open62541/examples/client.c

#ifdef NOT_AMALGATED
	#include "ua_types.h"
	#include "ua_client.h"
	#include "ua_nodeids.h"
#else
	#include "open62541.h"
#endif

#include <stdio.h>
#include "networklayer_tcp.h"

int main(int argc, char *argv[]) {
	UA_Client *client = UA_Client_new();
	UA_Client_setConfig(client, (UA_ClientConfig){.timeout=500});
	UA_ClientNetworkLayer nl = ClientNetworkLayerTCP_new(UA_ConnectionConfig_standard);
	UA_StatusCode retval = UA_Client_connect(client, UA_ConnectionConfig_standard, nl,
			"opc.tcp://localhost:16664");
	if(retval != UA_STATUSCODE_GOOD) {
		UA_Client_delete(client);
		return retval;
	}

	// 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_browse(client, &bReq);
	printf("%-9s %-16s %-16s %-16s\n", "NAMESPACE", "NODEID", "BROWSE NAME", "DISPLAY NAME");
	for (int i = 0; i < bResp.resultsSize; ++i) {
		for (int 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->browseName.namespaceIndex, ref->nodeId.nodeId.identifier.numeric, ref->browseName.name.length, ref->browseName.name.data, 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->browseName.namespaceIndex, ref->nodeId.nodeId.identifier.string.length, ref->nodeId.nodeId.identifier.string.data, ref->browseName.name.length, ref->browseName.name.data, ref->displayName.text.length, ref->displayName.text.data);
			}
			//TODO: distinguish further types
		}
	}
	UA_BrowseRequest_deleteMembers(&bReq);
	UA_BrowseResponse_deleteMembers(&bResp);

	UA_Int32 value = 0;
	// Read node's value
	printf("\nReading the value of node (1, \"the.answer\"):\n");
	UA_ReadRequest rReq;
	UA_ReadRequest_init(&rReq);
	rReq.nodesToRead = UA_ReadValueId_new();
	rReq.nodesToReadSize = 1;
	rReq.nodesToRead[0].nodeId = UA_NODEID_STRING_ALLOC(1, "the.answer"); /* assume this node exists */
	rReq.nodesToRead[0].attributeId = UA_ATTRIBUTEID_VALUE;

	UA_ReadResponse rResp = UA_Client_read(client, &rReq);
	if(rResp.responseHeader.serviceResult == UA_STATUSCODE_GOOD &&
	   rResp.resultsSize > 0 && rResp.results[0].hasValue &&
	   rResp.results[0].value.data /* an empty array returns a null-ptr */ &&
	   rResp.results[0].value.type == &UA_TYPES[UA_TYPES_INT32]){
		value = *(UA_Int32*)rResp.results[0].value.data;
		printf("the value is: %i\n", value);
	}

	UA_ReadRequest_deleteMembers(&rReq);
	UA_ReadResponse_deleteMembers(&rResp);

	value++;
	// Write node's value
	printf("\nWriting a value of node (1, \"the.answer\"):\n");
	UA_WriteRequest wReq;
	UA_WriteRequest_init(&wReq);
	wReq.nodesToWrite = UA_WriteValue_new();
	wReq.nodesToWriteSize = 1;
	wReq.nodesToWrite[0].nodeId = UA_NODEID_STRING_ALLOC(1, "the.answer"); /* assume this node exists */
	wReq.nodesToWrite[0].attributeId = UA_ATTRIBUTEID_VALUE;
	wReq.nodesToWrite[0].value.hasValue = UA_TRUE;
	wReq.nodesToWrite[0].value.value.type = &UA_TYPES[UA_TYPES_INT32];
	wReq.nodesToWrite[0].value.value.storageType = UA_VARIANT_DATA_NODELETE; //do not free the integer on deletion
	wReq.nodesToWrite[0].value.value.data = &value;

	UA_WriteResponse wResp = UA_Client_write(client, &wReq);
	if(wResp.responseHeader.serviceResult == UA_STATUSCODE_GOOD)
			printf("the new value is: %i\n", value);

	UA_WriteRequest_deleteMembers(&wReq);
	UA_WriteResponse_deleteMembers(&wResp);

	UA_Client_disconnect(client);
	UA_Client_delete(client);
	return UA_STATUSCODE_GOOD;
}