mirror of
https://github.com/open62541/open62541.git
synced 2026-10-17 04:42:09 +08:00
feat(examples) extended pubsub offset example to align with b_r output
This commit is contained in:
Andreas Ebner
@@ -3,6 +3,8 @@
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#include <open62541/server.h>
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#include <open62541/server_pubsub.h>
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#include <open62541/plugin/log_stdout.h>
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#include <stdio.h>
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@@ -20,6 +22,212 @@ UA_DataValue dvStore[PUBSUB_CONFIG_FIELD_COUNT];
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UA_DataValue *dvPointers[PUBSUB_CONFIG_FIELD_COUNT];
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UA_NodeId publishVariables[PUBSUB_CONFIG_FIELD_COUNT];
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static UA_NodeId writerGroupIdent;
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#define CONTENTMASK_UAPERIODIC_FIXED ( \
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UA_UADPNETWORKMESSAGECONTENTMASK_PUBLISHERID | \
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UA_UADPNETWORKMESSAGECONTENTMASK_GROUPHEADER | \
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UA_UADPNETWORKMESSAGECONTENTMASK_WRITERGROUPID | \
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UA_UADPNETWORKMESSAGECONTENTMASK_GROUPVERSION | \
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UA_UADPNETWORKMESSAGECONTENTMASK_NETWORKMESSAGENUMBER | \
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UA_UADPNETWORKMESSAGECONTENTMASK_SEQUENCENUMBER \
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)
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static bool checkNetworkMessageContentMask(UA_WriterGroupConfig * pWgConfig, UA_UadpNetworkMessageContentMask contentMask)
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{
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bool isSet = false;
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if(pWgConfig->messageSettings.encoding == UA_EXTENSIONOBJECT_DECODED)
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{
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if(pWgConfig->messageSettings.content.decoded.type == &UA_TYPES[UA_TYPES_UADPWRITERGROUPMESSAGEDATATYPE])
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{
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UA_UadpWriterGroupMessageDataType *msgSettings = (UA_UadpWriterGroupMessageDataType*)pWgConfig->messageSettings.content.decoded.data;
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if(msgSettings->networkMessageContentMask == CONTENTMASK_UAPERIODIC_FIXED)
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{
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isSet = true;
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}
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}
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}
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return isSet;
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}
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static UA_StatusCode connectionStateMachine(UA_Server *server, const UA_NodeId componentId, void *componentContext, UA_PubSubState *state, UA_PubSubState targetState) {
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UA_PubSubConnectionConfig confConn;
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if(*state == targetState)
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return UA_STATUSCODE_GOOD;
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "UA_PUBSUBCOMPONENT_CONNECTION: custom state machine called '%lu'", componentId.identifier.numeric);
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*state = targetState;
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if(UA_Server_getPubSubConnectionConfig(server, componentId, &confConn) == UA_STATUSCODE_GOOD) {
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UA_PubSubConnectionConfig_clear(&confConn);
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}
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return UA_STATUSCODE_GOOD;
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}
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static UA_StatusCode writerGroupStateMachine(UA_Server *server, const UA_NodeId componentId, void *componentContext, UA_PubSubState *state, UA_PubSubState targetState) {
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if(*state == targetState)
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return UA_STATUSCODE_GOOD;
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "UA_PUBSUBCOMPONENT_WRITERGROUP: custom state machine called '%lu'", componentId.identifier.numeric);
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switch(targetState) {
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case UA_PUBSUBSTATE_ERROR:
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case UA_PUBSUBSTATE_DISABLED:
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case UA_PUBSUBSTATE_PAUSED:
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*state = targetState;
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break;
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case UA_PUBSUBSTATE_PREOPERATIONAL:
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case UA_PUBSUBSTATE_OPERATIONAL:
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if(*state == UA_PUBSUBSTATE_OPERATIONAL)
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break;
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UA_WriterGroupConfig wgConn;
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if(UA_Server_getWriterGroupConfig(server, componentId, &wgConn) == UA_STATUSCODE_GOOD) {
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if(checkNetworkMessageContentMask(&wgConn, CONTENTMASK_UAPERIODIC_FIXED)) {
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*state = targetState;
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}
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UA_WriterGroupConfig_clear(&wgConn);
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}
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break;
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default:
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return UA_STATUSCODE_BADINTERNALERROR;
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}
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return UA_STATUSCODE_GOOD;
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}
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static UA_StatusCode dataSetWriterStateMachine(UA_Server *server, const UA_NodeId componentId, void *componentContext, UA_PubSubState *state, UA_PubSubState targetState) {
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if(*state == targetState)
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return UA_STATUSCODE_GOOD;
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "UA_PUBSUBCOMPONENT_DATASETWRITER: custom state machine called '%lu'", componentId.identifier.numeric);
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*state = targetState;
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return UA_STATUSCODE_GOOD;
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}
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static UA_StatusCode readerGroupStateMachine(UA_Server *server, const UA_NodeId componentId, void *componentContext, UA_PubSubState *state, UA_PubSubState targetState) {
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if(*state == targetState)
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return UA_STATUSCODE_GOOD;
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "UA_PUBSUBCOMPONENT_READERGROUP: custom state machine called '%lu'", componentId.identifier.numeric);
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switch(targetState) {
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case UA_PUBSUBSTATE_ERROR:
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case UA_PUBSUBSTATE_DISABLED:
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case UA_PUBSUBSTATE_PAUSED:
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*state = targetState;
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break;
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case UA_PUBSUBSTATE_PREOPERATIONAL:
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case UA_PUBSUBSTATE_OPERATIONAL:
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if(*state == UA_PUBSUBSTATE_OPERATIONAL)
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break;
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*state = targetState;
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break;
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default:
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return UA_STATUSCODE_BADINTERNALERROR;
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}
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return UA_STATUSCODE_GOOD;
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}
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static UA_StatusCode dataSetReaderStateMachine(UA_Server *server, const UA_NodeId componentId, void *componentContext, UA_PubSubState *state, UA_PubSubState targetState) {
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if(*state == targetState)
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return UA_STATUSCODE_GOOD;
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "UA_PUBSUBCOMPONENT_DATASETREADER: custom state machine called '%lu'", componentId.identifier.numeric);
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*state = targetState;
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return UA_STATUSCODE_GOOD;
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}
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static UA_StatusCode componentLifecycleCallback(UA_Server *server, const UA_NodeId id, const UA_PubSubComponentType componentType, UA_Boolean remove) {
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if(remove) {
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return UA_STATUSCODE_GOOD;
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}
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switch(componentType) {
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case UA_PUBSUBCOMPONENT_CONNECTION:
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGLEVEL_INFO, "componentLifecycleCallback: UA_PUBSUBCOMPONENT_CONNECTION");
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UA_PubSubConnectionConfig confConn;
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if(UA_Server_getPubSubConnectionConfig(server, id, &confConn) == UA_STATUSCODE_GOOD) {
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confConn.customStateMachine = connectionStateMachine;
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UA_Server_updatePubSubConnectionConfig(server, id, &confConn);
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UA_PubSubConnectionConfig_clear(&confConn);
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}
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break;
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case UA_PUBSUBCOMPONENT_WRITERGROUP:
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGLEVEL_INFO, "componentLifecycleCallback: UA_PUBSUBCOMPONENT_WRITERGROUP");
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UA_WriterGroupConfig confWrGrp;
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if(UA_Server_getWriterGroupConfig(server, id, &confWrGrp) == UA_STATUSCODE_GOOD) {
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writerGroupIdent = id;
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confWrGrp.customStateMachine = writerGroupStateMachine;
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UA_Server_updateWriterGroupConfig(server, id, &confWrGrp);
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UA_WriterGroupConfig_clear(&confWrGrp);
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}
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break;
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case UA_PUBSUBCOMPONENT_DATASETWRITER:
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGLEVEL_INFO, "componentLifecycleCallback: UA_PUBSUBCOMPONENT_DATASETWRITER");
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UA_DataSetWriterConfig confDsWr;
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if(UA_Server_getDataSetWriterConfig(server, id, &confDsWr) == UA_STATUSCODE_GOOD) {
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confDsWr.customStateMachine = dataSetWriterStateMachine;
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UA_Server_updateDataSetWriterConfig(server, id, &confDsWr);
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UA_DataSetWriterConfig_clear(&confDsWr);
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}
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break;
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case UA_PUBSUBCOMPONENT_READERGROUP:
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGLEVEL_INFO, "componentLifecycleCallback: UA_PUBSUBCOMPONENT_READERGROUP");
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UA_ReaderGroupConfig confRdGrp;
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if(UA_Server_getReaderGroupConfig(server, id, &confRdGrp) == UA_STATUSCODE_GOOD) {
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confRdGrp.customStateMachine = readerGroupStateMachine;
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UA_Server_updateReaderGroupConfig(server, id, &confRdGrp);
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UA_ReaderGroupConfig_clear(&confRdGrp);
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}
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break;
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case UA_PUBSUBCOMPONENT_DATASETREADER:
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGLEVEL_INFO, "componentLifecycleCallback: UA_PUBSUBCOMPONENT_DATASETREADER");
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UA_DataSetReaderConfig confDsRd;
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if(UA_Server_getDataSetReaderConfig(server, id, &confDsRd) == UA_STATUSCODE_GOOD) {
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confDsRd.customStateMachine = dataSetReaderStateMachine;
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UA_Server_updateDataSetReaderConfig(server, id, &confDsRd);
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UA_DataSetReaderConfig_clear(&confDsRd);
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}
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break;
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case UA_PUBSUBCOMPONENT_PUBLISHEDDATASET:
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGLEVEL_INFO, "componentLifecycleCallback: UA_PUBSUBCOMPONENT_PUBLISHEDDATASET");
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break;
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case UA_PUBSUBCOMPONENT_SUBSCRIBEDDDATASET:
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGLEVEL_INFO, "componentLifecycleCallback: UA_PUBSUBCOMPONENT_SUBSCRIBEDDDATASET");
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break;
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default:
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break;
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}
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return UA_STATUSCODE_GOOD;
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}
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static void beforeStateChangeCallback(UA_Server *server, const UA_NodeId id, UA_PubSubState *targetState) {
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGLEVEL_INFO, "State of the PubSubComponent '%lu' will change to '%i'", id.identifier.numeric, *targetState);
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}
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static void stateChangeCallback(UA_Server *server, const UA_NodeId id, UA_PubSubState state, UA_StatusCode status) {
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGLEVEL_INFO, "State of the PubSubComponent '%lu' changed to '%i' with status '%s'", id.identifier.numeric, state, UA_StatusCode_name(status));
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}
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int main(void) {
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/* Prepare the values */
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for(size_t i = 0; i < PUBSUB_CONFIG_FIELD_COUNT; i++) {
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@@ -31,6 +239,10 @@ int main(void) {
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/* Initialize the server */
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UA_Server *server = UA_Server_new();
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UA_ServerConfig *pConfig = UA_Server_getConfig(server);
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pConfig->pubSubConfig.componentLifecycleCallback = componentLifecycleCallback;
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pConfig->pubSubConfig.beforeStateChangeCallback = beforeStateChangeCallback;
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pConfig->pubSubConfig.stateChangeCallback = stateChangeCallback;
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// UInt32Array
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UA_NodeId_init(&ds2UInt32ArrId);
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@@ -153,27 +365,76 @@ int main(void) {
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UA_PubSubOffsetTable ot;
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UA_StatusCode retval = UA_STATUSCODE_GOOD;
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UA_Server_computeWriterGroupOffsetTable(server, writerGroupIdent, &ot);
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for(size_t i = 0; i < ot.offsetsSize; i++) {
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UA_String out = UA_STRING_NULL;
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if(ot.offsets[i].offsetType >= UA_PUBSUBOFFSETTYPE_DATASETFIELD_DATAVALUE) {
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/* For writers the component is the NodeId is the DataSetField.
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* Instead print the source node that contains the data */
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UA_DataSetFieldConfig dsfc;
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retval = UA_Server_getDataSetFieldConfig(server, ot.offsets[i].component, &dsfc);
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if(retval != UA_STATUSCODE_GOOD)
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continue;
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UA_NodeId_print(&dsfc.field.variable.publishParameters.publishedVariable, &out);
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UA_DataSetFieldConfig_clear(&dsfc);
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} else {
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UA_NodeId_print(&ot.offsets[i].component, &out);
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}
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printf("%u:\tOffset %u\tOffsetType %u\tComponent %.*s\n",
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(unsigned)i, (unsigned)ot.offsets[i].offset,
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(unsigned)ot.offsets[i].offsetType,
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(int)out.length, out.data);
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UA_String_clear(&out);
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for(size_t i = 0; i < ot.offsetsSize; i++) {
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UA_String out = UA_STRING_NULL;
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if(ot.offsets[i].offsetType >= UA_PUBSUBOFFSETTYPE_DATASETFIELD_DATAVALUE) {
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/* For writers the component is the NodeId is the DataSetField.
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* Instead print the source node that contains the data */
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UA_DataSetFieldConfig dsfc;
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retval = UA_Server_getDataSetFieldConfig(server, ot.offsets[i].component, &dsfc);
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if(retval != UA_STATUSCODE_GOOD)
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continue;
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UA_NodeId_print(&dsfc.field.variable.publishParameters.publishedVariable, &out);
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UA_DataSetFieldConfig_clear(&dsfc);
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} else {
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UA_NodeId_print(&ot.offsets[i].component, &out);
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}
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// Map OffsetType to its string representation
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const char *offsetTypeString = NULL;
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switch(ot.offsets[i].offsetType) {
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case UA_PUBSUBOFFSETTYPE_NETWORKMESSAGE_GROUPVERSION:
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offsetTypeString = "NETWORKMESSAGE_GROUPVERSION";
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break;
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case UA_PUBSUBOFFSETTYPE_NETWORKMESSAGE_SEQUENCENUMBER:
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offsetTypeString = "NETWORKMESSAGE_SEQUENCENUMBER";
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break;
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case UA_PUBSUBOFFSETTYPE_NETWORKMESSAGE_TIMESTAMP:
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offsetTypeString = "NETWORKMESSAGE_TIMESTAMP";
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break;
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case UA_PUBSUBOFFSETTYPE_NETWORKMESSAGE_PICOSECONDS:
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offsetTypeString = "NETWORKMESSAGE_PICOSECONDS";
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break;
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case UA_PUBSUBOFFSETTYPE_DATASETMESSAGE:
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offsetTypeString = "DATASETMESSAGE";
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break;
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case UA_PUBSUBOFFSETTYPE_DATASETMESSAGE_SEQUENCENUMBER:
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offsetTypeString = "DATASETMESSAGE_SEQUENCENUMBER";
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break;
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case UA_PUBSUBOFFSETTYPE_DATASETMESSAGE_STATUS:
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offsetTypeString = "DATASETMESSAGE_STATUS";
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break;
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case UA_PUBSUBOFFSETTYPE_DATASETMESSAGE_TIMESTAMP:
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offsetTypeString = "DATASETMESSAGE_TIMESTAMP";
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break;
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case UA_PUBSUBOFFSETTYPE_DATASETMESSAGE_PICOSECONDS:
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offsetTypeString = "DATASETMESSAGE_PICOSECONDS";
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break;
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case UA_PUBSUBOFFSETTYPE_DATASETFIELD_DATAVALUE:
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offsetTypeString = "DATASETFIELD_DATAVALUE";
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break;
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case UA_PUBSUBOFFSETTYPE_DATASETFIELD_VARIANT:
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offsetTypeString = "DATASETFIELD_VARIANT";
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break;
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case UA_PUBSUBOFFSETTYPE_DATASETFIELD_RAW:
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offsetTypeString = "DATASETFIELD_RAW";
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break;
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default:
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offsetTypeString = "UNKNOWN_OFFSET_TYPE";
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break;
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}
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// Print the details including the string representation of OffsetType
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printf("%u:\tOffset %u\tOffsetType %u (%s)\tComponent %.*s\n",
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(unsigned)i, (unsigned)ot.offsets[i].offset,
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(unsigned)ot.offsets[i].offsetType, offsetTypeString,
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(int)out.length, out.data);
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UA_String_clear(&out);
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}
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UA_Server_runUntilInterrupt(server);
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/* Cleanup */
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