/*
* Copyright (C) 2014 the contributors as stated in the AUTHORS file
*
* This file is part of open62541. open62541 is free software: you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License, version 3 (as published by the Free Software Foundation) with
* a static linking exception as stated in the LICENSE file provided with
* open62541.
*
* open62541 is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
* A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
* details.
*/
#ifndef UA_TYPES_H_
#define UA_TYPES_H_
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stdbool.h>
#include <stdio.h>
#include "ua_config.h"
/**
* @defgroup types Datatypes
*
* @brief The built-in datatypes. The remaining datatypes are autogenerated from
* XML descriptions as they are all enums or structures made up of the built-in
* datatypes.
*
* All datatypes have similar functions with a common postfix. DO NOT CALL THESE
* FUNCTIONS WITH NULL-POINTERS IF IT IS NOT EXPLICITLY PERMITTED.
*
* - _new: Allocates the memory for the type and runs _init on the returned
* variable. Returns null if no memory could be allocated.
*
* - _init: Sets all members to a "safe" standard, usually zero. Arrays (e.g.
* for strings) are set to a length of -1.
*
* - _copy: Copies a datatype. This performs a deep copy that iterates over the
* members. Copying into variants with an external data source is not
* permitted. If copying fails, a deleteMembers is performed and an error
* code returned.
*
* - _delete: Frees the memory where the datatype was stored. This performs an
* _deleteMembers internally if required.
*
* - _deleteMembers: Frees the memory of dynamically sized members (e.g. a
* string) of a datatype. This is useful when the datatype was allocated on
* the stack, whereas the dynamically sized members is heap-allocated. To
* reuse the variable, the remaining members (not dynamically allocated) need
* to be cleaned up with an _init.
*
* @{
*/
/** @brief A two-state logical value (true or false). */
typedef bool UA_Boolean;
#define UA_TRUE true
#define UA_FALSE false
/** @brief An integer value between -129 and 127. */
typedef int8_t UA_SByte;
#define UA_SBYTE_MAX 127
#define UA_SBYTE_MIN -128
/** @brief An integer value between 0 and 256. */
typedef uint8_t UA_Byte;
#define UA_BYTE_MAX 256
#define UA_BYTE_MIN 0
/** @brief An integer value between -32 768 and 32 767. */
typedef int16_t UA_Int16;
#define UA_INT16_MAX 32767
#define UA_INT16_MIN -32768
/** @brief An integer value between 0 and 65 535. */
typedef uint16_t UA_UInt16;
#define UA_UINT16_MAX 65535
#define UA_UINT16_MIN 0
/** @brief An integer value between -2 147 483 648 and 2 147 483 647. */
typedef int32_t UA_Int32;
#define UA_INT32_MAX 2147483647
#define UA_INT32_MIN −2147483648
/** @brief An integer value between 0 and 429 4967 295. */
typedef uint32_t UA_UInt32;
#define UA_UINT32_MAX 4294967295
#define UA_UINT32_MIN 0
/** @brief An integer value between -10 223 372 036 854 775 808 and 9 223 372 036 854 775 807 */
typedef int64_t UA_Int64;
#define UA_INT64_MAX 9223372036854775807
#define UA_INT64_MIN −9223372036854775808
/** @brief An integer value between 0 and 18 446 744 073 709 551 615. */
typedef uint64_t UA_UInt64;
#define UA_UINT64_MAX = 18446744073709551615
#define UA_UINT64_MIN = 0
/** @brief An IEEE single precision (32 bit) floating point value. */
typedef float UA_Float;
/** @brief An IEEE double precision (64 bit) floating point value. */
typedef double UA_Double;
/** @brief A sequence of Unicode characters. */
typedef struct {
UA_Int32 length;
UA_Byte *data;
} UA_String;
/** @brief An instance in time.
*
* A DateTime value is encoded as a 64-bit signed integer which represents the
* number of 100 nanosecond intervals since January 1, 1601 (UTC).
*/
typedef UA_Int64 UA_DateTime; // 100 nanosecond resolution
/** @brief A 16 byte value that can be used as a globally unique identifier. */
typedef struct {
UA_UInt32 data1;
UA_UInt16 data2;
UA_UInt16 data3;
UA_Byte data4[8];
} UA_Guid;
/** @brief A sequence of octets. */
typedef UA_String UA_ByteString;
/** @brief An XML element. */
typedef UA_String UA_XmlElement;
typedef enum {
UA_NODEIDTYPE_NUMERIC = 2,
UA_NODEIDTYPE_STRING = 3,
UA_NODEIDTYPE_GUID = 4,
UA_NODEIDTYPE_BYTESTRING = 5
} UA_NodeIdType;
/** @brief An identifier for a node in the address space of an OPC UA Server. */
/* The shortened numeric types are introduced during encoding. */
typedef struct {
UA_UInt16 namespaceIndex;
UA_NodeIdType identifierType;
union {
UA_UInt32 numeric;
UA_String string;
UA_Guid guid;
UA_ByteString byteString;
} identifier;
} UA_NodeId;
/** @brief A NodeId that allows the namespace URI to be specified instead of an index. */
typedef struct {
UA_NodeId nodeId;
UA_String namespaceUri; // not encoded if length=-1
UA_UInt32 serverIndex; // not encoded if 0
} UA_ExpandedNodeId;
#include "ua_statuscodes.h"
/** @brief A numeric identifier for a error or condition that is associated with a value or an operation. */
typedef enum UA_StatusCode UA_StatusCode; // StatusCodes aren't an enum(=int) since 32 unsigned bits are needed. See also ua_statuscodes.h */
/** @brief A name qualified by a namespace. */
typedef struct {
UA_UInt16 namespaceIndex;
UA_String name;
} UA_QualifiedName;
/** @brief Human readable text with an optional locale identifier. */
typedef struct {
UA_String locale;
UA_String text;
} UA_LocalizedText;
/** @brief A structure that contains an application specific data type that may
not be recognized by the receiver. */
typedef struct {
UA_NodeId typeId;
enum {
UA_EXTENSIONOBJECT_ENCODINGMASK_NOBODYISENCODED = 0,
UA_EXTENSIONOBJECT_ENCODINGMASK_BODYISBYTESTRING = 1,
UA_EXTENSIONOBJECT_ENCODINGMASK_BODYISXML = 2
} encoding;
UA_ByteString body; // contains either the bytestring or a pointer to the memory-object
} UA_ExtensionObject;
struct UA_TypeVTable; // forward declaration
typedef struct UA_TypeVTable UA_TypeVTable;
/** @brief Pointers to data that is stored in memory. The "type" of the data is
stored in the variant itself. */
typedef struct {
UA_Int32 arrayLength; // total number of elements in the data-pointer
void *dataPtr;
UA_Int32 arrayDimensionsLength;
UA_Int32 *arrayDimensions;
} UA_VariantData;
/** @brief A datasource is the interface to interact with a local data provider.
*
* Implementors of datasources need to provide functions for the callbacks in
* this structure. As a rule, datasources are never copied, but only their
* content. The only way to write into a datasource is via the write-service. */
typedef struct {
const void *identifier; /**< whatever id the datasource uses internally. Can be ignored if the datasource functions do not use it. */
UA_Int32 (*read)(const void *identifier, const UA_VariantData **); /**< Get the current data from the datasource. When it is no longer used, the data has to be relased. */
void (*release)(const void *identifier, const UA_VariantData *); /**< For concurrent access, the datasource needs to know when the last reader releases replaced/deleted data. Release decreases the reference count. */
UA_Int32 (*write)(const void **identifier, const UA_VariantData *); /**< Replace the data in the datasource. Also used to replace the identifier pointer for lookups. Do not free the variantdata afterwards! */
void (*delete)(const void *identifier); /**< Indicates that the node with the datasource was removed from the namespace. */
} UA_VariantDataSource;
/** @brief Variants store (arrays of) any data type. Either they provide a
pointer to the data in memory, or functions from which the data can be
accessed. */
typedef struct {
const UA_TypeVTable *vt; /// The VTable of the datatype in question
enum {
UA_VARIANT_DATA, ///< The data is stored in memory and "owned" by this variant
UA_VARIANT_DATA_NODELETE, ///< The data is stored in memory, but only "borrowed" and shall not be deleted at the end of this variant's lifecycle
UA_VARIANT_DATASOURCE ///< The data is provided externally. Call the functions in the datasource to get a current version
} storageType;
union {
UA_VariantData data;
UA_VariantDataSource datasource;
} storage;
} UA_Variant;
/** @brief A data value with an associated status code and timestamps. */
typedef struct {
UA_Byte encodingMask;
UA_Variant value;
UA_StatusCode status;
UA_DateTime sourceTimestamp;
UA_Int16 sourcePicoseconds;
UA_DateTime serverTimestamp;
UA_Int16 serverPicoseconds;
} UA_DataValue;
enum UA_DATAVALUE_ENCODINGMASKTYPE_enum {
UA_DATAVALUE_ENCODINGMASK_VARIANT = 0x01,
UA_DATAVALUE_ENCODINGMASK_STATUSCODE = 0x02,
UA_DATAVALUE_ENCODINGMASK_SOURCETIMESTAMP = 0x04,
UA_DATAVALUE_ENCODINGMASK_SERVERTIMESTAMP = 0x08,
UA_DATAVALUE_ENCODINGMASK_SOURCEPICOSECONDS = 0x10,
UA_DATAVALUE_ENCODINGMASK_SERVERPICOSECONDS = 0x20
};
/** @brief A structure that contains detailed error and diagnostic information associated with a StatusCode. */
typedef struct UA_DiagnosticInfo {
UA_Byte encodingMask; // Type of the Enum UA_DIAGNOSTICINFO_ENCODINGMASKTYPE
UA_Int32 symbolicId;
UA_Int32 namespaceUri;
UA_Int32 localizedText;
UA_Int32 locale;
UA_String additionalInfo;
UA_StatusCode innerStatusCode;
struct UA_DiagnosticInfo *innerDiagnosticInfo;
} UA_DiagnosticInfo;
enum UA_DIAGNOSTICINFO_ENCODINGMASKTYPE_enum {
UA_DIAGNOSTICINFO_ENCODINGMASK_SYMBOLICID = 0x01,
UA_DIAGNOSTICINFO_ENCODINGMASK_NAMESPACE = 0x02,
UA_DIAGNOSTICINFO_ENCODINGMASK_LOCALIZEDTEXT = 0x04,
UA_DIAGNOSTICINFO_ENCODINGMASK_LOCALE = 0x08,
UA_DIAGNOSTICINFO_ENCODINGMASK_ADDITIONALINFO = 0x10,
UA_DIAGNOSTICINFO_ENCODINGMASK_INNERSTATUSCODE = 0x20,
UA_DIAGNOSTICINFO_ENCODINGMASK_INNERDIAGNOSTICINFO = 0x40
};
/** @brief Type use internally to denote an invalid datatype. */
typedef void UA_InvalidType;
/*************/
/* Functions */
/*************/
#define UA_TYPE_PROTOTYPES(TYPE) \
TYPE UA_EXPORT * TYPE##_new(void); \
void UA_EXPORT TYPE##_init(TYPE * p); \
void UA_EXPORT TYPE##_delete(TYPE * p); \
void UA_EXPORT TYPE##_deleteMembers(TYPE * p); \
UA_StatusCode UA_EXPORT TYPE##_copy(const TYPE *src, TYPE *dst); \
void UA_EXPORT TYPE##_print(const TYPE *p, FILE *stream);
#define UA_TYPE_PROTOTYPES_NOEXPORT(TYPE) \
TYPE * TYPE##_new(void); \
void TYPE##_init(TYPE * p); \
void TYPE##_delete(TYPE * p); \
void TYPE##_deleteMembers(TYPE * p); \
UA_StatusCode TYPE##_copy(const TYPE *src, TYPE *dst); \
void TYPE##_print(const TYPE *p, FILE *stream);
/* Functions for all types */
UA_TYPE_PROTOTYPES(UA_Boolean)
UA_TYPE_PROTOTYPES(UA_SByte)
UA_TYPE_PROTOTYPES(UA_Byte)
UA_TYPE_PROTOTYPES(UA_Int16)
UA_TYPE_PROTOTYPES(UA_UInt16)
UA_TYPE_PROTOTYPES(UA_Int32)
UA_TYPE_PROTOTYPES(UA_UInt32)
UA_TYPE_PROTOTYPES(UA_Int64)
UA_TYPE_PROTOTYPES(UA_UInt64)
UA_TYPE_PROTOTYPES(UA_Float)
UA_TYPE_PROTOTYPES(UA_Double)
UA_TYPE_PROTOTYPES(UA_String)
UA_TYPE_PROTOTYPES(UA_DateTime)
UA_TYPE_PROTOTYPES(UA_Guid)
UA_TYPE_PROTOTYPES(UA_ByteString)
UA_TYPE_PROTOTYPES(UA_XmlElement)
UA_TYPE_PROTOTYPES(UA_NodeId)
UA_TYPE_PROTOTYPES(UA_ExpandedNodeId)
UA_TYPE_PROTOTYPES(UA_StatusCode)
UA_TYPE_PROTOTYPES(UA_QualifiedName)
UA_TYPE_PROTOTYPES(UA_LocalizedText)
UA_TYPE_PROTOTYPES(UA_ExtensionObject)
UA_TYPE_PROTOTYPES(UA_DataValue)
UA_TYPE_PROTOTYPES(UA_Variant)
UA_TYPE_PROTOTYPES(UA_DiagnosticInfo)
UA_TYPE_PROTOTYPES(UA_InvalidType)
/**********************************************/
/* Custom functions for the builtin datatypes */
/**********************************************/
/* String */
#define UA_STRING_NULL (UA_String) {-1, (UA_Byte*)0 }
#define UA_STRING_STATIC(VARIABLE, STRING) do { \
VARIABLE.length = sizeof(STRING)-1; \
VARIABLE.data = (UA_Byte *)STRING; } while(0)
UA_StatusCode UA_EXPORT UA_String_copycstring(char const *src, UA_String *dst);
UA_StatusCode UA_EXPORT UA_String_copyprintf(char const *fmt, UA_String *dst, ...);
UA_Boolean UA_EXPORT UA_String_equal(const UA_String *string1, const UA_String *string2);
void UA_EXPORT UA_String_printf(char const *label, const UA_String *string);
void UA_EXPORT UA_String_printx(char const *label, const UA_String *string);
void UA_EXPORT UA_String_printx_hex(char const *label, const UA_String *string);
/* DateTime */
UA_DateTime UA_EXPORT UA_DateTime_now(void);
typedef struct UA_DateTimeStruct {
UA_Int16 nanoSec;
UA_Int16 microSec;
UA_Int16 milliSec;
UA_Int16 sec;
UA_Int16 min;
UA_Int16 hour;
UA_Int16 day;
UA_Int16 month;
UA_Int16 year;
} UA_DateTimeStruct;
UA_DateTimeStruct UA_EXPORT UA_DateTime_toStruct(UA_DateTime time);
UA_StatusCode UA_EXPORT UA_DateTime_toString(UA_DateTime time, UA_String *timeString);
/* Guid */
UA_Boolean UA_EXPORT UA_Guid_equal(const UA_Guid *g1, const UA_Guid *g2);
/** Do not use for security-critical entropy! */
UA_Guid UA_EXPORT UA_Guid_random(UA_UInt32 *seed);
/* ByteString */
UA_Boolean UA_EXPORT UA_ByteString_equal(const UA_ByteString *string1, const UA_ByteString *string2);
UA_StatusCode UA_EXPORT UA_ByteString_newMembers(UA_ByteString *p, UA_Int32 length);
void UA_EXPORT UA_ByteString_printf(char *label, const UA_ByteString *string);
void UA_EXPORT UA_ByteString_printx(char *label, const UA_ByteString *string);
void UA_EXPORT UA_ByteString_printx_hex(char *label, const UA_ByteString *string);
/* NodeId */
UA_Boolean UA_EXPORT UA_NodeId_equal(const UA_NodeId *n1, const UA_NodeId *n2);
UA_Boolean UA_EXPORT UA_NodeId_isNull(const UA_NodeId *p);
/* ExpandedNodeId */
UA_Boolean UA_EXPORT UA_ExpandedNodeId_isNull(const UA_ExpandedNodeId *p);
/* QualifiedName */
#define UA_QUALIFIEDNAME_STATIC(VARIABLE, STRING) do { \
VARIABLE.namespaceIndex = 0; \
UA_STRING_STATIC(VARIABLE.name, STRING); } while(0)
UA_StatusCode UA_EXPORT UA_QualifiedName_copycstring(char const *src, UA_QualifiedName *dst);
void UA_EXPORT UA_QualifiedName_printf(char const *label, const UA_QualifiedName *qn);
/* LocalizedText */
#define UA_LOCALIZEDTEXT_STATIC(VARIABLE, STRING) do { \
UA_STRING_STATIC(VARIABLE.locale, "en"); \
UA_STRING_STATIC(VARIABLE.text, STRING); } while(0)
UA_StatusCode UA_EXPORT UA_LocalizedText_copycstring(char const *src, UA_LocalizedText *dst);
/* Variant */
UA_StatusCode UA_EXPORT UA_Variant_copySetValue(UA_Variant *v, const UA_TypeVTable *vt, const void *value);
UA_StatusCode UA_EXPORT UA_Variant_copySetArray(UA_Variant *v, const UA_TypeVTable *vt, UA_Int32 arrayLength, const void *array);
/* Array operations */
UA_StatusCode UA_EXPORT UA_Array_new(void **p, UA_Int32 noElements, const UA_TypeVTable *vt);
void UA_EXPORT UA_Array_init(void *p, UA_Int32 noElements, const UA_TypeVTable *vt);
void UA_EXPORT UA_Array_delete(void *p, UA_Int32 noElements, const UA_TypeVTable *vt);
/* @brief The destination array is allocated with size noElements. */
UA_StatusCode UA_EXPORT UA_Array_copy(const void *src, UA_Int32 noElements, const UA_TypeVTable *vt, void **dst);
void UA_EXPORT UA_Array_print(const void *p, UA_Int32 noElements, const UA_TypeVTable *vt, FILE *stream);
/*******************/
/* TypeDescription */
/*******************/
#define UA_MAX_MEMBERS 13 // Maximum number of members per complex type
typedef struct {
UA_UInt16 memberTypeIndex : 9; ///< Index of the member in the datatypelayout table
UA_Boolean nameSpaceZero : 1; ///< The type of the member is defined in namespace zero
UA_Byte padding : 5; ///< How much padding is there before this member element?
UA_Boolean isArray : 1; ///< The member is an array if the given type
} UA_DataTypeMember;
typedef struct {
UA_UInt16 memSize : 15; ///< Size of the struct in memory
UA_Boolean zeroCopyable; ///< Can the type be copied directly off the stream?
UA_Byte membersSize; ///< How many members does the struct have?
UA_DataTypeMember members[UA_MAX_MEMBERS];
} UA_DataTypeLayout;
typedef struct {
UA_UInt16 tableSize;
UA_DataTypeLayout *typeLayouts;
UA_NodeId *typeIds;
UA_String *typeNames;
} UA_TypeDescriptionTable;
/**********/
/* VTable */
/**********/
typedef struct UA_Encoding {
/** Returns the size of the encoded element.*/
UA_UInt32 (*calcSize)(const void *p);
/** Encodes the type into the destination bytestring. */
UA_StatusCode (*encode)(const void *src, UA_ByteString *dst, UA_UInt32 *offset);
/** Decodes a ByteString into an UA datatype. */
UA_StatusCode (*decode)(const UA_ByteString *src, UA_UInt32 *offset, void *dst);
} UA_Encoding;
#define UA_ENCODING_BINARY 0 // Binary encoding is always available
struct UA_TypeVTable {
UA_NodeId typeId;
UA_Byte *name;
void * (*new)(void);
void (*init)(void *p);
UA_StatusCode (*copy)(void const *src, void *dst);
void (*delete)(void *p);
void (*deleteMembers)(void *p);
#ifdef UA_DEBUG
void (*print)(const void *p, FILE *stream);
#endif
UA_UInt32 memSize; // size of the struct
UA_Boolean dynMembers; // does the type contain members that are dynamically on the heap?
UA_Encoding encodings[UA_ENCODING_AMOUNT]; // binary, xml, ... UA_ENCODING_AMOUNT is set by the build script
};
/** @} */
#ifdef __cplusplus
} // extern "C"
#endif
#endif /* UA_TYPES_H_ */