Commit e59409b5 authored by Ivan Tyagov's avatar Ivan Tyagov

Expose variables over OPC-UA.

parent 57c14e10
/*
Example controling MOD-IO's relays' state
Based on https://www.kernel.org/doc/Documentation/i2c/dev-interface
To compile:
root@olimex-rt:~/osie/coupler/opc-ua-server# gcc ic2_set_relays_example.c -o ic2_set_relays_example
root@olimex-rt:~/osie/coupler/opc-ua-server# ./ic2_set_relays_example
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <linux/i2c-dev.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <unistd.h>
int main()
{
int file;
int adapter_nr = 1; /* probably dynamically determined */
int addr = 0x58; /* The I2C slave's address */
char filename[20];
// step 1: open device
snprintf(filename, 19, "/dev/i2c-%d", adapter_nr);
file = open(filename, O_RDWR);
if (file < 0) {
/* ERROR HANDLING; you can check errno to see what went wrong */
printf("Error openind i2c device.");
exit(1);
}
// step 2: address the slave by its address
if (ioctl(file, I2C_SLAVE, addr) < 0) {
/* ERROR HANDLING; you can check errno to see what went wrong */
printf("Error addressing i2c slave.");
exit(1);
}
// step 3: write command over I2c
__u8 reg = 0x10; /* Device register to access */
__s32 res;
char buf[10];
buf[0] = reg;
buf[1] = 0x07; // the most right bits represent 4 relays' state: for example 00001111 - means all ON
// send as a hexadecimal number
buf[2] = 0x65; // seems irrelevant the value
if (write(file, buf, 3) != 3) {
/* ERROR HANDLING: i2c transaction failed */
printf("Error writing to i2c slave.");
}
printf("OK\n");
return 0;
}
/* /* This work is licensed under a Creative Commons CCZero 1.0 Universal License.
* POC OPC-UA server based on https://github.com/open62541 * 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.
*/ */
// Example controling MOD-IO's relays' state
// Based on https://www.kernel.org/doc/Documentation/i2c/dev-interface
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <linux/i2c-dev.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <signal.h>
#include <open62541/plugin/log_stdout.h> #include <open62541/plugin/log_stdout.h>
#include <open62541/server.h> #include <open62541/server.h>
#include <open62541/server_config_default.h> #include <open62541/server_config_default.h>
#include <signal.h> // relays
#include <stdlib.h> static int setRelayState(int command) {
// Set relays' state over I2C
int file;
int adapter_nr = 1; /* probably dynamically determined */
char filename[20];
// step 1: open device
snprintf(filename, 19, "/dev/i2c-%d", adapter_nr);
file = open(filename, O_RDWR);
if (file < 0) {
/* ERROR HANDLING; you can check errno to see what went wrong */
printf("Error openind i2c device.");
exit(1);
}
// step 2: address the slave by its address
int addr = 0x58; /* The I2C address */
if (ioctl(file, I2C_SLAVE, addr) < 0) {
/* ERROR HANDLING; you can check errno to see what went wrong */
printf("Error addressing i2c slave.");
exit(1);
}
// 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.");
}
}
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 volatile UA_Boolean running = true;
static void stopHandler(int sig) { static void stopHandler(int sign) {
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "received ctrl-c"); UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "received ctrl-c");
running = false; running = false;
} }
int main(void) { int main(void) {
// switch on all relays
setRelayState(0x0F);
printf("Relays ON.\n");
// wait 1s
sleep(1);
// switch off all relays
setRelayState(0x00);
printf("Relays OFF.\n");
signal(SIGINT, stopHandler); signal(SIGINT, stopHandler);
signal(SIGTERM, stopHandler); signal(SIGTERM, stopHandler);
UA_Server *server = UA_Server_new(); UA_Server *server = UA_Server_new();
UA_ServerConfig_setDefault(UA_Server_getConfig(server)); 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, NULL, NULL);
#endif
addVariable(server);
addMatrixVariable(server);
writeVariable(server);
writeWrongVariable(server);
UA_StatusCode retval = UA_Server_run(server, &running); UA_StatusCode retval = UA_Server_run(server, &running);
......
Markdown is supported
0%
or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment