open62541/examples/tutorial_server_method.c

/* This work is licensed under a Creative Commons CCZero 1.0 Universal License.
 * See http://creativecommons.org/publicdomain/zero/1.0/ for more information. */

/**
 * Adding Methods to Objects
 * -------------------------
 *
 * An object in an OPC UA information model may contain methods similar to
 * objects in a programming language. Methods are represented by a MethodNode.
 * Note that several objects may reference the same MethodNode. When an object
 * type is instantiated, a reference to the method is added instead of copying
 * the MethodNode. Therefore, the identifier of the context object is always
 * explicitly stated when a method is called.
 *
 * The method callback takes as input a custom data pointer attached to the
 * method node, the identifier of the object from which the method is called,
 * and two arrays for the input and output arguments. The input and output
 * arguments are all of type :ref:`variant`. Each variant may in turn contain a
 * (multi-dimensional) array or scalar of any data type.
 *
 * Constraints for the method arguments are defined in terms of data type, value
 * rank and array dimension (similar to variable definitions). The argument
 * definitions are stored in child VariableNodes of the MethodNode with the
 * respective BrowseNames ``(0, "InputArguments")`` and ``(0,
 * "OutputArguments")``.
 *
 * Example: Hello World Method
 * ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 * The method takes a string scalar and returns a string scalar with "Hello "
 * prepended. The type and length of the input arguments is checked internally
 * by the SDK, so that we don't have to verify the arguments in the callback. */

#include <signal.h>
#include "open62541.h"

static UA_StatusCode
helloWorldMethodCallback(UA_Server *server,
                         const UA_NodeId *sessionId, void *sessionHandle,
                         const UA_NodeId *methodId, void *methodContext,
                         const UA_NodeId *objectId, void *objectContext,
                         size_t inputSize, const UA_Variant *input,
                         size_t outputSize, UA_Variant *output) {
    UA_String *inputStr = (UA_String*)input->data;
    UA_String tmp = UA_STRING_ALLOC("Hello ");
    if(inputStr->length > 0) {
        tmp.data = (UA_Byte *)UA_realloc(tmp.data, tmp.length + inputStr->length);
        memcpy(&tmp.data[tmp.length], inputStr->data, inputStr->length);
        tmp.length += inputStr->length;
    }
    UA_Variant_setScalarCopy(output, &tmp, &UA_TYPES[UA_TYPES_STRING]);
    UA_String_deleteMembers(&tmp);
    UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Hello World was called");
    return UA_STATUSCODE_GOOD;
}

static void
addHellWorldMethod(UA_Server *server) {
    UA_Argument inputArgument;
    UA_Argument_init(&inputArgument);
    inputArgument.description = UA_LOCALIZEDTEXT("en-US", "A String");
    inputArgument.name = UA_STRING("MyInput");
    inputArgument.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
    inputArgument.valueRank = -1; /* scalar */

    UA_Argument outputArgument;
    UA_Argument_init(&outputArgument);
    outputArgument.description = UA_LOCALIZEDTEXT("en-US", "A String");
    outputArgument.name = UA_STRING("MyOutput");
    outputArgument.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
    outputArgument.valueRank = -1; /* scalar */

    UA_MethodAttributes helloAttr = UA_MethodAttributes_default;
    helloAttr.description = UA_LOCALIZEDTEXT("en-US","Say `Hello World`");
    helloAttr.displayName = UA_LOCALIZEDTEXT("en-US","Hello World");
    helloAttr.executable = true;
    helloAttr.userExecutable = true;
    UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1,62541),
                            UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASORDEREDCOMPONENT),
                            UA_QUALIFIEDNAME(1, "hello world"),
                            helloAttr, &helloWorldMethodCallback,
                            1, &inputArgument, 1, &outputArgument, NULL, NULL);
}

/**
 * Increase Array Values Method
 * ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 * The method takes an array of 5 integers and a scalar as input. It returns a
 * copy of the array with every entry increased by the scalar. */

static UA_StatusCode
IncInt32ArrayMethodCallback(UA_Server *server,
                            const UA_NodeId *sessionId, void *sessionContext,
                            const UA_NodeId *methodId, void *methodContext,
                            const UA_NodeId *objectId, void *objectContext,
                            size_t inputSize, const UA_Variant *input,
                            size_t outputSize, UA_Variant *output) {
    UA_Int32 *inputArray = (UA_Int32*)input[0].data;
    UA_Int32 delta = *(UA_Int32*)input[1].data;

    /* Copy the input array */
    UA_StatusCode retval = UA_Variant_setArrayCopy(output, inputArray, 5,
                                                   &UA_TYPES[UA_TYPES_INT32]);
    if(retval != UA_STATUSCODE_GOOD)
        return retval;

    /* Increate the elements */
    UA_Int32 *outputArray = (UA_Int32*)output->data;
    for(size_t i = 0; i < input->arrayLength; i++)
        outputArray[i] = inputArray[i] + delta;

    return UA_STATUSCODE_GOOD;
}

static void
addIncInt32ArrayMethod(UA_Server *server) {
    /* Two input arguments */
    UA_Argument inputArguments[2];
    UA_Argument_init(&inputArguments[0]);
    inputArguments[0].description = UA_LOCALIZEDTEXT("en-US", "int32[5] array");
    inputArguments[0].name = UA_STRING("int32 array");
    inputArguments[0].dataType = UA_TYPES[UA_TYPES_INT32].typeId;
    inputArguments[0].valueRank = 1;
    UA_UInt32 pInputDimension = 5;
    inputArguments[0].arrayDimensionsSize = 1;
    inputArguments[0].arrayDimensions = &pInputDimension;

    UA_Argument_init(&inputArguments[1]);
    inputArguments[1].description = UA_LOCALIZEDTEXT("en-US", "int32 delta");
    inputArguments[1].name = UA_STRING("int32 delta");
    inputArguments[1].dataType = UA_TYPES[UA_TYPES_INT32].typeId;
    inputArguments[1].valueRank = -1; /* scalar */

    /* One output argument */
    UA_Argument outputArgument;
    UA_Argument_init(&outputArgument);
    outputArgument.description = UA_LOCALIZEDTEXT("en-US", "int32[5] array");
    outputArgument.name = UA_STRING("each entry is incremented by the delta");
    outputArgument.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
    outputArgument.valueRank = 1;
    UA_UInt32 pOutputDimension = 5;
    outputArgument.arrayDimensionsSize = 1;
    outputArgument.arrayDimensions = &pOutputDimension;

    /* Add the method node */
    UA_MethodAttributes incAttr = UA_MethodAttributes_default;
    incAttr.description = UA_LOCALIZEDTEXT("en-US", "IncInt32ArrayValues");
    incAttr.displayName = UA_LOCALIZEDTEXT("en-US", "IncInt32ArrayValues");
    incAttr.executable = true;
    incAttr.userExecutable = true;
    UA_Server_addMethodNode(server, UA_NODEID_STRING(1, "IncInt32ArrayValues"),
                            UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                            UA_QUALIFIEDNAME(1, "IncInt32ArrayValues"),
                            incAttr, &IncInt32ArrayMethodCallback,
                            2, inputArguments, 1, &outputArgument,
                            NULL, NULL);
}

/** It follows the main server code, making use of the above definitions. */

UA_Boolean running = true;
static void stopHandler(int sign) {
    UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "received ctrl-c");
    running = false;
}

int main(void) {
    signal(SIGINT, stopHandler);
    signal(SIGTERM, stopHandler);

    UA_ServerConfig *config = UA_ServerConfig_new_default();
    UA_Server *server = UA_Server_new(config);

    addHellWorldMethod(server);
    addIncInt32ArrayMethod(server);

    UA_StatusCode retval = UA_Server_run(server, &running);
    UA_Server_delete(server);
    UA_ServerConfig_delete(config);
    return (int)retval;
}