adding browse and write to readme

README.md

@@ -74,31 +74,87 @@ int main(int argc, char** argv) {
 #include "open62541.h"
 
 int main(int argc, char *argv[]) {
-	UA_Client *client = UA_Client_new();
-	UA_ClientNetworkLayer nl = ClientNetworkLayerTCP_new(UA_ConnectionConfig_standard);
+    UA_Client *client = UA_Client_new();
+    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) {
+    if(retval != UA_STATUSCODE_GOOD) {
         UA_Client_delete(client);
     	return retval;
     }
 
-    UA_ReadRequest req;
-    UA_ReadRequest_init(&req);
-    req.nodesToRead = UA_ReadValueId_new();
-    req.nodesToReadSize = 1;
-    req.nodesToRead[0].nodeId = UA_NODEID_STRING(1, "the.answer");
-    req.nodesToRead[0].attributeId = UA_ATTRIBUTEID_VALUE;
-
-    UA_ReadResponse resp = UA_Client_read(client, &req);
-    if(resp.responseHeader.serviceResult == UA_STATUSCODE_GOOD &&
-       resp.resultsSize > 0 && resp.results[0].hasValue &&
-       resp.results[0].value.data /* an empty array returns a null-ptr */ &&
-       resp.results[0].value.type == &UA_TYPES[UA_TYPES_INT32])
-        printf("the answer is: %i\n", *(UA_Int32*)resp.results[0].value.data);
-
-    UA_ReadRequest_deleteMembers(&req);
-    UA_ReadResponse_deleteMembers(&resp);
+    // Browse nodes in objects folder    
+    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
+    UA_ReadRequest rReq;
+    UA_ReadRequest_init(&rReq);
+    rReq.nodesToRead = UA_ReadValueId_new();
+    rReq.nodesToReadSize = 1;
+    rReq.nodesToRead[0].nodeId = UA_NODEID_STRING(1, "the.answer");
+    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;