/* 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 UA_NodeId publishedDataSetIdent, dataSetFieldIdent, writerGroupIdent, connectionIdentifier; UA_Boolean running = true; static void stopHandler(int sign) { UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "received ctrl-c"); running = false; } /** * 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 underlying base concept is the target to reduce the time spread and * affort during the publish cycle. Most of the RT levels are based on a pregenerated 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 */ /* 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); } 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 = 100; writerGroupConfig.enabled = UA_FALSE; writerGroupConfig.writerGroupId = 100; writerGroupConfig.encodingMimeType = UA_PUBSUB_ENCODING_UADP; /* RT Level 0 setup */ writerGroupConfig.rtLevel = UA_PUBSUB_RT_FIXED_SIZE; 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); /* Add one DataSetField with static value source to PDS */ UA_DataSetFieldConfig dsfConfig; UA_Server_getDataSetFieldConfig(server, dataSetFieldIdent, &dsfConfig); /* Create Variant and configure as DataSetField source */ UA_UInt32 *intValue = UA_UInt32_new(); 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); /* The PubSub configuration is currently editable and the publish callback is not running */ writerGroupConfig.publishingInterval = 1000; 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_StatusCode retval = UA_STATUSCODE_GOOD; retval |= UA_Server_run(server, &running); UA_Server_delete(server); return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE; }