adding led actuator for RPI release *untested yet*

CMakeLists.txt

@@ -188,14 +188,14 @@ endif()
 option(EXAMPLESERVER_RPI "Build a Raspberry Pi specific test server" OFF)
 if(EXAMPLESERVER_RPI)
     add_executable(exampleServerRpi examples/server_rpi.c examples/networklayer_tcp.c examples/logger_stdout.c ${exported_headers} ${generated_headers})
-    target_link_libraries(exampleServerRpi open62541-static)
+    target_link_libraries(exampleServerRpi open62541-static pthread)
     if(WIN32)
         target_link_libraries(exampleServerRpi ws2_32)
     else()
         target_link_libraries(exampleServerRpi rt)
     endif()
     if(MULTITHREADING)
-        target_link_libraries(exampleServerRpi urcu-cds urcu urcu-common pthread)
+        target_link_libraries(exampleServerRpi urcu-cds urcu urcu-common)
     endif()
     if ((CMAKE_COMPILER_IS_GNUCC OR "${CMAKE_C_COMPILER_ID}" STREQUAL "Clang") AND (CMAKE_BUILD_TYPE STREQUAL "MinSizeRel" OR CMAKE_BUILD_TYPE STREQUAL "Release"))
     	add_custom_command(TARGET exampleServerRpi POST_BUILD

examples/server_rpi.c

@@ -18,80 +18,172 @@
 #include "logger_stdout.h"
 #include "networklayer_tcp.h"
 
-FILE* temperatureFile;
 UA_Boolean running = 1;
 UA_Logger logger;
 
 /*************************/
 /* Read-only temperature */
 /*************************/
-static UA_StatusCode readTemperature(const void *handle, UA_DataValue *value) {
-    UA_Double* currentTemperature = UA_Double_new();
-
-    if(!currentTemperature)
-        return UA_STATUSCODE_BADOUTOFMEMORY;
-
-    if (fseek(temperatureFile, 0, SEEK_SET))
-      {
-        puts("Error seeking to start of file");
-        exit(1);
-      }
-
-    if(fscanf(temperatureFile, "%lf", currentTemperature) != 1){
-    	printf("Can not parse temperature!\n");
-    	exit(1);
-    }
+FILE* temperatureFile = NULL;
+static UA_StatusCode readTemperature(const void *handle, UA_Boolean sourceTimeStamp, UA_DataValue *value) {
+	UA_Double* currentTemperature = UA_Double_new();
+
+	if(!currentTemperature)
+		return UA_STATUSCODE_BADOUTOFMEMORY;
+
+	if (fseek(temperatureFile, 0, SEEK_SET))
+	{
+		puts("Error seeking to start of file");
+		exit(1);
+	}
+
+	if(fscanf(temperatureFile, "%lf", currentTemperature) != 1){
+		printf("Can not parse temperature!\n");
+		exit(1);
+	}
+
+	*currentTemperature /= 1000.0;
+
+	value->value.type = &UA_TYPES[UA_TYPES_DOUBLE];
+	value->value.arrayLength = 1;
+	value->value.dataPtr = currentTemperature;
+	value->value.arrayDimensionsSize = -1;
+	value->value.arrayDimensions = NULL;
+	value->hasVariant = UA_TRUE;
+	return UA_STATUSCODE_GOOD;
+}
 
-    *currentTemperature /= 1000.0;
+static void releaseTemperature(const void *handle, UA_DataValue *value) {
+	UA_Double_delete((UA_Double*)value->value.dataPtr);
+}
 
-    value->value.type = &UA_TYPES[UA_TYPES_DOUBLE];
+/*************************/
+/* Read-write status led */
+/*************************/
+pthread_rwlock_t ledStatusLock;
+FILE* triggerFile = NULL;
+FILE* ledFile = NULL;
+UA_Boolean ledStatus = 0;
+
+static UA_StatusCode readLedStatus(const void *handle, UA_Boolean sourceTimeStamp, UA_DataValue *value) {
+    /* In order to reduce blocking time, we could alloc memory for every read
+       and return a copy of the data. */
+    pthread_rwlock_rdlock(&ledStatusLock);
+    value->value.type = &UA_TYPES[UA_TYPES_BOOLEAN];
     value->value.arrayLength = 1;
-    value->value.dataPtr = currentTemperature;
+    value->value.dataPtr = &ledStatus;
     value->value.arrayDimensionsSize = -1;
     value->value.arrayDimensions = NULL;
     value->hasVariant = UA_TRUE;
+    if(sourceTimeStamp) {
+        value->sourceTimestamp = UA_DateTime_now();
+        value->hasSourceTimestamp = UA_TRUE;
+    }
     return UA_STATUSCODE_GOOD;
 }
 
-static void releaseTemperature(const void *handle, UA_DataValue *value) {
-    UA_Double_delete((UA_Double*)value->value.dataPtr);
+static void releaseLedStatus(const void *handle, UA_DataValue *value) {
+    /* If we allocated memory for a specific read, free the content of the
+       variantdata. */
+    value->value.arrayLength = -1;
+    value->value.dataPtr = NULL;
+    pthread_rwlock_unlock(&ledStatusLock);
+}
+
+static UA_StatusCode writeLedStatus(const void *handle, const UA_Variant *data) {
+    pthread_rwlock_wrlock(&ledStatusLock);
+    if(data->dataPtr)
+        ledStatus = *(UA_Boolean*)data->dataPtr;
+
+	if (fseek(triggerFile, 0, SEEK_SET))
+	{
+		puts("Error seeking to start of led file");
+	}
+    if(ledStatus == 1){
+    	fprintf(ledFile, "%s", "1");
+    } else {
+    	fprintf(ledFile, "%s", "0");
+    }
+    pthread_rwlock_unlock(&ledStatusLock);
+    return UA_STATUSCODE_GOOD;
 }
 
 static void stopHandler(int sign) {
-    printf("Received Ctrl-C\n");
+	printf("Received Ctrl-C\n");
 	running = 0;
 }
 
 int main(int argc, char** argv) {
 	signal(SIGINT, stopHandler); /* catches ctrl-c */
+	pthread_rwlock_init(&ledStatusLock, 0);
 
 	UA_Server *server = UA_Server_new();
-    logger = Logger_Stdout_new();
-    UA_Server_setLogger(server, logger);
-    UA_Server_addNetworkLayer(server, ServerNetworkLayerTCP_new(UA_ConnectionConfig_standard, 16664));
+	logger = Logger_Stdout_new();
+	UA_Server_setLogger(server, logger);
+	UA_Server_addNetworkLayer(server, ServerNetworkLayerTCP_new(UA_ConnectionConfig_standard, 16664));
+
+	if(!(temperatureFile = fopen("/sys/class/thermal/thermal_zone0/temp", "r"))){
+		printf("Can not open temperature file, no temperature node will be added\n");
+	} else {
+		// add node with the datetime data source
+		UA_DataSource temperatureDataSource = (UA_DataSource)
+	        				{.handle = NULL,
+							.read = readTemperature,
+							.release = releaseTemperature,
+							.write = NULL};
+		UA_QualifiedName dateName;
+		UA_QUALIFIEDNAME_ASSIGN(dateName, "cpu temperature");
+		UA_Server_addDataSourceVariableNode(server, temperatureDataSource, &UA_NODEID_NULL, &dateName,
+				&UA_NODEID_STATIC(0, UA_NS0ID_OBJECTSFOLDER),
+				&UA_NODEID_STATIC(0, UA_NS0ID_ORGANIZES));
+	}
+
+	if (	!(triggerFile = fopen("/sys/class/leds/led0/trigger", "w"))
+			|| 	!(ledFile = fopen("/sys/class/leds/led0/brightness", "w"))) {
+		printf("Can not open trigger or led file, no led node will be added\n");
+	} else {
+		//setting led mode to manual
+		fprintf(triggerFile, "%s", "none");
+
+		//turning off led initially
+		fprintf(ledFile, "%s", "1");
+
+		// add node with the device status data source
+		UA_DataSource ledStatusDataSource = (UA_DataSource)
+		        		{.handle = NULL,
+						.read = readLedStatus,
+						.release = releaseLedStatus,
+						.write = writeLedStatus};
+		UA_QualifiedName statusName;
+		UA_QUALIFIEDNAME_ASSIGN(statusName, "status led");
+		UA_Server_addDataSourceVariableNode(server, ledStatusDataSource, &UA_NODEID_NULL, &statusName,
+				&UA_NODEID_STATIC(0, UA_NS0ID_OBJECTSFOLDER),
+				&UA_NODEID_STATIC(0, UA_NS0ID_ORGANIZES));
+	}
+
+
+	UA_StatusCode retval = UA_Server_run(server, 1, &running);
+	UA_Server_delete(server);
 
-    if(!(temperatureFile = fopen("/sys/class/thermal/thermal_zone0/temp", "r"))){
-    	printf("Can not open temperature file!\n");
-    	exit(1);
-    }
+	if(temperatureFile)
+		fclose(temperatureFile);
 
-    // add node with the datetime data source
-    UA_DataSource temperatureDataSource = (UA_DataSource)
-        {.handle = NULL,
-         .read = readTemperature,
-         .release = releaseTemperature,
-         .write = NULL};
-    UA_QualifiedName dateName;
-    UA_QUALIFIEDNAME_ASSIGN(dateName, "cpu temperature");
-    UA_Server_addDataSourceVariableNode(server, temperatureDataSource, &UA_NODEID_NULL, &dateName,
-                                        &UA_NODEID_STATIC(0, UA_NS0ID_OBJECTSFOLDER),
-                                        &UA_NODEID_STATIC(0, UA_NS0ID_ORGANIZES));
-
-    UA_StatusCode retval = UA_Server_run(server, 1, &running);
-	UA_Server_delete(server);
+	if(triggerFile){
+		if (fseek(triggerFile, 0, SEEK_SET))
+		{
+			puts("Error seeking to start of led file");
+		}
+
+		//setting led mode to default
+		fprintf(triggerFile, "%s", "mmc0");
+		fclose(triggerFile);
+	}
 
-    fclose(temperatureFile);
+	if(ledFile){
+		fclose(ledFile);
+	}
 
+    pthread_rwlock_destroy(&ledStatusLock);
 
 	return retval;
 }