Select Git revision
__init__.py
Code owners
Assign users and groups as approvers for specific file changes. Learn more.
client.c 8.85 KiB
/* This work is licensed under a Creative Commons CCZero 1.0 Universal License.
* See http://creativecommons.org/publicdomain/zero/1.0/ for more information. */
#include <open62541/client_config_default.h>
#include <open62541/client_highlevel.h>
#include <open62541/client_subscriptions.h>
#include <open62541/plugin/log_stdout.h>
#include <stdlib.h>
#ifdef UA_ENABLE_SUBSCRIPTIONS
static void
handler_TheAnswerChanged(UA_Client *client, UA_UInt32 subId, void *subContext,
UA_UInt32 monId, void *monContext, UA_DataValue *value) {
printf("The Answer has changed!\n");
}
#endif
static UA_StatusCode
nodeIter(UA_NodeId childId, UA_Boolean isInverse, UA_NodeId referenceTypeId, void *handle) {
if(isInverse)
return UA_STATUSCODE_GOOD;
UA_NodeId *parent = (UA_NodeId *)handle;
printf("%d, %d --- %d ---> NodeId %d, %d\n",
parent->namespaceIndex, parent->identifier.numeric,
referenceTypeId.identifier.numeric, childId.namespaceIndex,
childId.identifier.numeric);
return UA_STATUSCODE_GOOD;
}
int main(int argc, char *argv[]) {
UA_Client *client = UA_Client_new();
UA_ClientConfig_setDefault(UA_Client_getConfig(client));
/* Listing endpoints */
UA_EndpointDescription* endpointArray = NULL;
size_t endpointArraySize = 0;
UA_StatusCode retval = UA_Client_getEndpoints(client, "opc.tcp://localhost:4840",
&endpointArraySize, &endpointArray);
if(retval != UA_STATUSCODE_GOOD) {
UA_Array_delete(endpointArray, endpointArraySize, &UA_TYPES[UA_TYPES_ENDPOINTDESCRIPTION]);
UA_Client_delete(client);
return EXIT_FAILURE;
}
printf("%i endpoints found\n", (int)endpointArraySize);
for(size_t i=0;i<endpointArraySize;i++) {
printf("URL of endpoint %i is %.*s\n", (int)i,
(int)endpointArray[i].endpointUrl.length,
endpointArray[i].endpointUrl.data);
}
UA_Array_delete(endpointArray,endpointArraySize, &UA_TYPES[UA_TYPES_ENDPOINTDESCRIPTION]);
/* Connect to a server */
/* anonymous connect would be: retval = UA_Client_connect(client, "opc.tcp://localhost:4840"); */
retval = UA_Client_connectUsername(client, "opc.tcp://localhost:4840", "user1", "password");
if(retval != UA_STATUSCODE_GOOD) {
UA_Client_delete(client);
return EXIT_FAILURE;
}
/* Browse some objects */
printf("Browsing nodes in objects folder:\n");
UA_BrowseRequest bReq;
UA_BrowseRequest_init(&bReq);
bReq.requestedMaxReferencesPerNode = 0;
bReq.nodesToBrowse = UA_BrowseDescription_new();
bReq.nodesToBrowseSize = 1;
bReq.nodesToBrowse[0].nodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER); /* browse objects folder */
bReq.nodesToBrowse[0].resultMask = UA_BROWSERESULTMASK_ALL; /* return everything */
UA_BrowseResponse bResp = UA_Client_Service_browse(client, bReq);
printf("%-9s %-16s %-16s %-16s\n", "NAMESPACE", "NODEID", "BROWSE NAME", "DISPLAY NAME");
for(size_t i = 0; i < bResp.resultsSize; ++i) {
for(size_t j = 0; j < bResp.results[i].referencesSize; ++j) {
UA_ReferenceDescription *ref = &(bResp.results[i].references[j]);
if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_NUMERIC) {
printf("%-9d %-16d %-16.*s %-16.*s\n", ref->nodeId.nodeId.namespaceIndex,
ref->nodeId.nodeId.identifier.numeric, (int)ref->browseName.name.length,
ref->browseName.name.data, (int)ref->displayName.text.length,
ref->displayName.text.data);
} else if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_STRING) {
printf("%-9d %-16.*s %-16.*s %-16.*s\n", ref->nodeId.nodeId.namespaceIndex,
(int)ref->nodeId.nodeId.identifier.string.length,
ref->nodeId.nodeId.identifier.string.data,
(int)ref->browseName.name.length, ref->browseName.name.data,
(int)ref->displayName.text.length, ref->displayName.text.data);
}
/* TODO: distinguish further types */
}
}
UA_BrowseRequest_clear(&bReq);
UA_BrowseResponse_clear(&bResp);
/* Same thing, this time using the node iterator... */
UA_NodeId *parent = UA_NodeId_new();
*parent = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
UA_Client_forEachChildNodeCall(client, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
nodeIter, (void *) parent);
UA_NodeId_delete(parent);
#ifdef UA_ENABLE_METHODCALLS
/* Call a remote method */
UA_Variant input;
UA_Variant_init(&input);
size_t outputSize;
UA_Variant *output;
char regname[100];
int i;
{
/* Browse some objects */
printf("Browsing nodes in objects folder:\n");
UA_BrowseRequest bReq;
UA_BrowseRequest_init(&bReq);
bReq.requestedMaxReferencesPerNode = 0;
bReq.nodesToBrowse = UA_BrowseDescription_new();
bReq.nodesToBrowseSize = 1;
bReq.nodesToBrowse[0].nodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER); /* browse objects folder */
bReq.nodesToBrowse[0].resultMask = UA_BROWSERESULTMASK_ALL; /* return everything */
UA_BrowseResponse bResp = UA_Client_Service_browse(client, bReq);
printf("%-9s %-16s %-16s %-16s\n", "NAMESPACE", "NODEID", "BROWSE NAME", "DISPLAY NAME");
for(size_t i = 0; i < bResp.resultsSize; ++i) {
for(size_t j = 0; j < bResp.results[i].referencesSize; ++j) {
UA_ReferenceDescription *ref = &(bResp.results[i].references[j]);
if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_NUMERIC) {
} else if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_STRING) {
printf("%-9d %-16.*s %-16.*s %-16.*s\n", ref->nodeId.nodeId.namespaceIndex,
(int)ref->nodeId.nodeId.identifier.string.length,
ref->nodeId.nodeId.identifier.string.data,
(int)ref->browseName.name.length, ref->browseName.name.data,
(int)ref->displayName.text.length, ref->displayName.text.data);
UA_String argString = UA_STRING(ref->nodeId.nodeId.identifier.string.data);
UA_Variant_setScalarCopy(&input, &argString, &UA_TYPES[UA_TYPES_STRING]);
retval = UA_Client_call(client, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_STRING(1, ref->nodeId.nodeId.identifier.string.data),
1, &input, &outputSize, &output);
if(retval == UA_STATUSCODE_GOOD) {
UA_String *outputStr = (UA_String*)output->data;
printf("outputStr->data=%s\n",(char *)outputStr->data);
printf("Method call was successful, and %lu returned values available.\n",
(unsigned long)outputSize);
UA_Array_delete(output, outputSize, &UA_TYPES[UA_TYPES_VARIANT]);
} else {
printf("Method call was unsuccessful, and %x returned values available.\n", retval);
}
}
/* TODO: distinguish further types */
}
}
UA_BrowseRequest_clear(&bReq);
UA_BrowseResponse_clear(&bResp);
UA_Variant_clear(&input);
}
#endif
/* Read the value attribute of the node. UA_Client_readValueAttribute is a
* wrapper for the raw read service available as UA_Client_Service_read. */
UA_Variant vvalue; /* Variants can hold scalar values and arrays of any type */
UA_Variant_init(&vvalue);
/* NodeId of the variable holding the current time */
const UA_NodeId nodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_SERVER_SERVERSTATUS_CURRENTTIME);
retval = UA_Client_readValueAttribute(client, nodeId, &vvalue);
if(retval == UA_STATUSCODE_GOOD &&
UA_Variant_hasScalarType(&vvalue, &UA_TYPES[UA_TYPES_DATETIME])) {
UA_DateTime raw_date = *(UA_DateTime *) vvalue.data;
UA_DateTimeStruct dts = UA_DateTime_toStruct(raw_date);
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "date is: %u-%u-%u %u:%u:%u.%03u\n",
dts.day, dts.month, dts.year, dts.hour, dts.min, dts.sec, dts.milliSec);
}
const UA_NodeId nodeId2 = UA_NODEID_STRING(1, (char *)"sensors");
retval = UA_Client_readValueAttribute(client, nodeId2, &vvalue);
if(retval == UA_STATUSCODE_GOOD &&
UA_Variant_hasScalarType(&vvalue, &UA_TYPES[UA_TYPES_INT32])) {
UA_Int32 myInteger = *(UA_Int32 *) vvalue.data;
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "myInteger is: %u\n",myInteger);
}
UA_Client_disconnect(client);
UA_Client_delete(client);
return EXIT_SUCCESS;
}