wip

coupler/opc-ua-server/build.sh

+#!/bin/bash
+# build OPC UA server which publishes msgs
+gcc -I /usr/local/include/ -std=c99 server.c -o server_publish -l:libopen62541.so -L/usr/local/lib -lmbedcrypto  -lmbedx509
+
+# build OPC Ua server which subscribes to msgs
+gcc -o server_subscribe -I /usr/local/include/ -std=c99 server_subscribe.c -l:libopen62541.so -L/usr/local/lib -I ~/open62541/src/pubsub/  -I ~/open62541/deps/
+

coupler/opc-ua-server/server_subscribe.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.
+ *
+ * Copyright (c) 2019 Kalycito Infotech Private Limited
+ */
+
+/**
+ * .. _pubsub-subscribe-tutorial:
+ *
+ * **IMPORTANT ANNOUNCEMENT**
+ *
+ * The PubSub Subscriber API is currently not finished. This Tutorial will be
+ * continuously extended during the next PubSub batches. More details about the
+ * PubSub extension and corresponding open62541 API are located here: :ref:`pubsub`.
+ *
+ * Subscribing Fields
+ * ^^^^^^^^^^^^^^^^^^
+ * The PubSub subscribe example demonstrates the simplest way to receive
+ * information over two transport layers such as UDP and Ethernet, that are
+ * published by tutorial_pubsub_publish example and update values in the
+ * TargetVariables of Subscriber Information Model.
+ *
+ * Run step of the application is as mentioned below:
+ *
+ * ./bin/examples/tutorial_pubsub_subscribe
+ *
+ * **Connection handling**
+ *
+ * PubSubConnections can be created and deleted on runtime. More details about
+ * the system preconfiguration and connection can be found in
+ * ``tutorial_pubsub_connection.c``. */
+
+#include <open62541/plugin/log_stdout.h>
+#include <open62541/plugin/pubsub_udp.h>
+#include <open62541/server.h>
+#include <open62541/server_config_default.h>
+#include <open62541/types_generated.h>
+
+#include "ua_pubsub.h"
+
+#if defined (UA_ENABLE_PUBSUB_ETH_UADP)
+#include <open62541/plugin/pubsub_ethernet.h>
+#endif
+
+#include <stdio.h>
+#include <signal.h>
+#include <stdlib.h>
+
+UA_NodeId connectionIdentifier;
+UA_NodeId readerGroupIdentifier;
+UA_NodeId readerIdentifier;
+
+UA_DataSetReaderConfig readerConfig;
+
+static void fillTestDataSetMetaData(UA_DataSetMetaDataType *pMetaData);
+
+/* Add new connection to the server */
+static UA_StatusCode
+addPubSubConnection(UA_Server *server, UA_String *transportProfile,
+                    UA_NetworkAddressUrlDataType *networkAddressUrl) {
+    if((server == NULL) || (transportProfile == NULL) ||
+        (networkAddressUrl == NULL)) {
+        return UA_STATUSCODE_BADINTERNALERROR;
+    }
+
+    UA_StatusCode retval = UA_STATUSCODE_GOOD;
+    /* Configuration creation for the connection */
+    UA_PubSubConnectionConfig connectionConfig;
+    memset (&connectionConfig, 0, sizeof(UA_PubSubConnectionConfig));
+    connectionConfig.name = UA_STRING("UDPMC Connection 1");
+    connectionConfig.transportProfileUri = *transportProfile;
+    connectionConfig.enabled = UA_TRUE;
+    UA_Variant_setScalar(&connectionConfig.address, networkAddressUrl,
+                         &UA_TYPES[UA_TYPES_NETWORKADDRESSURLDATATYPE]);
+    connectionConfig.publisherId.numeric = UA_UInt32_random ();
+    retval |= UA_Server_addPubSubConnection (server, &connectionConfig, &connectionIdentifier);
+    if (retval != UA_STATUSCODE_GOOD) {
+        return retval;
+    }
+
+    return retval;
+}
+
+/**
+ * **ReaderGroup**
+ *
+ * ReaderGroup is used to group a list of DataSetReaders. All ReaderGroups are
+ * created within a PubSubConnection and automatically deleted if the connection
+ * is removed. All network message related filters are only available in the DataSetReader. */
+/* Add ReaderGroup to the created connection */
+static UA_StatusCode
+addReaderGroup(UA_Server *server) {
+    if(server == NULL) {
+        return UA_STATUSCODE_BADINTERNALERROR;
+    }
+
+    UA_StatusCode retval = UA_STATUSCODE_GOOD;
+    UA_ReaderGroupConfig readerGroupConfig;
+    memset (&readerGroupConfig, 0, sizeof(UA_ReaderGroupConfig));
+    readerGroupConfig.name = UA_STRING("ReaderGroup1");
+    retval |= UA_Server_addReaderGroup(server, connectionIdentifier, &readerGroupConfig,
+                                       &readerGroupIdentifier);
+    UA_Server_setReaderGroupOperational(server, readerGroupIdentifier);
+    return retval;
+}
+
+/**
+ * **DataSetReader**
+ *
+ * DataSetReader can receive NetworkMessages with the DataSetMessage
+ * of interest sent by the Publisher. DataSetReader provides
+ * the configuration necessary to receive and process DataSetMessages
+ * on the Subscriber side. DataSetReader must be linked with a
+ * SubscribedDataSet and be contained within a ReaderGroup. */
+/* Add DataSetReader to the ReaderGroup */
+static UA_StatusCode
+addDataSetReader(UA_Server *server) {
+    if(server == NULL) {
+        return UA_STATUSCODE_BADINTERNALERROR;
+    }
+
+    UA_StatusCode retval = UA_STATUSCODE_GOOD;
+    memset (&readerConfig, 0, sizeof(UA_DataSetReaderConfig));
+    readerConfig.name = UA_STRING("DataSet Reader 1");
+    /* Parameters to filter which DataSetMessage has to be processed
+     * by the DataSetReader */
+    /* The following parameters are used to show that the data published by
+     * tutorial_pubsub_publish.c is being subscribed and is being updated in
+     * the information model */
+    UA_UInt16 publisherIdentifier = 2234;
+    readerConfig.publisherId.type = &UA_TYPES[UA_TYPES_UINT16];
+    readerConfig.publisherId.data = &publisherIdentifier;
+    readerConfig.writerGroupId    = 100;
+    readerConfig.dataSetWriterId  = 62541;
+
+    /* Setting up Meta data configuration in DataSetReader */
+    fillTestDataSetMetaData(&readerConfig.dataSetMetaData);
+
+    retval |= UA_Server_addDataSetReader(server, readerGroupIdentifier, &readerConfig,
+                                         &readerIdentifier);
+    return retval;
+}
+
+/**
+ * **SubscribedDataSet**
+ *
+ * Set SubscribedDataSet type to TargetVariables data type.
+ * Add subscribedvariables to the DataSetReader */
+static UA_StatusCode
+addSubscribedVariables (UA_Server *server, UA_NodeId dataSetReaderId) {
+    if(server == NULL)
+        return UA_STATUSCODE_BADINTERNALERROR;
+
+    UA_StatusCode retval = UA_STATUSCODE_GOOD;
+    UA_NodeId folderId;
+    UA_String folderName = readerConfig.dataSetMetaData.name;
+    UA_ObjectAttributes oAttr = UA_ObjectAttributes_default;
+    UA_QualifiedName folderBrowseName;
+    if(folderName.length > 0) {
+        oAttr.displayName.locale = UA_STRING ("en-US");
+        oAttr.displayName.text = folderName;
+        folderBrowseName.namespaceIndex = 1;
+        folderBrowseName.name = folderName;
+    }
+    else {
+        oAttr.displayName = UA_LOCALIZEDTEXT ("en-US", "Subscribed Variables");
+        folderBrowseName = UA_QUALIFIEDNAME (1, "Subscribed Variables");
+    }
+
+    UA_Server_addObjectNode (server, UA_NODEID_NULL,
+                             UA_NODEID_NUMERIC (0, UA_NS0ID_OBJECTSFOLDER),
+                             UA_NODEID_NUMERIC (0, UA_NS0ID_ORGANIZES),
+                             folderBrowseName, UA_NODEID_NUMERIC (0,
+                             UA_NS0ID_BASEOBJECTTYPE), oAttr, NULL, &folderId);
+
+/**
+ * **TargetVariables**
+ *
+ * The SubscribedDataSet option TargetVariables defines a list of Variable mappings between
+ * received DataSet fields and target Variables in the Subscriber AddressSpace.
+ * The values subscribed from the Publisher are updated in the value field of these variables */
+    /* Create the TargetVariables with respect to DataSetMetaData fields */
+    UA_FieldTargetVariable *targetVars = (UA_FieldTargetVariable *)
+            UA_calloc(readerConfig.dataSetMetaData.fieldsSize, sizeof(UA_FieldTargetVariable));
+    for(size_t i = 0; i < readerConfig.dataSetMetaData.fieldsSize; i++) {
+        /* Variable to subscribe data */
+        UA_VariableAttributes vAttr = UA_VariableAttributes_default;
+        UA_LocalizedText_copy(&readerConfig.dataSetMetaData.fields[i].description,
+                              &vAttr.description);
+        vAttr.displayName.locale = UA_STRING("en-US");
+        vAttr.displayName.text = readerConfig.dataSetMetaData.fields[i].name;
+        vAttr.dataType = readerConfig.dataSetMetaData.fields[i].dataType;
+
+        UA_NodeId newNode;
+        retval |= UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, (UA_UInt32)i + 50000),
+                                           folderId,
+                                           UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
+                                           UA_QUALIFIEDNAME(1, (char *)readerConfig.dataSetMetaData.fields[i].name.data),
+                                           UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
+                                           vAttr, NULL, &newNode);
+
+        /* For creating Targetvariables */
+        UA_FieldTargetDataType_init(&targetVars[i].targetVariable);
+        targetVars[i].targetVariable.attributeId  = UA_ATTRIBUTEID_VALUE;
+        targetVars[i].targetVariable.targetNodeId = newNode;
+    }
+
+    retval = UA_Server_DataSetReader_createTargetVariables(server, dataSetReaderId,
+                                                           readerConfig.dataSetMetaData.fieldsSize, targetVars);
+    for(size_t i = 0; i < readerConfig.dataSetMetaData.fieldsSize; i++)
+        UA_FieldTargetDataType_clear(&targetVars[i].targetVariable);
+
+    UA_free(targetVars);
+    UA_free(readerConfig.dataSetMetaData.fields);
+    return retval;
+}
+
+/**
+ * **DataSetMetaData**
+ *
+ * The DataSetMetaData describes the content of a DataSet. It provides the information necessary to decode
+ * DataSetMessages on the Subscriber side. DataSetMessages received from the Publisher are decoded into
+ * DataSet and each field is updated in the Subscriber based on datatype match of TargetVariable fields of Subscriber
+ * and PublishedDataSetFields of Publisher */
+/* Define MetaData for TargetVariables */
+static void fillTestDataSetMetaData(UA_DataSetMetaDataType *pMetaData) {
+    if(pMetaData == NULL) {
+        return;
+    }
+
+    UA_DataSetMetaDataType_init (pMetaData);
+    pMetaData->name = UA_STRING ("DataSet 1");
+
+    /* Static definition of number of fields size to 4 to create four different
+     * targetVariables of distinct datatype
+     * Currently the publisher sends only DateTime data type */
+    pMetaData->fieldsSize = 4;
+    pMetaData->fields = (UA_FieldMetaData*)UA_Array_new (pMetaData->fieldsSize,
+                         &UA_TYPES[UA_TYPES_FIELDMETADATA]);
+
+    /* DateTime DataType */
+    UA_FieldMetaData_init (&pMetaData->fields[0]);
+    UA_NodeId_copy (&UA_TYPES[UA_TYPES_DATETIME].typeId,
+                    &pMetaData->fields[0].dataType);
+    pMetaData->fields[0].builtInType = UA_NS0ID_DATETIME;
+    pMetaData->fields[0].name =  UA_STRING ("DateTime");
+    pMetaData->fields[0].valueRank = -1; /* scalar */
+
+    /* Int32 DataType */
+    UA_FieldMetaData_init (&pMetaData->fields[1]);
+    UA_NodeId_copy(&UA_TYPES[UA_TYPES_INT32].typeId,
+                   &pMetaData->fields[1].dataType);
+    pMetaData->fields[1].builtInType = UA_NS0ID_INT32;
+    pMetaData->fields[1].name =  UA_STRING ("Int32");
+    pMetaData->fields[1].valueRank = -1; /* scalar */
+
+    /* Int64 DataType */
+    UA_FieldMetaData_init (&pMetaData->fields[2]);
+    UA_NodeId_copy(&UA_TYPES[UA_TYPES_INT64].typeId,
+                   &pMetaData->fields[2].dataType);
+    pMetaData->fields[2].builtInType = UA_NS0ID_INT64;
+    pMetaData->fields[2].name =  UA_STRING ("Int64");
+    pMetaData->fields[2].valueRank = -1; /* scalar */
+
+    /* Boolean DataType */
+    UA_FieldMetaData_init (&pMetaData->fields[3]);
+    UA_NodeId_copy (&UA_TYPES[UA_TYPES_BOOLEAN].typeId,
+                    &pMetaData->fields[3].dataType);
+    pMetaData->fields[3].builtInType = UA_NS0ID_BOOLEAN;
+    pMetaData->fields[3].name =  UA_STRING ("BoolToggle");
+    pMetaData->fields[3].valueRank = -1; /* scalar */
+}
+
+/**
+ * Followed by 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;
+}
+
+static int
+run(UA_String *transportProfile, UA_NetworkAddressUrlDataType *networkAddressUrl) {
+    signal(SIGINT, stopHandler);
+    signal(SIGTERM, stopHandler);
+    /* Return value initialized to Status Good */
+    UA_StatusCode retval = UA_STATUSCODE_GOOD;
+    UA_Server *server = UA_Server_new();
+    UA_ServerConfig *config = UA_Server_getConfig(server);
+    UA_ServerConfig_setMinimal(config, 4801, NULL);
+
+    /* Add the PubSub network layer implementation to the server config.
+     * The TransportLayer is acting as factory to create new connections
+     * on runtime. Details about the PubSubTransportLayer can be found inside the
+     * tutorial_pubsub_connection */
+    UA_ServerConfig_addPubSubTransportLayer(config, UA_PubSubTransportLayerUDPMP());
+#ifdef UA_ENABLE_PUBSUB_ETH_UADP
+    UA_ServerConfig_addPubSubTransportLayer(config, UA_PubSubTransportLayerEthernet());
+#endif
+
+    /* API calls */
+    /* Add PubSubConnection */
+    retval |= addPubSubConnection(server, transportProfile, networkAddressUrl);
+    if (retval != UA_STATUSCODE_GOOD)
+        return EXIT_FAILURE;
+
+    /* Add ReaderGroup to the created PubSubConnection */
+    retval |= addReaderGroup(server);
+    if (retval != UA_STATUSCODE_GOOD)
+        return EXIT_FAILURE;
+
+    /* Add DataSetReader to the created ReaderGroup */
+    retval |= addDataSetReader(server);
+    if (retval != UA_STATUSCODE_GOOD)
+        return EXIT_FAILURE;
+
+    /* Add SubscribedVariables to the created DataSetReader */
+    retval |= addSubscribedVariables(server, readerIdentifier);
+    if (retval != UA_STATUSCODE_GOOD)
+        return EXIT_FAILURE;
+
+    retval = UA_Server_run(server, &running);
+    UA_Server_delete(server);
+    return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE;
+}
+
+static void
+usage(char *progname) {
+    printf("usage: %s <uri> [device]\n", progname);
+}
+
+int main(int argc, char **argv) {
+    UA_String transportProfile = UA_STRING("http://opcfoundation.org/UA-Profile/Transport/pubsub-udp-uadp");
+    UA_NetworkAddressUrlDataType networkAddressUrl = {UA_STRING_NULL , UA_STRING("opc.udp://224.0.0.22:4840/")};
+    if(argc > 1) {
+        if(strcmp(argv[1], "-h") == 0) {
+            usage(argv[0]);
+            return EXIT_SUCCESS;
+        } else if(strncmp(argv[1], "opc.udp://", 10) == 0) {
+            networkAddressUrl.url = UA_STRING(argv[1]);
+        } else if(strncmp(argv[1], "opc.eth://", 10) == 0) {
+            transportProfile =
+                UA_STRING("http://opcfoundation.org/UA-Profile/Transport/pubsub-eth-uadp");
+            if(argc < 3) {
+                printf("Error: UADP/ETH needs an interface name\n");
+                return EXIT_FAILURE;
+            }
+
+            networkAddressUrl.networkInterface = UA_STRING(argv[2]);
+            networkAddressUrl.url = UA_STRING(argv[1]);
+        } else {
+            printf ("Error: unknown URI\n");
+            return EXIT_FAILURE;
+        }
+    }
+
+    return run(&transportProfile, &networkAddressUrl);
+}
+