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_Server *server = UA_Server_new(); |
| UA_ServerConfig_setDefault(UA_Server_getConfig(server)); |
| UA_ServerConfig* config = UA_Server_getConfig(server); |
| config->verifyRequestTimestamp = UA_RULEHANDLING_ACCEPT; |
| #ifdef UA_ENABLE_WEBSOCKET_SERVER |
| UA_ServerConfig_addNetworkLayerWS(UA_Server_getConfig(server), 7681, 0, 0); |
| #endif |
| |
| addVariable(server); |
| addMatrixVariable(server); |
| writeVariable(server); |
| writeWrongVariable(server); |
| |
| UA_StatusCode retval = UA_Server_run(server, &running); |
| |
| UA_Server_delete(server); |
| return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE; |
| } |