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- /* 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 <signal.h>
- #include "open62541.h"
- /* Work in progress: This Tutorial/Example will be continuously extended during the next PubSub batches */
- UA_NodeId connectionIdentifier;
- UA_Boolean running = true;
- static void stopHandler(int sign) {
- UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "received ctrl-c");
- running = false;
- }
- static UA_StatusCode
- addPubSubConnection(UA_Server *server){
- /* Details about the connection configuration and handling are located in the pubsub connection tutorial */
- 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_StatusCode retval = UA_Server_addPubSubConnection(server, &connectionConfig, &connectionIdentifier);
- return retval;
- }
- /**
- * The PubSub publish example demonstrate the simplest way to publish
- * informations from the information model over UDP Multicast.
- */
- int main(void) {
- signal(SIGINT, stopHandler);
- signal(SIGTERM, stopHandler);
- UA_StatusCode retval = UA_STATUSCODE_GOOD;
- UA_ServerConfig *config = UA_ServerConfig_new_default();
- /* Details about the connection configuration and handling are located in the pubsub connection tutorial */
- config->pubsubTransportLayers = (UA_PubSubTransportLayer *) UA_malloc(sizeof(UA_PubSubTransportLayer));
- if(!config->pubsubTransportLayers) {
- UA_ServerConfig_delete(config);
- return -1;
- }
- config->pubsubTransportLayers[0] = UA_PubSubTransportLayerUDPMP();
- config->pubsubTransportLayersSize++;
- UA_Server *server = UA_Server_new(config);
- if(addPubSubConnection(server) != UA_STATUSCODE_GOOD)
- UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "PubSub Connection creation failed!");
- /* The PublishedDataSetConfig contains all necessary public informations for the creation of a new PublishedDataSet */
- UA_PublishedDataSetConfig publishedDataSetConfig;
- memset(&publishedDataSetConfig, 0, sizeof(UA_PublishedDataSetConfig));
- publishedDataSetConfig.publishedDataSetType = UA_PUBSUB_DATASET_PUBLISHEDITEMS;
- publishedDataSetConfig.name = UA_STRING("Robot Axis");
- /* Create new PublishedDataSet based on the PublishedDataSetConfig. */
- UA_NodeId publishedDataSetIdent;
- if(UA_Server_addPublishedDataSet(server, &publishedDataSetConfig, &publishedDataSetIdent).addResult == UA_STATUSCODE_GOOD)
- UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "PubSub PublishedDataSet creation successful!");
- /* Add a field to the previous created PublishedDataSet */
- UA_NodeId dataSetFieldIdent;
- UA_DataSetFieldConfig dataSetFieldConfig;
- memset(&dataSetFieldConfig, 0, sizeof(UA_DataSetFieldConfig));
- dataSetFieldConfig.dataSetFieldType = UA_PUBSUB_DATASETFIELD_VARIABLE;
- dataSetFieldConfig.field.variable.fieldNameAlias = UA_STRING("Server localtime");
- dataSetFieldConfig.field.variable.promotedField = UA_FALSE;
- dataSetFieldConfig.field.variable.publishParameters.publishedVariable = UA_NODEID_NUMERIC(0, UA_NS0ID_SERVER_LOCALTIME);
- dataSetFieldConfig.field.variable.publishParameters.attributeId = UA_ATTRIBUTEID_VALUE;
- UA_Server_addDataSetField(server, publishedDataSetIdent, &dataSetFieldConfig, &dataSetFieldIdent);
- /* Now we create a new WriterGroupConfig and add the group to the existing PubSubConnection. */
- UA_NodeId writerGroupIdent;
- UA_WriterGroupConfig writerGroupConfig;
- memset(&writerGroupConfig, 0, sizeof(UA_WriterGroupConfig));
- writerGroupConfig.name = UA_STRING("Demo WriterGroup");
- writerGroupConfig.publishingInterval = 100;
- writerGroupConfig.enabled = UA_FALSE;
- writerGroupConfig.encodingMimeType = UA_PUBSUB_ENCODING_UADP;
- /* The configuration flags for the messages are encapsulated inside the message- and transport settings
- * extension objects. These extension objects are defined by the standard. e.g. UadpWriterGroupMessageDataType */
- UA_Server_addWriterGroup(server, connectionIdentifier, &writerGroupConfig, &writerGroupIdent);
- /* We need now a DataSetWriter within the WriterGroup. This means we must create a new DataSetWriterConfig and add
- * call the addWriterGroup function. */
- 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);
- retval |= UA_Server_run(server, &running);
- UA_Server_delete(server);
- UA_ServerConfig_delete(config);
- return (int)retval;
- }
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