/* This work is licensed under a Creative Commons CCZero 1.0 Universal License. * See http://creativecommons.org/publicdomain/zero/1.0/ for more information. */ /** * IMPORTANT ANNOUNCEMENT * The PubSub subscriber API is currently not finished. This examples can be used to * receive and print the values, which are published by the tutorial_pubsub_publish * example. The following code uses internal API which will be later replaced by the * higher-level PubSub subscriber API. */ #include #include #include #include #include #include "ua_pubsub.h" #include "ua_pubsub_networkmessage.h" #ifdef UA_ENABLE_PUBSUB_ETH_UADP #include #endif #include #include #include UA_Boolean running = true; static void stopHandler(int sign) { UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "received ctrl-c"); running = false; } static void subscriptionPollingCallback(UA_Server *server, UA_PubSubConnection *connection) { UA_ByteString buffer; if (UA_ByteString_allocBuffer(&buffer, 512) != UA_STATUSCODE_GOOD) { UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Message buffer allocation failed!"); return; } /* Receive the message. Blocks for 5ms */ UA_StatusCode retval = connection->channel->receive(connection->channel, &buffer, NULL, 5); if(retval != UA_STATUSCODE_GOOD || buffer.length == 0) { /* Workaround!! Reset buffer length. Receive can set the length to zero. * Then the buffer is not deleted because no memory allocation is * assumed. * TODO: Return an error code in 'receive' instead of setting the buf * length to zero. */ buffer.length = 512; UA_ByteString_clear(&buffer); return; } /* Decode the message */ UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Message length: %lu", (unsigned long) buffer.length); UA_NetworkMessage networkMessage; memset(&networkMessage, 0, sizeof(UA_NetworkMessage)); size_t currentPosition = 0; UA_NetworkMessage_decodeBinary(&buffer, ¤tPosition, &networkMessage); UA_ByteString_clear(&buffer); /* Is this the correct message type? */ if(networkMessage.networkMessageType != UA_NETWORKMESSAGE_DATASET) goto cleanup; /* At least one DataSetMessage in the NetworkMessage? */ if(networkMessage.payloadHeaderEnabled && networkMessage.payloadHeader.dataSetPayloadHeader.count < 1) goto cleanup; /* Is this a KeyFrame-DataSetMessage? */ UA_DataSetMessage *dsm = &networkMessage.payload.dataSetPayload.dataSetMessages[0]; if(dsm->header.dataSetMessageType != UA_DATASETMESSAGE_DATAKEYFRAME) goto cleanup; /* Loop over the fields and print well-known content types */ for(int i = 0; i < dsm->data.keyFrameData.fieldCount; i++) { const UA_DataType *currentType = dsm->data.keyFrameData.dataSetFields[i].value.type; if(currentType == &UA_TYPES[UA_TYPES_BYTE]) { UA_Byte value = *(UA_Byte *)dsm->data.keyFrameData.dataSetFields[i].value.data; UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Message content: [Byte] \tReceived data: %i", value); } else if (currentType == &UA_TYPES[UA_TYPES_DATETIME]) { UA_DateTime value = *(UA_DateTime *)dsm->data.keyFrameData.dataSetFields[i].value.data; UA_DateTimeStruct receivedTime = UA_DateTime_toStruct(value); UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Message content: [DateTime] \t" "Received date: %02i-%02i-%02i Received time: %02i:%02i:%02i", receivedTime.year, receivedTime.month, receivedTime.day, receivedTime.hour, receivedTime.min, receivedTime.sec); } } cleanup: UA_NetworkMessage_clear(&networkMessage); } static int run(UA_String *transportProfile, UA_NetworkAddressUrlDataType *networkAddressUrl) { signal(SIGINT, stopHandler); signal(SIGTERM, stopHandler); UA_ServerConfig *config = UA_ServerConfig_new_minimal(4801, NULL); /* Details about the PubSubTransportLayer can be found inside the * tutorial_pubsub_connection */ config->pubsubTransportLayers = (UA_PubSubTransportLayer *) UA_calloc(2, sizeof(UA_PubSubTransportLayer)); if (!config->pubsubTransportLayers) { UA_ServerConfig_delete(config); return EXIT_FAILURE; } config->pubsubTransportLayers[0] = UA_PubSubTransportLayerUDPMP(); config->pubsubTransportLayersSize++; #ifdef UA_ENABLE_PUBSUB_ETH_UADP config->pubsubTransportLayers[1] = UA_PubSubTransportLayerEthernet(); config->pubsubTransportLayersSize++; #endif UA_Server *server = UA_Server_new(config); UA_PubSubConnectionConfig connectionConfig; memset(&connectionConfig, 0, sizeof(connectionConfig)); connectionConfig.name = UA_STRING("UADP Connection 1"); connectionConfig.transportProfileUri = *transportProfile; connectionConfig.enabled = UA_TRUE; UA_Variant_setScalar(&connectionConfig.address, networkAddressUrl, &UA_TYPES[UA_TYPES_NETWORKADDRESSURLDATATYPE]); UA_NodeId connectionIdent; UA_StatusCode retval = UA_Server_addPubSubConnection(server, &connectionConfig, &connectionIdent); if(retval == UA_STATUSCODE_GOOD) UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "The PubSub Connection was created successfully!"); /* The following lines register the listening on the configured multicast * address and configure a repeated job, which is used to handle received * messages. */ UA_PubSubConnection *connection = UA_PubSubConnection_findConnectionbyId(server, connectionIdent); if(connection != NULL) { UA_StatusCode rv = connection->channel->regist(connection->channel, NULL, NULL); if (rv == UA_STATUSCODE_GOOD) { UA_UInt64 subscriptionCallbackId; UA_Server_addRepeatedCallback(server, (UA_ServerCallback)subscriptionPollingCallback, connection, 100, &subscriptionCallbackId); } else { UA_LOG_WARNING(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "register channel failed: %s!", UA_StatusCode_name(rv)); } } retval |= UA_Server_run(server, &running); UA_Server_delete(server); UA_ServerConfig_delete(config); return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE;; } static void usage(char *progname) { printf("usage: %s [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); }