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open62541/examples/pubsub/tutorial_pubsub_subscribe_raw.c
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/* This work is licensed under a Creative Commons CCZero 1.0 Universal License.
* See http://creativecommons.org/publicdomain/zero/1.0/ for more information.
*
*/
/* During the RAW-Encoding decode process, the MetaData-Information are needed.
* The OPC UA specification defines several ways to collect these information (see. Part 14 5.2.3).
* Currently we use an OPC UA client to collect the MetaData form the publisher.
* Attention: There can be more than one publisher servers later.
* The following defines tell the server, where to collect the MetaData. (currently used for all DSR)"
*/
#define METADATA_SOURCE_SERVER "opc.tcp://localhost:4840"
#define METADATA_DATASET_NAME "Demo PDS"
#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"
#ifdef UA_ENABLE_PUBSUB_ETH_UADP
#include <open62541/plugin/pubsub_ethernet.h>
#endif
#include <open62541/client_config_default.h>
#include <open62541/client_highlevel.h>
#include <server/ua_server_internal.h>
#include <signal.h>
#include <stdio.h>
#include <stdlib.h>
#include <custom_datatype/custom_datatype.h>
UA_NodeId connectionIdentifier;
UA_NodeId readerGroupIdentifier;
UA_NodeId readerIdentifier;
UA_DataSetReaderConfig readerConfig;
static void collectDataSetMetaDataFromServer(UA_Server *server, 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;
}
retval |= UA_PubSubConnection_regist(server, &connectionIdentifier);
return retval;
}
/* 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;
}
/* 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);
*/
collectDataSetMetaDataFromServer(server, &readerConfig.dataSetMetaData);
retval |= UA_Server_addDataSetReader(server, readerGroupIdentifier, &readerConfig,
&readerIdentifier);
return retval;
}
/* 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);
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);
UA_free(readerConfig.dataSetMetaData.fields);
UA_free(targetVars);
return retval;
}
static void printDataSetMetaDataType(const UA_DataSetMetaDataType *pMetaData){
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER,"MetaDataName: %s", pMetaData->name.data);
for(size_t i = 0; i < pMetaData->fieldsSize; ++i) {
UA_String *typeName = UA_String_new();
UA_NodeId_print(&pMetaData->fields[i].dataType, typeName);
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER,
"FieldNumber: %i, Name: %s, DataTypeId: %s, InternalTypeid: %i", (int) i,
pMetaData->fields[i].name.data, (char *) typeName->data, (int) pMetaData->fields[i].builtInType);
}
}
/* Collect MetaData from remote server */
UA_StatusCode
UA_Server_DataSetReader_getMetaDataFromRemote(UA_Server *server, UA_String remoteServer,
UA_QualifiedName pdsName, UA_DataSetMetaDataType *dsMetaData);
UA_StatusCode
UA_Server_DataSetReader_getMetaDataFromRemote(UA_Server *server, UA_String remoteServer,
UA_QualifiedName pdsName, UA_DataSetMetaDataType *dsMetaData){
UA_Client *client = UA_Client_new();
UA_ClientConfig_setDefault(UA_Client_getConfig(client));
char remoteServer_ar[512];
memcpy(remoteServer_ar, remoteServer.data, remoteServer.length);
remoteServer_ar[remoteServer.length] = '\0';
UA_StatusCode retval = UA_Client_connect(client, remoteServer_ar);
if(retval != UA_STATUSCODE_GOOD) {
UA_Client_delete(client);
return UA_STATUSCODE_BADCONNECTIONREJECTED;
}
//UA_TranslateBrowsePathsToNodeIdsRequest translateBrowsePathsToNodeIdsRequest;
//UA_Client_Service_translateBrowsePathsToNodeIds(client, )
UA_NodeId resultMetaDataNodeId = UA_NODEID_NULL;
UA_BrowseRequest browseRequest;
UA_BrowseRequest_init(&browseRequest);
UA_BrowseDescription *browseDescription = UA_BrowseDescription_new();
browseDescription->browseDirection = UA_BROWSEDIRECTION_INVERSE;
browseDescription->resultMask = UA_BROWSERESULTMASK_ALL;
browseDescription->nodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_PUBLISHEDDATAITEMSTYPE);
browseDescription->referenceTypeId = UA_NODEID_NUMERIC(0, UA_NS0ID_HASTYPEDEFINITION);
browseDescription->includeSubtypes = UA_TRUE;
browseRequest.nodesToBrowseSize = 1;
browseRequest.nodesToBrowse = browseDescription;
browseRequest.requestedMaxReferencesPerNode = 1000;
UA_BrowseResponse browseResponse = UA_Client_Service_browse(client, browseRequest);
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER,"Result size: %i result: %s, ref size: %i ",
(int) browseResponse.resultsSize, UA_StatusCode_name(browseResponse.responseHeader.serviceResult), (int) browseResponse.results->referencesSize);
for(size_t i = 0; i < browseResponse.resultsSize; ++i) {
for(size_t j = 0; j < browseResponse.results[i].referencesSize; ++j) {
UA_ReferenceDescription *ref = &(browseResponse.results[i].references[j]);
if(UA_String_equal(&pdsName.name, &ref->browseName.name)) {
UA_NodeId_copy(&ref->nodeId.nodeId, &resultMetaDataNodeId);
break;
}
}
}
UA_BrowseResponse_clear(&browseResponse);
if(UA_NodeId_isNull(&resultMetaDataNodeId)){
UA_BrowseRequest_clear(&browseRequest);
return UA_STATUSCODE_BADNOTFOUND;
}
//find metadata property
browseRequest.nodesToBrowse->nodeId = resultMetaDataNodeId;
browseRequest.nodesToBrowse->browseDirection = UA_BROWSEDIRECTION_FORWARD;
browseRequest.nodesToBrowse->referenceTypeId = UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY);
browseResponse = UA_Client_Service_browse(client, browseRequest);
UA_String compareString = UA_STRING("DataSetMetaData");
for(size_t i = 0; i < browseResponse.resultsSize; ++i) {
for(size_t j = 0; j < browseResponse.results[i].referencesSize; ++j) {
UA_ReferenceDescription *ref = &(browseResponse.results[i].references[j]);
if(UA_String_equal(&compareString, &ref->browseName.name)) {
UA_NodeId_copy(&ref->nodeId.nodeId, &resultMetaDataNodeId);
break;
}
}
}
UA_BrowseResponse_clear(&browseResponse);
UA_BrowseRequest_clear(&browseRequest);
if(UA_NodeId_isNull(&resultMetaDataNodeId)){
UA_LOG_ERROR(&server->config.logger, UA_LOGCATEGORY_SERVER, "Unable to request metadata from remote server!");
} else {
UA_Variant value;
retval = UA_Client_readValueAttribute(client, resultMetaDataNodeId, &value);
if(retval == UA_STATUSCODE_GOOD){
UA_DataSetMetaDataType_copy((UA_DataSetMetaDataType *) value.data, dsMetaData);
}
UA_Variant_clear(&value);
UA_LOG_INFO(&server->config.logger, UA_LOGCATEGORY_SERVER, "Found requested Metadata node");
}
UA_Client_delete(client);
return retval;
}
static void
collectDataSetMetaDataFromServer(UA_Server *server, UA_DataSetMetaDataType *pMetaData){
//init meta data structure
UA_DataSetMetaDataType_init(pMetaData);
UA_StatusCode getMetaDataResult = UA_Server_DataSetReader_getMetaDataFromRemote(server,
UA_STRING(METADATA_SOURCE_SERVER),
UA_QUALIFIEDNAME(0, METADATA_DATASET_NAME),
pMetaData);
if(getMetaDataResult != UA_STATUSCODE_GOOD){
UA_LOG_ERROR(&server->config.logger, UA_LOGCATEGORY_SERVER, "Unable to get metadata from remote server");
return;
}
printDataSetMetaDataType(pMetaData);
}
static void add3DPointDataType(UA_Server* server)
{
UA_DataTypeAttributes attr = UA_DataTypeAttributes_default;
attr.displayName = UA_LOCALIZEDTEXT("en-US", "3D Point Type");
UA_Server_addDataTypeNode(
server, PointType.typeId, UA_NODEID_NUMERIC(0, UA_NS0ID_STRUCTURE),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE), UA_QUALIFIEDNAME(1, "3D.Point"), attr, NULL, NULL);
}
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 custom Datatypes */
UA_DataType *types = (UA_DataType*)UA_malloc(sizeof(UA_DataType));
UA_DataTypeMember *pointMembers = (UA_DataTypeMember*)UA_malloc(sizeof(UA_DataTypeMember) * 3);
pointMembers[0] = Point_members[0];
pointMembers[1] = Point_members[1];
pointMembers[2] = Point_members[2];
types[0] = PointType;
types[0].members = pointMembers;
UA_DataTypeArray customDataTypes = {config->customDataTypes, 1, types};
config->customDataTypes = &customDataTypes;
add3DPointDataType(server);
/* 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);
UA_free(pointMembers);
UA_free(types);
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);
}
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