Inclusion of MOD IO digital input reading functions

Test: Program is tested locally with laptop.

        modified:   server.c

coupler/opc-ua-server/server.c

@@ -144,11 +144,9 @@ static int setRelayState(int command, int i2c_addr) {
 
     // step 3: write command over I2c
     __u8 reg = 0x10; /* Device register to access */
-    __s32 res;
     char buf[10];
     buf[0] = reg;
     buf[1] = command; //0x00 -all off, 0x0F - all 4 on
-    buf[2] = 0x65; // seems irrelevant the value
     if (write(file, buf, 3) != 3) {
         /* ERROR HANDLING: i2c transaction failed */
         printf("Error writing to i2c slave (0x%x).\n", i2c_addr); 
@@ -156,6 +154,51 @@ static int setRelayState(int command, int i2c_addr) {
     close(file);
 }
 
+static int getDigitalInputState( int i2c_addr, char **digital_input) {
+    /*
+     *  get digital input state over I2C
+     */
+    int file;
+    char filename[20];
+    if(I2C_VIRTUAL_MODE){
+      // we're in a virtual mode, likely on x86 platform or without I2C support
+      // simply do nothing
+      return 0;
+    }
+
+    // step 1: open device
+    file = open(I2C_BLOCK_DEVICE_NAME, O_RDWR);
+    if (file < 0) {
+        /* ERROR HANDLING; you can check errno to see what went wrong */
+        printf("Error opening i2c device (0x%x).\n", i2c_addr);
+        exit(1);
+    }
+
+    // step 2: address the slave by its address 
+    if (ioctl(file, I2C_SLAVE, i2c_addr) < 0) {
+        /* ERROR HANDLING; you can check errno to see what went wrong */
+        printf("Error addressing i2c slave (0x%x).\n", i2c_addr);
+        exit(1);
+    }
+
+    // step 3: write command over I2c
+    __u8 read_reg = 0x20; /* Device register to access */
+    char read_buf[2];
+    read_buf[0] = read_reg;
+    if (write(file, read_buf, 1) != 1) {
+        /* ERROR HANDLING: i2c transaction failed */
+        printf("Error writing to i2c slave (0x%x).\n", i2c_addr); 
+    }
+    if (read(file, read_buf, 1) != 1) {
+        /* ERROR HANDLING: i2c transaction failed */
+        printf("Error reading digital input from i2c slave (0x%x).\n", i2c_addr);
+    } else {
+    /* read_buf[0] contains the read byte */
+    *digital_input=&read_buf[0];
+  }
+    close(file);
+}
+
 void addIntegerVariableNode(UA_Server *server, char *node_id, char *node_description) {
     UA_Int32 myInteger = 0;
     UA_NodeId parentNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
@@ -175,6 +218,25 @@ void addIntegerVariableNode(UA_Server *server, char *node_id, char *node_descrip
  
 }
 
+void addIntegerVariableReadNode(UA_Server *server, char *node_id, char *node_description) {
+    UA_Int32 myInteger = 0;
+    UA_NodeId parentNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
+    UA_NodeId parentReferenceNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
+    
+    UA_VariableAttributes attr0 = UA_VariableAttributes_default;
+    UA_Variant_setScalar(&attr0.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
+    attr0.description = UA_LOCALIZEDTEXT("en-US", node_description);
+    attr0.displayName = UA_LOCALIZEDTEXT("en-US", node_description);
+    attr0.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
+    attr0.accessLevel = UA_ACCESSLEVELMASK_READ;
+    UA_NodeId myIntegerNodeId0 = UA_NODEID_STRING(1, node_id);
+    UA_QualifiedName myIntegerName0 = UA_QUALIFIEDNAME(1, node_description);
+    UA_Server_addVariableNode(server, myIntegerNodeId0, parentNodeId,
+                              parentReferenceNodeId, myIntegerName0,
+                              UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE), attr0, NULL, NULL);
+ 
+}
+
 static void addVariable(UA_Server *server) {
     /* 
      * Create all variables representing MOD-IO's relays
@@ -186,6 +248,10 @@ static void addVariable(UA_Server *server) {
         addIntegerVariableNode(server, "i2c0.relay1", "I2C0 / Relay 1");
         addIntegerVariableNode(server, "i2c0.relay2", "I2C0 / Relay 2");
         addIntegerVariableNode(server, "i2c0.relay3", "I2C0 / Relay 3");
+        addIntegerVariableReadNode(server, "i2c0.in0", "I2C0 / Digital Input 0");
+        addIntegerVariableReadNode(server, "i2c0.in1", "I2C0 / Digital Input 1");
+        addIntegerVariableReadNode(server, "i2c0.in2", "I2C0 / Digital Input 2");
+        addIntegerVariableReadNode(server, "i2c0.in3", "I2C0 / Digital Input 3");
     }
     if (length>=2) {
         // IC2-1
@@ -193,6 +259,10 @@ static void addVariable(UA_Server *server) {
         addIntegerVariableNode(server, "i2c1.relay1", "I2C1 / Relay 1");
         addIntegerVariableNode(server, "i2c1.relay2", "I2C1 / Relay 2");
         addIntegerVariableNode(server, "i2c1.relay3", "I2C1 / Relay 3");
+        addIntegerVariableReadNode(server, "i2c1.in0", "I2C1 / Digital Input 0");
+        addIntegerVariableReadNode(server, "i2c1.in1", "I2C1 / Digital Input 1");
+        addIntegerVariableReadNode(server, "i2c1.in2", "I2C1 / Digital Input 2");
+        addIntegerVariableReadNode(server, "i2c1.in3", "I2C1 / Digital Input 3");
     }
 }
 
@@ -203,6 +273,155 @@ static void beforeReadTime(UA_Server *server,
                const UA_NodeId *sessionId, void *sessionContext,
                const UA_NodeId *nodeid, void *nodeContext,
                const UA_NumericRange *range, const UA_DataValue *data) {
+   
+}
+static void beforeReadTimeI2C0In0(UA_Server *server,
+               const UA_NodeId *sessionId, void *sessionContext,
+               const UA_NodeId *nodeid, void *nodeContext,
+               const UA_NumericRange *range, const UA_DataValue *data) {
+                   int addr = I2C_SLAVE_ADDR_LIST[0];
+                   char *data_input=0;
+                   getDigitalInputState( addr, &data_input);
+                   if ((*data_input) & (1UL << 0)){
+                       if (data->value.type == &UA_TYPES[UA_TYPES_INT32]) {
+                            *(UA_Int32 *)data->value.data = 1;
+                       }
+                   } else {
+                       if (data->value.type == &UA_TYPES[UA_TYPES_INT32]) {
+                            *(UA_Int32 *)data->value.data = 0;
+                       }
+                   }
+}
+
+static void beforeReadTimeI2C0In1(UA_Server *server,
+               const UA_NodeId *sessionId, void *sessionContext,
+               const UA_NodeId *nodeid, void *nodeContext,
+               const UA_NumericRange *range, const UA_DataValue *data) {
+                   int addr = I2C_SLAVE_ADDR_LIST[0];
+                   char *data_input=0;
+                   getDigitalInputState( addr, &data_input);
+                   if ((*data_input) & (1UL << 1)){
+                       if (data->value.type == &UA_TYPES[UA_TYPES_INT32]) {
+                            *(UA_Int32 *)data->value.data = 1;
+                       }
+                   } else {
+                       if (data->value.type == &UA_TYPES[UA_TYPES_INT32]) {
+                            *(UA_Int32 *)data->value.data = 0;
+                       }
+                   }
+}
+
+static void beforeReadTimeI2C0In2(UA_Server *server,
+               const UA_NodeId *sessionId, void *sessionContext,
+               const UA_NodeId *nodeid, void *nodeContext,
+               const UA_NumericRange *range, const UA_DataValue *data) {
+                   int addr = I2C_SLAVE_ADDR_LIST[0];
+                   char *data_input=0;
+                   getDigitalInputState( addr, &data_input);
+                   if ((*data_input) & (1UL << 2)){
+                       if (data->value.type == &UA_TYPES[UA_TYPES_INT32]) {
+                            *(UA_Int32 *)data->value.data = 1;
+                       }
+                   } else {
+                       if (data->value.type == &UA_TYPES[UA_TYPES_INT32]) {
+                            *(UA_Int32 *)data->value.data = 0;
+                       }
+                   }
+}
+
+static void beforeReadTimeI2C0In3(UA_Server *server,
+               const UA_NodeId *sessionId, void *sessionContext,
+               const UA_NodeId *nodeid, void *nodeContext,
+               const UA_NumericRange *range, const UA_DataValue *data) {
+                   int addr = I2C_SLAVE_ADDR_LIST[0];
+                   char *data_input=0;
+                   getDigitalInputState( addr, &data_input);
+                   if ((*data_input) & (1UL << 3)){
+                       if (data->value.type == &UA_TYPES[UA_TYPES_INT32]) {
+                            *(UA_Int32 *)data->value.data = 1;
+                       }
+                   } else {
+                       if (data->value.type == &UA_TYPES[UA_TYPES_INT32]) {
+                            *(UA_Int32 *)data->value.data = 0;
+                       }
+                   }
+}
+static void beforeReadTimeI2C1In0(UA_Server *server,
+               const UA_NodeId *sessionId, void *sessionContext,
+               const UA_NodeId *nodeid, void *nodeContext,
+               const UA_NumericRange *range, const UA_DataValue *data) {
+                   int addr = I2C_SLAVE_ADDR_LIST[0];
+                   char *data_input=0;
+                   getDigitalInputState( addr, &data_input);
+                   if ((*data_input) & (1UL << 0)){
+                       if (data->value.type == &UA_TYPES[UA_TYPES_INT32]) {
+                            *(UA_Int32 *)data->value.data = 1;
+                       }
+                   } else {
+                       if (data->value.type == &UA_TYPES[UA_TYPES_INT32]) {
+                            *(UA_Int32 *)data->value.data = 0;
+                       }
+                   }
+}
+
+static void beforeReadTimeI2C1In1(UA_Server *server,
+               const UA_NodeId *sessionId, void *sessionContext,
+               const UA_NodeId *nodeid, void *nodeContext,
+               const UA_NumericRange *range, const UA_DataValue *data) {
+                   int addr = I2C_SLAVE_ADDR_LIST[0];
+                   char *data_input=0;
+                   getDigitalInputState( addr, &data_input);
+                   if ((*data_input) & (1UL << 1)){
+                       if (data->value.type == &UA_TYPES[UA_TYPES_INT32]) {
+                            *(UA_Int32 *)data->value.data = 1;
+                       }
+                   } else {
+                       if (data->value.type == &UA_TYPES[UA_TYPES_INT32]) {
+                            *(UA_Int32 *)data->value.data = 0;
+                       }
+                   }
+}
+
+static void beforeReadTimeI2C1In2(UA_Server *server,
+               const UA_NodeId *sessionId, void *sessionContext,
+               const UA_NodeId *nodeid, void *nodeContext,
+               const UA_NumericRange *range, const UA_DataValue *data) {
+                   int addr = I2C_SLAVE_ADDR_LIST[0];
+                   char *data_input=0;
+                   getDigitalInputState( addr, &data_input);
+                   if ((*data_input) & (1UL << 2)){
+                       if (data->value.type == &UA_TYPES[UA_TYPES_INT32]) {
+                            *(UA_Int32 *)data->value.data = 1;
+                       }
+                   } else {
+                       if (data->value.type == &UA_TYPES[UA_TYPES_INT32]) {
+                            *(UA_Int32 *)data->value.data = 0;
+                       }
+                   }
+}
+
+static void beforeReadTimeI2C1In3(UA_Server *server,
+               const UA_NodeId *sessionId, void *sessionContext,
+               const UA_NodeId *nodeid, void *nodeContext,
+               const UA_NumericRange *range, const UA_DataValue *data) {
+                   int addr = I2C_SLAVE_ADDR_LIST[0];
+                   char *data_input=0;
+                   getDigitalInputState( addr, &data_input);
+                   if ((*data_input) & (1UL << 3)){
+                       if (data->value.type == &UA_TYPES[UA_TYPES_INT32]) {
+                            *(UA_Int32 *)data->value.data = 1;
+                       }
+                   } else {
+                       if (data->value.type == &UA_TYPES[UA_TYPES_INT32]) {
+                            *(UA_Int32 *)data->value.data = 0;
+                       }
+                   }
+}
+
+static void afterWriteTime(UA_Server *server,
+               const UA_NodeId *sessionId, void *sessionContext,
+               const UA_NodeId *nodeId, void *nodeContext,
+               const UA_NumericRange *range, const UA_DataValue *data) {
                 // nothing to do as not yet needed.
 }
 
@@ -386,35 +605,91 @@ static void addValueCallbackToCurrentTimeVariable(UA_Server *server) {
     callback3.onWrite = afterWriteTimeI2C0_3;
     UA_Server_setVariableNode_valueCallback(server, currentNodeId3, callback3);
 
-    if(length > 1){
-        // I2C1
-        // relay 0
-        UA_NodeId currentNodeId4 = UA_NODEID_STRING(1, "i2c1.relay0");
+    // Digital input 0
+    UA_NodeId currentNodeId4 = UA_NODEID_STRING(1, "i2c0.in0");
     UA_ValueCallback callback4;
-        callback4.onRead = beforeReadTime;
-        callback4.onWrite = afterWriteTimeI2C1_0;
+    callback4.onRead = beforeReadTimeI2C0In0;
+    callback4.onWrite = afterWriteTime;
     UA_Server_setVariableNode_valueCallback(server, currentNodeId4, callback4);
 
-        // relay 1
-        UA_NodeId currentNodeId5 = UA_NODEID_STRING(1, "i2c1.relay1");
+    // Digital input 1
+    UA_NodeId currentNodeId5 = UA_NODEID_STRING(1, "i2c0.in1");
     UA_ValueCallback callback5;
-        callback5.onRead = beforeReadTime;
-        callback5.onWrite = afterWriteTimeI2C1_1;
+    callback5.onRead = beforeReadTimeI2C0In1;
+    callback5.onWrite = afterWriteTime;
     UA_Server_setVariableNode_valueCallback(server, currentNodeId5, callback5);
 
-        // relay 2
-        UA_NodeId currentNodeId6 = UA_NODEID_STRING(1, "i2c1.relay2");
+    // Digital input 2
+    UA_NodeId currentNodeId6 = UA_NODEID_STRING(1, "i2c0.in2");
     UA_ValueCallback callback6;
-        callback6.onRead = beforeReadTime;
-        callback6.onWrite = afterWriteTimeI2C1_2;
+    callback6.onRead = beforeReadTimeI2C0In2;
+    callback6.onWrite = afterWriteTime;
     UA_Server_setVariableNode_valueCallback(server, currentNodeId6, callback6);
 
-        // relay 2
-        UA_NodeId currentNodeId7 = UA_NODEID_STRING(1, "i2c1.relay3");
+    // Digital input 3
+    UA_NodeId currentNodeId7 = UA_NODEID_STRING(1, "i2c0.in3");
     UA_ValueCallback callback7;
-        callback7.onRead = beforeReadTime;
-        callback7.onWrite = afterWriteTimeI2C1_3;
+    callback7.onRead = beforeReadTimeI2C0In3;
+    callback7.onWrite = afterWriteTime;
     UA_Server_setVariableNode_valueCallback(server, currentNodeId7, callback7);
+
+    if(length > 1){
+        // I2C1
+        // relay 0
+        UA_NodeId currentNodeId8 = UA_NODEID_STRING(1, "i2c1.relay0");
+        UA_ValueCallback callback8;
+        callback8.onRead = beforeReadTime;
+        callback8.onWrite = afterWriteTimeI2C1_0;
+        UA_Server_setVariableNode_valueCallback(server, currentNodeId8, callback8);
+    
+        // relay 1
+        UA_NodeId currentNodeId9 = UA_NODEID_STRING(1, "i2c1.relay1");
+        UA_ValueCallback callback9;
+        callback9.onRead = beforeReadTime;
+        callback9.onWrite = afterWriteTimeI2C1_1;
+        UA_Server_setVariableNode_valueCallback(server, currentNodeId9, callback9);
+    
+        // relay 2
+        UA_NodeId currentNodeId10 = UA_NODEID_STRING(1, "i2c1.relay2");
+        UA_ValueCallback callback10;
+        callback10.onRead = beforeReadTime;
+        callback10.onWrite = afterWriteTimeI2C1_2;
+        UA_Server_setVariableNode_valueCallback(server, currentNodeId6, callback10);
+    
+        // relay 2
+        UA_NodeId currentNodeId11 = UA_NODEID_STRING(1, "i2c1.relay3");
+        UA_ValueCallback callback11;
+        callback11.onRead = beforeReadTime;
+        callback11.onWrite = afterWriteTimeI2C1_3;
+        UA_Server_setVariableNode_valueCallback(server, currentNodeId11, callback11);
+
+        // Digital input 0
+        UA_NodeId currentNodeId12 = UA_NODEID_STRING(1, "i2c1.in0");
+        UA_ValueCallback callback12;
+        callback12.onRead = beforeReadTimeI2C1In0;
+        callback12.onWrite = afterWriteTime;
+        UA_Server_setVariableNode_valueCallback(server, currentNodeId12, callback12);
+
+        // Digital input 1
+        UA_NodeId currentNodeId13 = UA_NODEID_STRING(1, "i2c1.in1");
+        UA_ValueCallback callback13;
+        callback13.onRead = beforeReadTimeI2C1In1;
+        callback13.onWrite = afterWriteTime;
+        UA_Server_setVariableNode_valueCallback(server, currentNodeId13, callback13);
+
+        // Digital input 2
+        UA_NodeId currentNodeId14 = UA_NODEID_STRING(1, "i2c1.in2");
+        UA_ValueCallback callback14;
+        callback14.onRead = beforeReadTimeI2C1In2;
+        callback14.onWrite = afterWriteTime;
+        UA_Server_setVariableNode_valueCallback(server, currentNodeId14, callback14);
+
+        // Digital input 3
+        UA_NodeId currentNodeId15 = UA_NODEID_STRING(1, "i2c1.in3");
+        UA_ValueCallback callback15;
+        callback15.onRead = beforeReadTimeI2C1In3;
+        callback15.onWrite = afterWriteTime;
+        UA_Server_setVariableNode_valueCallback(server, currentNodeId15, callback15);
     }
     
 }