/* 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 #include #include #include #include #include #include #define PUBSUB_CONFIG_PUBLISH_CYCLE_MS 100 #define PUBSUB_CONFIG_PUBLISH_CYCLES 100 /* possible values: PUBSUB_CONFIG_FASTPATH_NONE (WIP not implemented), PUBSUB_CONFIG_FASTPATH_FIXED_OFFSETS, PUBSUB_CONFIG_FASTPATH_STATIC_VALUES (WIP not implemented)*/ #define PUBSUB_CONFIG_FASTPATH_FIXED_OFFSETS #define PUBSUB_CONFIG_FIELD_COUNT 10 /** * The PubSub RT level example points out the configuration of different PubSub RT levels. These levels will be later * used for deterministic message generation. The main target is to reduce the time spread and effort during the publish cycle. * Most of the RT levels are based on a pre-generated and buffered DataSetMesseges and * NetworkMessages. Since changes in the PubSub-configuration will invalidate the buffered frames, the PubSub * configuration can be frozen after the configuration phase. * * This example can be configured to compare and measure the different PubSub options. */ UA_NodeId publishedDataSetIdent, dataSetFieldIdent, writerGroupIdent, connectionIdentifier; UA_UInt32 *valueStore[PUBSUB_CONFIG_FIELD_COUNT]; UA_Boolean running = true; static void stopHandler(int sign) { UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "received ctrl-c"); running = false; } /* The following PubSub configuration does not differ from the 'normal' configuration */ static void addMinimalPubSubConfiguration(UA_Server * server){ /* Add one PubSubConnection */ UA_PubSubConnectionConfig connectionConfig; memset(&connectionConfig, 0, sizeof(connectionConfig)); connectionConfig.name = UA_STRING("UDP-UADP Connection 1"); connectionConfig.transportProfileUri = UA_STRING("http://opcfoundation.org/UA-Profile/Transport/pubsub-udp-uadp"); connectionConfig.enabled = UA_TRUE; UA_NetworkAddressUrlDataType networkAddressUrl = {UA_STRING_NULL , UA_STRING("opc.udp://224.0.0.22:4840/")}; UA_Variant_setScalar(&connectionConfig.address, &networkAddressUrl, &UA_TYPES[UA_TYPES_NETWORKADDRESSURLDATATYPE]); connectionConfig.publisherId.numeric = UA_UInt32_random(); UA_Server_addPubSubConnection(server, &connectionConfig, &connectionIdentifier); /* Add one PublishedDataSet */ UA_PublishedDataSetConfig publishedDataSetConfig; memset(&publishedDataSetConfig, 0, sizeof(UA_PublishedDataSetConfig)); publishedDataSetConfig.publishedDataSetType = UA_PUBSUB_DATASET_PUBLISHEDITEMS; publishedDataSetConfig.name = UA_STRING("Demo PDS"); /* Add one DataSetField to the PDS */ UA_Server_addPublishedDataSet(server, &publishedDataSetConfig, &publishedDataSetIdent); } static void valueUpdateCallback(UA_Server *server, void *data) { for (int i = 0; i < PUBSUB_CONFIG_FIELD_COUNT; ++i) *valueStore[i] = *valueStore[i]+1; if(*valueStore[0] > PUBSUB_CONFIG_PUBLISH_CYCLES) running = false; } int main(void) { signal(SIGINT, stopHandler); signal(SIGTERM, stopHandler); UA_Server *server = UA_Server_new(); UA_ServerConfig *config = UA_Server_getConfig(server); UA_ServerConfig_setDefault(config); config->pubsubTransportLayers = (UA_PubSubTransportLayer *) UA_malloc(sizeof(UA_PubSubTransportLayer)); if(!config->pubsubTransportLayers) { UA_Server_delete(server); return -1; } config->pubsubTransportLayers[0] = UA_PubSubTransportLayerUDPMP(); config->pubsubTransportLayersSize++; /*Add standard PubSub configuration (no difference to the std. configuration)*/ addMinimalPubSubConfiguration(server); /* Add one WriterGroup with PubSub RT Level 0. If any rtLevel != UA_PUBSUB_RT_NONE is set, the * writerGroup does not start the publishing interval automatically.*/ UA_WriterGroupConfig writerGroupConfig; memset(&writerGroupConfig, 0, sizeof(UA_WriterGroupConfig)); writerGroupConfig.name = UA_STRING("Demo WriterGroup"); writerGroupConfig.publishingInterval = PUBSUB_CONFIG_PUBLISH_CYCLE_MS; writerGroupConfig.enabled = UA_FALSE; writerGroupConfig.writerGroupId = 100; writerGroupConfig.encodingMimeType = UA_PUBSUB_ENCODING_UADP; writerGroupConfig.messageSettings.encoding = UA_EXTENSIONOBJECT_DECODED; writerGroupConfig.messageSettings.content.decoded.type = &UA_TYPES[UA_TYPES_UADPWRITERGROUPMESSAGEDATATYPE]; /* RT Level 0 setup */ UA_UadpWriterGroupMessageDataType writerGroupMessage; UA_UadpWriterGroupMessageDataType_init(&writerGroupMessage); /* Change message settings of writerGroup to send PublisherId, * WriterGroupId in GroupHeader and DataSetWriterId in PayloadHeader * of NetworkMessage */ writerGroupMessage.networkMessageContentMask = (UA_UadpNetworkMessageContentMask) ((UA_UadpNetworkMessageContentMask) UA_UADPNETWORKMESSAGECONTENTMASK_PUBLISHERID | (UA_UadpNetworkMessageContentMask) UA_UADPNETWORKMESSAGECONTENTMASK_GROUPHEADER | (UA_UadpNetworkMessageContentMask) UA_UADPNETWORKMESSAGECONTENTMASK_WRITERGROUPID | (UA_UadpNetworkMessageContentMask) UA_UADPNETWORKMESSAGECONTENTMASK_PAYLOADHEADER); writerGroupConfig.messageSettings.content.decoded.data = &writerGroupMessage; #if defined PUBSUB_CONFIG_FASTPATH_FIXED_OFFSETS writerGroupConfig.rtLevel = UA_PUBSUB_RT_FIXED_SIZE; #endif UA_Server_addWriterGroup(server, connectionIdentifier, &writerGroupConfig, &writerGroupIdent); /* Add one DataSetWriter */ UA_NodeId dataSetWriterIdent; UA_DataSetWriterConfig dataSetWriterConfig; memset(&dataSetWriterConfig, 0, sizeof(UA_DataSetWriterConfig)); dataSetWriterConfig.name = UA_STRING("Demo DataSetWriter"); dataSetWriterConfig.dataSetWriterId = 62541; dataSetWriterConfig.keyFrameCount = 10; UA_Server_addDataSetWriter(server, writerGroupIdent, publishedDataSetIdent, &dataSetWriterConfig, &dataSetWriterIdent); #if defined PUBSUB_CONFIG_FASTPATH_FIXED_OFFSETS || defined PUBSUB_CONFIG_FASTPATH_STATIC_VALUES /* Add one DataSetField with static value source to PDS */ UA_DataSetFieldConfig dsfConfig; for(size_t i = 0; i < PUBSUB_CONFIG_FIELD_COUNT; i++){ memset(&dsfConfig, 0, sizeof(UA_DataSetFieldConfig)); /* Create Variant and configure as DataSetField source */ UA_UInt32 *intValue = UA_UInt32_new(); *intValue = (UA_UInt32) i * 1000; valueStore[i] = intValue; UA_Variant variant; memset(&variant, 0, sizeof(UA_Variant)); UA_Variant_setScalar(&variant, intValue, &UA_TYPES[UA_TYPES_UINT32]); UA_DataValue staticValueSource; memset(&staticValueSource, 0, sizeof(staticValueSource)); staticValueSource.value = variant; dsfConfig.field.variable.staticValueSourceEnabled = UA_TRUE; dsfConfig.field.variable.staticValueSource.value = variant; UA_Server_addDataSetField(server, publishedDataSetIdent, &dsfConfig, &dataSetFieldIdent); } #endif /* The PubSub configuration is currently editable and the publish callback is not running */ writerGroupConfig.publishingInterval = PUBSUB_CONFIG_PUBLISH_CYCLE_MS; UA_Server_updateWriterGroupConfig(server, writerGroupIdent, &writerGroupConfig); /* Freeze the PubSub configuration (and start implicitly the publish callback) */ UA_Server_freezeWriterGroupConfiguration(server, writerGroupIdent); UA_Server_setWriterGroupOperational(server, writerGroupIdent); /* Changes of the PubSub configuration is restricted after freeze */ UA_StatusCode retVal = UA_Server_updateWriterGroupConfig(server, writerGroupIdent, &writerGroupConfig); if(retVal != UA_STATUSCODE_BADCONFIGURATIONERROR) return EXIT_FAILURE; /* Unfreeze the PubSub configuration (and stop implicitly the publish callback) */ //UA_Server_setWriterGroupDisabled(server, writerGroupIdent); //UA_Server_unfreezeWriterGroupConfiguration(server, writerGroupIdent); UA_UInt64 callbackId; UA_Server_addRepeatedCallback(server, valueUpdateCallback, NULL, PUBSUB_CONFIG_PUBLISH_CYCLE_MS, &callbackId); UA_StatusCode retval = UA_STATUSCODE_GOOD; retval |= UA_Server_run(server, &running); UA_Server_delete(server); return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE; }