mirror of
https://github.com/open62541/open62541.git
synced 2026-10-20 23:49:19 +08:00
Stasik0
351 lines
12 KiB
C
351 lines
12 KiB
C
/*
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* This work is licensed under a Creative Commons CCZero 1.0 Universal License.
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* See http://creativecommons.org/publicdomain/zero/1.0/ for more information.
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*/
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#include <signal.h>
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#include <errno.h> // errno, EINTR
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h> //access
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#define __USE_XOPEN2K
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#ifdef UA_MULTITHREADING
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# include <pthread.h>
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#endif
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#ifdef NOT_AMALGATED
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# include <time.h>
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# include "ua_types.h"
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# include "ua_server.h"
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# include "logger_stdout.h"
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# include "networklayer_tcp.h"
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#else
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# include "open62541.h"
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#endif
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/****************************/
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/* Server-related variables */
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/****************************/
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UA_Boolean running = 1;
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UA_Logger logger;
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/*************************/
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/* Read-only data source */
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/*************************/
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static UA_StatusCode readTimeData(void *handle, UA_Boolean sourceTimeStamp,
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const UA_NumericRange *range, UA_DataValue *value) {
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if(range) {
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value->hasStatus = UA_TRUE;
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value->status = UA_STATUSCODE_BADINDEXRANGEINVALID;
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return UA_STATUSCODE_GOOD;
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}
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UA_DateTime *currentTime = UA_DateTime_new();
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if(!currentTime)
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return UA_STATUSCODE_BADOUTOFMEMORY;
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*currentTime = UA_DateTime_now();
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value->value.type = &UA_TYPES[UA_TYPES_DATETIME];
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value->value.arrayLength = -1;
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value->value.data = currentTime;
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value->value.arrayDimensionsSize = -1;
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value->value.arrayDimensions = NULL;
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value->hasValue = UA_TRUE;
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if(sourceTimeStamp) {
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value->hasSourceTimestamp = UA_TRUE;
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value->sourceTimestamp = *currentTime;
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}
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return UA_STATUSCODE_GOOD;
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}
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static void releaseTimeData(void *handle, UA_DataValue *value) {
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if(value->hasValue)
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UA_DateTime_delete((UA_DateTime*)value->value.data);
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}
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/*****************************/
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/* Read-only CPU temperature */
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/* Only on Linux */
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/*****************************/
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FILE* temperatureFile = NULL;
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static UA_StatusCode readTemperature(void *handle, UA_Boolean sourceTimeStamp,
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const UA_NumericRange *range, UA_DataValue *value) {
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if(range) {
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value->hasStatus = UA_TRUE;
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value->status = UA_STATUSCODE_BADINDEXRANGEINVALID;
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return UA_STATUSCODE_GOOD;
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}
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UA_Double* currentTemperature = UA_Double_new();
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if(!currentTemperature)
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return UA_STATUSCODE_BADOUTOFMEMORY;
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fseek(temperatureFile, 0, SEEK_SET);
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if(fscanf(temperatureFile, "%lf", currentTemperature) != 1){
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UA_LOG_WARNING(logger, UA_LOGCATEGORY_USERLAND, "Can not parse temperature");
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exit(1);
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}
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*currentTemperature /= 1000.0;
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value->value.type = &UA_TYPES[UA_TYPES_DOUBLE];
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value->value.arrayLength = -1;
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value->value.data = currentTemperature;
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value->value.arrayDimensionsSize = -1;
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value->value.arrayDimensions = NULL;
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value->hasValue = UA_TRUE;
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return UA_STATUSCODE_GOOD;
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}
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static void releaseTemperature(void *handle, UA_DataValue *value) {
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if(value->hasValue)
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UA_Double_delete((UA_Double*)value->value.data);
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}
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/*************************/
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/* Read-write status led */
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/*************************/
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#ifdef UA_MULTITHREADING
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pthread_rwlock_t writeLock;
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#endif
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FILE* triggerFile = NULL;
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FILE* ledFile = NULL;
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UA_Boolean ledStatus = 0;
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static UA_StatusCode readLedStatus(void *handle, UA_Boolean sourceTimeStamp,
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const UA_NumericRange *range, UA_DataValue *value) {
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if(range) {
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value->hasStatus = UA_TRUE;
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value->status = UA_STATUSCODE_BADINDEXRANGEINVALID;
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return UA_STATUSCODE_GOOD;
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}
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/* In order to reduce blocking time, we could alloc memory for every read
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and return a copy of the data. */
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#ifdef UA_MULTITHREADING
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pthread_rwlock_rdlock(&writeLock);
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#endif
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value->value.type = &UA_TYPES[UA_TYPES_BOOLEAN];
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value->value.arrayLength = -1;
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value->value.data = &ledStatus;
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value->value.arrayDimensionsSize = -1;
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value->value.arrayDimensions = NULL;
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value->hasValue = UA_TRUE;
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if(sourceTimeStamp) {
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value->sourceTimestamp = UA_DateTime_now();
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value->hasSourceTimestamp = UA_TRUE;
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}
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return UA_STATUSCODE_GOOD;
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}
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static void releaseLedStatus(void *handle, UA_DataValue *value) {
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if(!value->hasValue)
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return;
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/* If we allocated memory for a specific read, free the content of the
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variantdata. */
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value->value.arrayLength = -1;
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value->value.data = NULL;
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#ifdef UA_MULTITHREADING
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pthread_rwlock_unlock(&writeLock);
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#endif
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}
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static UA_StatusCode writeLedStatus(void *handle, const UA_Variant *data, const UA_NumericRange *range) {
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if(range)
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return UA_STATUSCODE_BADINDEXRANGEINVALID;
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#ifdef UA_MULTITHREADING
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pthread_rwlock_wrlock(&writeLock);
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#endif
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if(data->data)
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ledStatus = *(UA_Boolean*)data->data;
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if(triggerFile)
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fseek(triggerFile, 0, SEEK_SET);
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if(ledFile){
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if(ledStatus == 1){
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fprintf(ledFile, "%s", "1");
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} else {
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fprintf(ledFile, "%s", "0");
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}
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fflush(ledFile);
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}
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#ifdef UA_MULTITHREADING
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pthread_rwlock_unlock(&writeLock);
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#endif
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return UA_STATUSCODE_GOOD;
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}
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static void stopHandler(int sign) {
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UA_LOG_INFO(logger, UA_LOGCATEGORY_SERVER, "Received Ctrl-C\n");
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running = 0;
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}
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static UA_ByteString loadCertificate(void) {
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UA_ByteString certificate = UA_STRING_NULL;
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FILE *fp = NULL;
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//FIXME: a potiential bug of locating the certificate, we need to get the path from the server's config
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fp=fopen("server_cert.der", "rb");
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if(!fp) {
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errno = 0; // we read errno also from the tcp layer...
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return certificate;
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}
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fseek(fp, 0, SEEK_END);
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certificate.length = ftell(fp);
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certificate.data = malloc(certificate.length*sizeof(UA_Byte));
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if(!certificate.data)
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return certificate;
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fseek(fp, 0, SEEK_SET);
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if(fread(certificate.data, sizeof(UA_Byte), certificate.length, fp) < (size_t)certificate.length)
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UA_ByteString_deleteMembers(&certificate); // error reading the cert
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fclose(fp);
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return certificate;
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}
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int main(int argc, char** argv) {
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signal(SIGINT, stopHandler); /* catches ctrl-c */
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#ifdef UA_MULTITHREADING
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pthread_rwlock_init(&writeLock, 0);
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#endif
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UA_Server *server = UA_Server_new(UA_ServerConfig_standard);
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logger = Logger_Stdout_new();
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UA_Server_setLogger(server, logger);
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UA_ByteString certificate = loadCertificate();
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UA_Server_setServerCertificate(server, certificate);
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UA_ByteString_deleteMembers(&certificate);
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UA_Server_addNetworkLayer(server, ServerNetworkLayerTCP_new(UA_ConnectionConfig_standard, 16664));
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// add node with the datetime data source
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UA_DataSource dateDataSource = (UA_DataSource)
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{.handle = NULL,
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.read = readTimeData,
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.release = releaseTimeData,
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.write = NULL};
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const UA_QualifiedName dateName = UA_QUALIFIEDNAME(1, "current time");
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UA_Server_addDataSourceVariableNode(server, dateDataSource, dateName, UA_NODEID_NULL,
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UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES));
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//cpu temperature monitoring for linux machines
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if((temperatureFile = fopen("/sys/class/thermal/thermal_zone0/temp", "r"))){
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// add node with the data source
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UA_DataSource temperatureDataSource = (UA_DataSource)
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{.handle = NULL,
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.read = readTemperature,
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.release = releaseTemperature,
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.write = NULL};
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const UA_QualifiedName tempName = UA_QUALIFIEDNAME(1, "cpu temperature");
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UA_Server_addDataSourceVariableNode(server, temperatureDataSource, tempName, UA_NODEID_NULL,
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UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES));
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}
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//LED control for rpi
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if( access("/sys/class/leds/led0/trigger", F_OK ) != -1
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|| access("/sys/class/leds/led0/brightness", F_OK ) != -1){
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if ( (triggerFile = fopen("/sys/class/leds/led0/trigger", "w"))
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&& (ledFile = fopen("/sys/class/leds/led0/brightness", "w"))) {
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//setting led mode to manual
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fprintf(triggerFile, "%s", "none");
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fflush(triggerFile);
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//turning off led initially
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fprintf(ledFile, "%s", "1");
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fflush(ledFile);
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// add node with the LED status data source
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UA_DataSource ledStatusDataSource = (UA_DataSource)
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{.handle = NULL,
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.read = readLedStatus,
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.release = releaseLedStatus,
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.write = writeLedStatus};
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const UA_QualifiedName statusName = UA_QUALIFIEDNAME(0, "status LED");
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UA_Server_addDataSourceVariableNode(server, ledStatusDataSource, statusName, UA_NODEID_NULL,
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UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES));
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}else{
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UA_LOG_WARNING(logger, UA_LOGCATEGORY_USERLAND, "[Raspberry Pi] LED file exist, but I have no access (try to run server with sudo)");
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}
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}
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// add a static variable node to the adresspace
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UA_Variant *myIntegerVariant = UA_Variant_new();
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UA_Int32 myInteger = 42;
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UA_Variant_setScalarCopy(myIntegerVariant, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
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const UA_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, "the answer");
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const UA_NodeId myIntegerNodeId = UA_NODEID_STRING(1, "the.answer");
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UA_NodeId parentNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
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UA_NodeId parentReferenceNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
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UA_Server_addVariableNode(server, myIntegerVariant, myIntegerName,
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myIntegerNodeId, parentNodeId, parentReferenceNodeId);
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/**************/
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/* Demo Nodes */
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/**************/
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#define DEMOID 50000
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UA_Server_addObjectNode(server,UA_QUALIFIEDNAME(1, "Demo"), UA_NODEID_NUMERIC(1, DEMOID), UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE));
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#define SCALARID 50001
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UA_Server_addObjectNode(server,UA_QUALIFIEDNAME(1, "Scalar"), UA_NODEID_NUMERIC(1, SCALARID), UA_NODEID_NUMERIC(1, DEMOID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE));
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#define ARRAYID 50002
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UA_Server_addObjectNode(server,UA_QUALIFIEDNAME(1, "Array"), UA_NODEID_NUMERIC(1, ARRAYID), UA_NODEID_NUMERIC(1, DEMOID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE));
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UA_UInt32 id = 51000; //running id in namespace 0
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for(UA_UInt32 type = 0; UA_IS_BUILTIN(type); type++) {
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if(type == UA_TYPES_VARIANT || type == UA_TYPES_DIAGNOSTICINFO)
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continue;
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//add a scalar node for every built-in type
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void *value = UA_new(&UA_TYPES[type]);
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UA_Variant *variant = UA_Variant_new();
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UA_Variant_setScalar(variant, value, &UA_TYPES[type]);
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char name[15];
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sprintf(name, "%02d", type);
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UA_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, name);
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UA_Server_addVariableNode(server, variant, myIntegerName, UA_NODEID_NUMERIC(1, ++id),
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UA_NODEID_NUMERIC(1, SCALARID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES));
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//add an array node for every built-in type
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UA_Variant *arrayvar = UA_Variant_new();
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UA_Variant_setArray(arrayvar, UA_Array_new(&UA_TYPES[type], 10), 10, &UA_TYPES[type]);
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UA_Server_addVariableNode(server, arrayvar, myIntegerName, UA_NODEID_NUMERIC(1, ++id),
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UA_NODEID_NUMERIC(1, ARRAYID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES));
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}
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//start server
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UA_StatusCode retval = UA_Server_run(server, 1, &running); //blocks until running=false
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//ctrl-c received -> clean up
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UA_Server_delete(server);
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if(temperatureFile)
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fclose(temperatureFile);
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if(triggerFile){
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fseek(triggerFile, 0, SEEK_SET);
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//setting led mode to default
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fprintf(triggerFile, "%s", "mmc0");
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fclose(triggerFile);
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}
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if(ledFile){
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fclose(ledFile);
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}
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#ifdef UA_MULTITHREADING
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pthread_rwlock_destroy(&writeLock);
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#endif
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return retval;
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}
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