server.c 17 KB

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  1. /* This work is licensed under a Creative Commons CCZero 1.0 Universal License.
  2. * See http://creativecommons.org/publicdomain/zero/1.0/ for more information. */
  3. /* Compile with single file release:
  4. * - single-threaded: gcc -std=c99 server.c open62541.c -o server
  5. * - multi-threaded: gcc -std=c99 server.c open62541.c -o server -lurcu-cds -lurcu -lurcu-common -lpthread */
  6. #ifdef _MSC_VER
  7. #define _CRT_SECURE_NO_WARNINGS //disable fopen deprication warning in msvs
  8. #endif
  9. #ifdef UA_NO_AMALGAMATION
  10. # include <time.h>
  11. # include "ua_types.h"
  12. # include "ua_server.h"
  13. # include "ua_config_standard.h"
  14. # include "ua_network_tcp.h"
  15. # include "ua_log_stdout.h"
  16. #else
  17. # include "open62541.h"
  18. #endif
  19. #include <signal.h>
  20. #include <errno.h> // errno, EINTR
  21. #include <stdio.h>
  22. #include <stdlib.h>
  23. #include <string.h>
  24. #ifdef _MSC_VER
  25. # include <io.h> //access
  26. #else
  27. # include <unistd.h> //access
  28. #endif
  29. #ifdef UA_ENABLE_MULTITHREADING
  30. # ifdef UA_NO_AMALGAMATION
  31. # ifndef __USE_XOPEN2K
  32. # define __USE_XOPEN2K
  33. # endif
  34. # endif
  35. #include <pthread.h>
  36. #endif
  37. UA_Boolean running = 1;
  38. UA_Logger logger = UA_Log_Stdout;
  39. static UA_ByteString loadCertificate(void) {
  40. UA_ByteString certificate = UA_STRING_NULL;
  41. FILE *fp = NULL;
  42. //FIXME: a potiential bug of locating the certificate, we need to get the path from the server's config
  43. fp=fopen("server_cert.der", "rb");
  44. if(!fp) {
  45. errno = 0; // we read errno also from the tcp layer...
  46. return certificate;
  47. }
  48. fseek(fp, 0, SEEK_END);
  49. certificate.length = (size_t)ftell(fp);
  50. certificate.data = malloc(certificate.length*sizeof(UA_Byte));
  51. if(!certificate.data)
  52. return certificate;
  53. fseek(fp, 0, SEEK_SET);
  54. if(fread(certificate.data, sizeof(UA_Byte), certificate.length, fp) < (size_t)certificate.length)
  55. UA_ByteString_deleteMembers(&certificate); // error reading the cert
  56. fclose(fp);
  57. return certificate;
  58. }
  59. static void stopHandler(int sign) {
  60. UA_LOG_INFO(logger, UA_LOGCATEGORY_SERVER, "Received Ctrl-C");
  61. running = 0;
  62. }
  63. /* Datasource Example */
  64. static UA_StatusCode
  65. readTimeData(void *handle, const UA_NodeId nodeId, UA_Boolean sourceTimeStamp,
  66. const UA_NumericRange *range, UA_DataValue *value) {
  67. if(range) {
  68. value->hasStatus = true;
  69. value->status = UA_STATUSCODE_BADINDEXRANGEINVALID;
  70. return UA_STATUSCODE_GOOD;
  71. }
  72. UA_DateTime currentTime = UA_DateTime_now();
  73. UA_Variant_setScalarCopy(&value->value, &currentTime, &UA_TYPES[UA_TYPES_DATETIME]);
  74. value->hasValue = true;
  75. if(sourceTimeStamp) {
  76. value->hasSourceTimestamp = true;
  77. value->sourceTimestamp = currentTime;
  78. }
  79. return UA_STATUSCODE_GOOD;
  80. }
  81. /* Method Node Example */
  82. #ifdef UA_ENABLE_METHODCALLS
  83. static UA_StatusCode
  84. helloWorld(void *methodHandle, const UA_NodeId objectId,
  85. size_t inputSize, const UA_Variant *input,
  86. size_t outputSize, UA_Variant *output) {
  87. /* input is a scalar string (checked by the server) */
  88. UA_String *name = (UA_String*)input[0].data;
  89. UA_String hello = UA_STRING("Hello ");
  90. UA_String greet;
  91. greet.length = hello.length + name->length;
  92. greet.data = malloc(greet.length);
  93. memcpy(greet.data, hello.data, hello.length);
  94. memcpy(greet.data + hello.length, name->data, name->length);
  95. UA_Variant_setScalarCopy(output, &greet, &UA_TYPES[UA_TYPES_STRING]);
  96. UA_String_deleteMembers(&greet);
  97. return UA_STATUSCODE_GOOD;
  98. }
  99. static UA_StatusCode
  100. noargMethod (void *methodHandle, const UA_NodeId objectId,
  101. size_t inputSize, const UA_Variant *input,
  102. size_t outputSize, UA_Variant *output) {
  103. return UA_STATUSCODE_GOOD;
  104. }
  105. static UA_StatusCode
  106. outargMethod (void *methodHandle, const UA_NodeId objectId,
  107. size_t inputSize, const UA_Variant *input,
  108. size_t outputSize, UA_Variant *output) {
  109. UA_Int32 out = 42;
  110. UA_Variant_setScalarCopy(output, &out, &UA_TYPES[UA_TYPES_INT32]);
  111. return UA_STATUSCODE_GOOD;
  112. }
  113. #endif
  114. int main(int argc, char** argv) {
  115. signal(SIGINT, stopHandler); /* catches ctrl-c */
  116. UA_ServerNetworkLayer nl = UA_ServerNetworkLayerTCP(UA_ConnectionConfig_standard, 16664);
  117. UA_ServerConfig config = UA_ServerConfig_standard;
  118. config.networkLayers = &nl;
  119. config.networkLayersSize = 1;
  120. /* load certificate */
  121. config.serverCertificate = loadCertificate();
  122. UA_Server *server = UA_Server_new(config);
  123. /* add a static variable node to the server */
  124. UA_VariableAttributes myVar;
  125. UA_VariableAttributes_init(&myVar);
  126. myVar.description = UA_LOCALIZEDTEXT("en_US", "the answer");
  127. myVar.displayName = UA_LOCALIZEDTEXT("en_US", "the answer");
  128. myVar.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
  129. UA_Int32 myInteger = 42;
  130. UA_Variant_setScalarCopy(&myVar.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
  131. const UA_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, "the answer");
  132. const UA_NodeId myIntegerNodeId = UA_NODEID_STRING(1, "the.answer");
  133. UA_NodeId parentNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
  134. UA_NodeId parentReferenceNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
  135. UA_Server_addVariableNode(server, myIntegerNodeId, parentNodeId, parentReferenceNodeId,
  136. myIntegerName, UA_NODEID_NULL, myVar, NULL, NULL);
  137. UA_Variant_deleteMembers(&myVar.value);
  138. /* add a variable with the datetime data source */
  139. UA_DataSource dateDataSource = (UA_DataSource) {.handle = NULL, .read = readTimeData, .write = NULL};
  140. UA_VariableAttributes v_attr;
  141. UA_VariableAttributes_init(&v_attr);
  142. v_attr.description = UA_LOCALIZEDTEXT("en_US","current time");
  143. v_attr.displayName = UA_LOCALIZEDTEXT("en_US","current time");
  144. v_attr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
  145. const UA_QualifiedName dateName = UA_QUALIFIEDNAME(1, "current time");
  146. UA_NodeId dataSourceId;
  147. UA_Server_addDataSourceVariableNode(server, UA_NODEID_NULL, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
  148. UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), dateName,
  149. UA_NODEID_NULL, v_attr, dateDataSource, &dataSourceId);
  150. /* Add HelloWorld method to the server */
  151. #ifdef UA_ENABLE_METHODCALLS
  152. /* Method with IO Arguments */
  153. UA_Argument inputArguments;
  154. UA_Argument_init(&inputArguments);
  155. inputArguments.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
  156. inputArguments.description = UA_LOCALIZEDTEXT("en_US", "Say your name");
  157. inputArguments.name = UA_STRING("Name");
  158. inputArguments.valueRank = -1; /* scalar argument */
  159. UA_Argument outputArguments;
  160. UA_Argument_init(&outputArguments);
  161. outputArguments.arrayDimensionsSize = 0;
  162. outputArguments.arrayDimensions = NULL;
  163. outputArguments.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
  164. outputArguments.description = UA_LOCALIZEDTEXT("en_US", "Receive a greeting");
  165. outputArguments.name = UA_STRING("greeting");
  166. outputArguments.valueRank = -1;
  167. UA_MethodAttributes addmethodattributes;
  168. UA_MethodAttributes_init(&addmethodattributes);
  169. addmethodattributes.displayName = UA_LOCALIZEDTEXT("en_US", "Hello World");
  170. addmethodattributes.executable = true;
  171. addmethodattributes.userExecutable = true;
  172. UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, 62541),
  173. UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
  174. UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
  175. UA_QUALIFIEDNAME(1, "hello_world"), addmethodattributes,
  176. &helloWorld, /* callback of the method node */
  177. NULL, /* handle passed with the callback */
  178. 1, &inputArguments, 1, &outputArguments, NULL);
  179. #endif
  180. /* Add folders for demo information model */
  181. #define DEMOID 50000
  182. #define SCALARID 50001
  183. #define ARRAYID 50002
  184. #define MATRIXID 50003
  185. #define DEPTHID 50004
  186. UA_ObjectAttributes object_attr;
  187. UA_ObjectAttributes_init(&object_attr);
  188. object_attr.description = UA_LOCALIZEDTEXT("en_US", "Demo");
  189. object_attr.displayName = UA_LOCALIZEDTEXT("en_US", "Demo");
  190. UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, DEMOID),
  191. UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
  192. UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), UA_QUALIFIEDNAME(1, "Demo"),
  193. UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
  194. object_attr.description = UA_LOCALIZEDTEXT("en_US", "Scalar");
  195. object_attr.displayName = UA_LOCALIZEDTEXT("en_US", "Scalar");
  196. UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, SCALARID),
  197. UA_NODEID_NUMERIC(1, DEMOID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
  198. UA_QUALIFIEDNAME(1, "Scalar"),
  199. UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
  200. object_attr.description = UA_LOCALIZEDTEXT("en_US", "Array");
  201. object_attr.displayName = UA_LOCALIZEDTEXT("en_US", "Array");
  202. UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, ARRAYID),
  203. UA_NODEID_NUMERIC(1, DEMOID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
  204. UA_QUALIFIEDNAME(1, "Array"),
  205. UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
  206. object_attr.description = UA_LOCALIZEDTEXT("en_US", "Matrix");
  207. object_attr.displayName = UA_LOCALIZEDTEXT("en_US", "Matrix");
  208. UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, MATRIXID), UA_NODEID_NUMERIC(1, DEMOID),
  209. UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), UA_QUALIFIEDNAME(1, "Matrix"),
  210. UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
  211. /* Fill demo nodes for each type*/
  212. UA_UInt32 id = 51000; // running id in namespace 0
  213. for(UA_UInt32 type = 0; type < UA_TYPES_DIAGNOSTICINFO; type++) {
  214. if(type == UA_TYPES_VARIANT || type == UA_TYPES_DIAGNOSTICINFO)
  215. continue;
  216. UA_VariableAttributes attr;
  217. UA_VariableAttributes_init(&attr);
  218. attr.valueRank = -2;
  219. char name[15];
  220. #if defined(_WIN32) && !defined(__MINGW32__)
  221. sprintf_s(name, 15, "%02d", type);
  222. #else
  223. sprintf(name, "%02d", type);
  224. #endif
  225. attr.displayName = UA_LOCALIZEDTEXT("en_US",name);
  226. attr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
  227. attr.writeMask = UA_WRITEMASK_DISPLAYNAME | UA_WRITEMASK_DESCRIPTION;
  228. attr.userWriteMask = UA_WRITEMASK_DISPLAYNAME | UA_WRITEMASK_DESCRIPTION;
  229. UA_QualifiedName qualifiedName = UA_QUALIFIEDNAME(1, name);
  230. /* add a scalar node for every built-in type */
  231. void *value = UA_new(&UA_TYPES[type]);
  232. UA_Variant_setScalar(&attr.value, value, &UA_TYPES[type]);
  233. UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, ++id),
  234. UA_NODEID_NUMERIC(1, SCALARID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
  235. qualifiedName, UA_NODEID_NULL, attr, NULL, NULL);
  236. UA_Variant_deleteMembers(&attr.value);
  237. /* add an array node for every built-in type */
  238. UA_Variant_setArray(&attr.value, UA_Array_new(10, &UA_TYPES[type]), 10, &UA_TYPES[type]);
  239. UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, ++id), UA_NODEID_NUMERIC(1, ARRAYID),
  240. UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), qualifiedName,
  241. UA_NODEID_NULL, attr, NULL, NULL);
  242. UA_Variant_deleteMembers(&attr.value);
  243. /* add an matrix node for every built-in type */
  244. void* myMultiArray = UA_Array_new(9, &UA_TYPES[type]);
  245. attr.value.arrayDimensions = UA_Array_new(2, &UA_TYPES[UA_TYPES_INT32]);
  246. attr.value.arrayDimensions[0] = 3;
  247. attr.value.arrayDimensions[1] = 3;
  248. attr.value.arrayDimensionsSize = 2;
  249. attr.value.arrayLength = 9;
  250. attr.value.data = myMultiArray;
  251. attr.value.type = &UA_TYPES[type];
  252. UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, ++id), UA_NODEID_NUMERIC(1, MATRIXID),
  253. UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), qualifiedName,
  254. UA_NODEID_NULL, attr, NULL, NULL);
  255. UA_Variant_deleteMembers(&attr.value);
  256. }
  257. /* Hierarchy of depth 10 for CTT testing with forward and inverse references */
  258. /* Enter node "depth 9" in CTT configuration - Project->Settings->Server Test->NodeIds->Paths->Starting Node 1 */
  259. object_attr.description = UA_LOCALIZEDTEXT("en_US","DepthDemo");
  260. object_attr.displayName = UA_LOCALIZEDTEXT("en_US","DepthDemo");
  261. UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, DEPTHID),
  262. UA_NODEID_NUMERIC(1, DEMOID),
  263. UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), UA_QUALIFIEDNAME(1, "DepthDemo"),
  264. UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
  265. id = DEPTHID; // running id in namespace 0 - Start with Matrix NODE
  266. for(UA_UInt32 i = 1; i <= 20; i++) {
  267. char name[15];
  268. #if defined(_WIN32) && !defined(__MINGW32__)
  269. sprintf_s(name, 15, "depth%i", i);
  270. #else
  271. sprintf(name, "depth%i", i);
  272. #endif
  273. object_attr.description = UA_LOCALIZEDTEXT("en_US",name);
  274. object_attr.displayName = UA_LOCALIZEDTEXT("en_US",name);
  275. UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, id+i),
  276. UA_NODEID_NUMERIC(1, i==1 ? DEPTHID : id+i-1), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
  277. UA_QUALIFIEDNAME(1, name),
  278. UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
  279. }
  280. /* Add the variable to some more places to get a node with three inverse references for the CTT */
  281. UA_ExpandedNodeId answer_nodeid = UA_EXPANDEDNODEID_STRING(1, "the.answer");
  282. UA_Server_addReference(server, UA_NODEID_NUMERIC(1, DEMOID),
  283. UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), answer_nodeid, true);
  284. UA_Server_addReference(server, UA_NODEID_NUMERIC(1, SCALARID),
  285. UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), answer_nodeid, true);
  286. /* Example for manually setting an attribute within the server */
  287. UA_LocalizedText objectsName = UA_LOCALIZEDTEXT("en_US", "Objects");
  288. UA_Server_writeDisplayName(server, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER), objectsName);
  289. #define NOARGID 60000
  290. #define INARGID 60001
  291. #define OUTARGID 60002
  292. #define INOUTARGID 60003
  293. #ifdef UA_ENABLE_METHODCALLS
  294. /* adding some more method nodes to pass CTT */
  295. /* Method without arguments */
  296. UA_MethodAttributes_init(&addmethodattributes);
  297. addmethodattributes.displayName = UA_LOCALIZEDTEXT("en_US", "noarg");
  298. addmethodattributes.executable = true;
  299. addmethodattributes.userExecutable = true;
  300. UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, NOARGID),
  301. UA_NODEID_NUMERIC(1, DEMOID),
  302. UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
  303. UA_QUALIFIEDNAME(1, "noarg"), addmethodattributes,
  304. &noargMethod, /* callback of the method node */
  305. NULL, /* handle passed with the callback */
  306. 0, NULL, 0, NULL, NULL);
  307. /* Method with in arguments */
  308. UA_MethodAttributes_init(&addmethodattributes);
  309. addmethodattributes.displayName = UA_LOCALIZEDTEXT("en_US", "inarg");
  310. addmethodattributes.executable = true;
  311. addmethodattributes.userExecutable = true;
  312. UA_Argument_init(&inputArguments);
  313. inputArguments.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
  314. inputArguments.description = UA_LOCALIZEDTEXT("en_US", "Input");
  315. inputArguments.name = UA_STRING("Input");
  316. inputArguments.valueRank = -1; //uaexpert will crash if set to 0 ;)
  317. UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, INARGID),
  318. UA_NODEID_NUMERIC(1, DEMOID),
  319. UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
  320. UA_QUALIFIEDNAME(1, "noarg"), addmethodattributes,
  321. &noargMethod, /* callback of the method node */
  322. NULL, /* handle passed with the callback */
  323. 1, &inputArguments, 0, NULL, NULL);
  324. /* Method with out arguments */
  325. UA_MethodAttributes_init(&addmethodattributes);
  326. addmethodattributes.displayName = UA_LOCALIZEDTEXT("en_US", "outarg");
  327. addmethodattributes.executable = true;
  328. addmethodattributes.userExecutable = true;
  329. UA_Argument_init(&outputArguments);
  330. outputArguments.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
  331. outputArguments.description = UA_LOCALIZEDTEXT("en_US", "Output");
  332. outputArguments.name = UA_STRING("Output");
  333. outputArguments.valueRank = -1;
  334. UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, OUTARGID),
  335. UA_NODEID_NUMERIC(1, DEMOID),
  336. UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
  337. UA_QUALIFIEDNAME(1, "outarg"), addmethodattributes,
  338. &outargMethod, /* callback of the method node */
  339. NULL, /* handle passed with the callback */
  340. 0, NULL, 1, &outputArguments, NULL);
  341. /* Method with inout arguments */
  342. UA_MethodAttributes_init(&addmethodattributes);
  343. addmethodattributes.displayName = UA_LOCALIZEDTEXT("en_US", "inoutarg");
  344. addmethodattributes.executable = true;
  345. addmethodattributes.userExecutable = true;
  346. UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, INOUTARGID),
  347. UA_NODEID_NUMERIC(1, DEMOID),
  348. UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
  349. UA_QUALIFIEDNAME(1, "inoutarg"), addmethodattributes,
  350. &outargMethod, /* callback of the method node */
  351. NULL, /* handle passed with the callback */
  352. 1, &inputArguments, 1, &outputArguments, NULL);
  353. #endif
  354. /* run server */
  355. UA_StatusCode retval = UA_Server_run(server, &running); /* run until ctrl-c is received */
  356. /* deallocate certificate's memory */
  357. UA_ByteString_deleteMembers(&config.serverCertificate);
  358. UA_Server_delete(server);
  359. nl.deleteMembers(&nl);
  360. return (int)retval;
  361. }