WIP: Add 3 Pub/Sub variables.

coupler/opc-ua-server/keep_alive.h

@@ -112,3 +112,42 @@ static void addDataSetWriter(UA_Server *server) {
     UA_Server_addDataSetWriter(server, writerGroupIdent, publishedDataSetIdent,
                                &dataSetWriterConfig, &dataSetWriterIdent);
 }
+
+// XXX: work of LEO which to integrate above
+
+typedef struct PublishedVariable {
+    char *name;
+    char *description;
+    void * UA_RESTRICT pdefaultValue;
+    UA_DataType type;
+} PublishedVariable;
+
+static void addPubSubVariable(UA_Server *server, PublishedVariable varDetails) {
+    UA_VariableAttributes attr = UA_VariableAttributes_default;
+    UA_Variant_setScalar(&attr.value, varDetails.pdefaultValue, &varDetails.type);
+    attr.description = UA_LOCALIZEDTEXT("en-US", varDetails.description);
+    attr.displayName = UA_LOCALIZEDTEXT("en-US", varDetails.description);
+    attr.dataType = varDetails.type.typeId;
+    attr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
+
+    UA_Server_addVariableNode(server, UA_NODEID_STRING(1, varDetails.name),
+                                      UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
+                                      UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
+                                      UA_QUALIFIEDNAME(1, varDetails.description),
+                                      UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
+                                      attr, NULL, NULL);
+}
+
+static void addPubSubDataSetField(UA_Server *server, PublishedVariable varDetails) {
+    UA_NodeId dataSetFieldIdent;
+    UA_DataSetFieldConfig dataSetFieldConfig;
+    memset(&dataSetFieldConfig, 0, sizeof(UA_DataSetFieldConfig));
+    dataSetFieldConfig.dataSetFieldType = UA_PUBSUB_DATASETFIELD_VARIABLE;
+    dataSetFieldConfig.field.variable.fieldNameAlias = UA_STRING(varDetails.description);
+    dataSetFieldConfig.field.variable.promotedField = UA_FALSE;
+    dataSetFieldConfig.field.variable.publishParameters.publishedVariable =
+    UA_NODEID_STRING(1, varDetails.name);
+    dataSetFieldConfig.field.variable.publishParameters.attributeId = UA_ATTRIBUTEID_VALUE;
+    UA_Server_addDataSetField(server, publishedDataSetIdent,
+                              &dataSetFieldConfig, &dataSetFieldIdent);
+}

coupler/opc-ua-server/server.c

@@ -34,6 +34,8 @@
 #include <open62541/plugin/pubsub_ethernet.h>
 #include <open62541/plugin/pubsub_udp.h>
 
+#define countof(a) (sizeof(a)/sizeof(*(a)))
+
 // The default port of OPC-UA server
 const int DEFAULT_OPC_UA_PORT = 4840;
 const int DEFAULT_MODE = 0;
@@ -226,6 +228,29 @@ int main(int argc, char **argv)
     #endif
 
     // enable keep-alive
+    UA_Float defaultFloat = 0;
+    UA_Double defaultDouble = 0;
+    const PublishedVariable publishedVariableArray[] = {
+        {
+            .name = "lattitude",
+            .description = "Lattitude",
+            .pdefaultValue = &defaultDouble,
+            .type = UA_TYPES[UA_TYPES_DOUBLE],
+        },
+        {
+            .name = "longitude",
+            .description = "Longitude",
+            .pdefaultValue = &defaultDouble,
+            .type = UA_TYPES[UA_TYPES_DOUBLE],
+        },
+        {
+            .name = "altitude",
+            .description = "Altitude",
+            .pdefaultValue = &defaultFloat,
+            .type = UA_TYPES[UA_TYPES_FLOAT],
+        },
+    };
+
     UA_String transportProfile =
         UA_STRING("http://opcfoundation.org/UA-Profile/Transport/pubsub-udp-uadp");
     UA_NetworkAddressUrlDataType networkAddressUrl =
@@ -238,7 +263,11 @@ int main(int argc, char **argv)
 
     addPubSubConnection(server, &transportProfile, &networkAddressUrl);
     addPublishedDataSet(server);
-    addDataSetField(server);
+    //addDataSetField(server);
+    for(i = 0; i < countof(publishedVariableArray); i++) {
+        addPubSubVariable(server, publishedVariableArray[i]);
+        addPubSubDataSetField(server, publishedVariableArray[i]);
+    }
     addWriterGroup(server);
     addDataSetWriter(server);