/* This work is licensed under a Creative Commons CCZero 1.0 Universal License.
* See http://creativecommons.org/publicdomain/zero/1.0/ for more information. */
#ifdef _MSC_VER
#define _CRT_SECURE_NO_WARNINGS /* disable fopen deprication warning in msvs */
#endif
#include <signal.h>
#include <errno.h> // errno, EINTR
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "open62541.h"
UA_Boolean running = true;
UA_Logger logger = UA_Log_Stdout;
static UA_ByteString loadCertificate(void) {
UA_ByteString certificate = UA_STRING_NULL;
FILE *fp = NULL;
//FIXME: a potiential bug of locating the certificate, we need to get the path from the server's config
fp=fopen("server_cert.der", "rb");
if(!fp) {
errno = 0; // we read errno also from the tcp layer...
return certificate;
}
fseek(fp, 0, SEEK_END);
certificate.length = (size_t)ftell(fp);
certificate.data = (UA_Byte*)malloc(certificate.length*sizeof(UA_Byte));
if(!certificate.data)
return certificate;
fseek(fp, 0, SEEK_SET);
if(fread(certificate.data, sizeof(UA_Byte), certificate.length, fp) < (size_t)certificate.length)
UA_ByteString_deleteMembers(&certificate); // error reading the cert
fclose(fp);
return certificate;
}
static void stopHandler(int sign) {
UA_LOG_INFO(logger, UA_LOGCATEGORY_SERVER, "Received Ctrl-C");
running = 0;
}
/* Datasource Example */
static UA_StatusCode
readTimeData(void *handle, const UA_NodeId nodeId, UA_Boolean sourceTimeStamp,
const UA_NumericRange *range, UA_DataValue *value) {
if(range) {
value->hasStatus = true;
value->status = UA_STATUSCODE_BADINDEXRANGEINVALID;
return UA_STATUSCODE_GOOD;
}
UA_DateTime currentTime = UA_DateTime_now();
UA_Variant_setScalarCopy(&value->value, ¤tTime, &UA_TYPES[UA_TYPES_DATETIME]);
value->hasValue = true;
if(sourceTimeStamp) {
value->hasSourceTimestamp = true;
value->sourceTimestamp = currentTime;
}
return UA_STATUSCODE_GOOD;
}
/* Method Node Example */
#ifdef UA_ENABLE_METHODCALLS
static UA_StatusCode
helloWorld(void *methodHandle, const UA_NodeId *objectId,
const UA_NodeId *sessionId, void *sessionHandle,
size_t inputSize, const UA_Variant *input,
size_t outputSize, UA_Variant *output) {
/* input is a scalar string (checked by the server) */
UA_String *name = (UA_String*)input[0].data;
UA_String hello = UA_STRING("Hello ");
UA_String greet;
greet.length = hello.length + name->length;
greet.data = (UA_Byte*)malloc(greet.length);
memcpy(greet.data, hello.data, hello.length);
memcpy(greet.data + hello.length, name->data, name->length);
UA_Variant_setScalarCopy(output, &greet, &UA_TYPES[UA_TYPES_STRING]);
UA_String_deleteMembers(&greet);
return UA_STATUSCODE_GOOD;
}
static UA_StatusCode
noargMethod(void *methodHandle, const UA_NodeId *objectId,
const UA_NodeId *sessionId, void *sessionHandle,
size_t inputSize, const UA_Variant *input,
size_t outputSize, UA_Variant *output) {
return UA_STATUSCODE_GOOD;
}
static UA_StatusCode
outargMethod(void *methodHandle, const UA_NodeId *objectId,
const UA_NodeId *sessionId, void *sessionHandle,
size_t inputSize, const UA_Variant *input,
size_t outputSize, UA_Variant *output) {
UA_Int32 out = 42;
UA_Variant_setScalarCopy(output, &out, &UA_TYPES[UA_TYPES_INT32]);
return UA_STATUSCODE_GOOD;
}
#endif
int main(int argc, char** argv) {
signal(SIGINT, stopHandler); /* catches ctrl-c */
UA_ServerNetworkLayer nl = UA_ServerNetworkLayerTCP(UA_ConnectionConfig_standard, 16664);
UA_ServerConfig config = UA_ServerConfig_standard;
config.networkLayers = &nl;
config.networkLayersSize = 1;
/* load certificate */
config.serverCertificate = loadCertificate();
UA_Server *server = UA_Server_new(config);
/* add a static variable node to the server */
UA_VariableAttributes myVar;
UA_VariableAttributes_init(&myVar);
myVar.description = UA_LOCALIZEDTEXT("en_US", "the answer");
myVar.displayName = UA_LOCALIZEDTEXT("en_US", "the answer");
myVar.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
UA_Int32 myInteger = 42;
UA_Variant_setScalarCopy(&myVar.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
const UA_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, "the answer");
const UA_NodeId myIntegerNodeId = UA_NODEID_STRING(1, "the.answer");
UA_NodeId parentNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
UA_NodeId parentReferenceNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
UA_Server_addVariableNode(server, myIntegerNodeId, parentNodeId, parentReferenceNodeId,
myIntegerName, UA_NODEID_NULL, myVar, NULL, NULL);
UA_Variant_deleteMembers(&myVar.value);
/* add a variable with the datetime data source */
UA_DataSource dateDataSource;
dateDataSource.handle = NULL;
dateDataSource.read = readTimeData;
dateDataSource.write = NULL;
UA_VariableAttributes v_attr;
UA_VariableAttributes_init(&v_attr);
v_attr.description = UA_LOCALIZEDTEXT("en_US","current time");
v_attr.displayName = UA_LOCALIZEDTEXT("en_US","current time");
v_attr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
const UA_QualifiedName dateName = UA_QUALIFIEDNAME(1, "current time");
UA_NodeId dataSourceId;
UA_Server_addDataSourceVariableNode(server, UA_NODEID_NULL, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), dateName,
UA_NODEID_NULL, v_attr, dateDataSource, &dataSourceId);
/* Add HelloWorld method to the server */
#ifdef UA_ENABLE_METHODCALLS
/* Method with IO Arguments */
UA_Argument inputArguments;
UA_Argument_init(&inputArguments);
inputArguments.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
inputArguments.description = UA_LOCALIZEDTEXT("en_US", "Say your name");
inputArguments.name = UA_STRING("Name");
inputArguments.valueRank = -1; /* scalar argument */
UA_Argument outputArguments;
UA_Argument_init(&outputArguments);
outputArguments.arrayDimensionsSize = 0;
outputArguments.arrayDimensions = NULL;
outputArguments.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
outputArguments.description = UA_LOCALIZEDTEXT("en_US", "Receive a greeting");
outputArguments.name = UA_STRING("greeting");
outputArguments.valueRank = -1;
UA_MethodAttributes addmethodattributes;
UA_MethodAttributes_init(&addmethodattributes);
addmethodattributes.displayName = UA_LOCALIZEDTEXT("en_US", "Hello World");
addmethodattributes.executable = true;
addmethodattributes.userExecutable = true;
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, 62541),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "hello_world"), addmethodattributes,
&helloWorld, /* callback of the method node */
NULL, /* handle passed with the callback */
1, &inputArguments, 1, &outputArguments, NULL);
#endif
/* Add folders for demo information model */
#define DEMOID 50000
#define SCALARID 50001
#define ARRAYID 50002
#define MATRIXID 50003
#define DEPTHID 50004
UA_ObjectAttributes object_attr;
UA_ObjectAttributes_init(&object_attr);
object_attr.description = UA_LOCALIZEDTEXT("en_US", "Demo");
object_attr.displayName = UA_LOCALIZEDTEXT("en_US", "Demo");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), UA_QUALIFIEDNAME(1, "Demo"),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
object_attr.description = UA_LOCALIZEDTEXT("en_US", "Scalar");
object_attr.displayName = UA_LOCALIZEDTEXT("en_US", "Scalar");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, SCALARID),
UA_NODEID_NUMERIC(1, DEMOID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
UA_QUALIFIEDNAME(1, "Scalar"),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
object_attr.description = UA_LOCALIZEDTEXT("en_US", "Array");
object_attr.displayName = UA_LOCALIZEDTEXT("en_US", "Array");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, ARRAYID),
UA_NODEID_NUMERIC(1, DEMOID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
UA_QUALIFIEDNAME(1, "Array"),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
object_attr.description = UA_LOCALIZEDTEXT("en_US", "Matrix");
object_attr.displayName = UA_LOCALIZEDTEXT("en_US", "Matrix");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, MATRIXID), UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), UA_QUALIFIEDNAME(1, "Matrix"),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
/* Fill demo nodes for each type*/
UA_UInt32 id = 51000; // running id in namespace 0
for(UA_UInt32 type = 0; type < UA_TYPES_DIAGNOSTICINFO; type++) {
if(type == UA_TYPES_VARIANT || type == UA_TYPES_DIAGNOSTICINFO)
continue;
UA_VariableAttributes attr;
UA_VariableAttributes_init(&attr);
attr.valueRank = -2;
attr.dataType = UA_TYPES[type].typeId;
#ifndef UA_ENABLE_TYPENAMES
char name[15];
#if defined(_WIN32) && !defined(__MINGW32__)
sprintf_s(name, 15, "%02d", type);
#else
sprintf(name, "%02d", type);
#endif
attr.displayName = UA_LOCALIZEDTEXT("en_US", name);
UA_QualifiedName qualifiedName = UA_QUALIFIEDNAME(1, name);
#else
attr.displayName = UA_LOCALIZEDTEXT_ALLOC("en_US", UA_TYPES[type].typeName);
UA_QualifiedName qualifiedName = UA_QUALIFIEDNAME_ALLOC(1, UA_TYPES[type].typeName);
#endif
attr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
attr.writeMask = UA_WRITEMASK_DISPLAYNAME | UA_WRITEMASK_DESCRIPTION;
attr.userWriteMask = UA_WRITEMASK_DISPLAYNAME | UA_WRITEMASK_DESCRIPTION;
/* add a scalar node for every built-in type */
void *value = UA_new(&UA_TYPES[type]);
UA_Variant_setScalar(&attr.value, value, &UA_TYPES[type]);
UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, ++id),
UA_NODEID_NUMERIC(1, SCALARID), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
qualifiedName, UA_NODEID_NULL, attr, NULL, NULL);
UA_Variant_deleteMembers(&attr.value);
/* add an array node for every built-in type */
UA_Variant_setArray(&attr.value, UA_Array_new(10, &UA_TYPES[type]), 10, &UA_TYPES[type]);
UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, ++id), UA_NODEID_NUMERIC(1, ARRAYID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), qualifiedName,
UA_NODEID_NULL, attr, NULL, NULL);
UA_Variant_deleteMembers(&attr.value);
/* add an matrix node for every built-in type */
void* myMultiArray = UA_Array_new(9, &UA_TYPES[type]);
attr.value.arrayDimensions = (UA_UInt32*)UA_Array_new(2, &UA_TYPES[UA_TYPES_INT32]);
attr.value.arrayDimensions[0] = 3;
attr.value.arrayDimensions[1] = 3;
attr.value.arrayDimensionsSize = 2;
attr.value.arrayLength = 9;
attr.value.data = myMultiArray;
attr.value.type = &UA_TYPES[type];
UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, ++id), UA_NODEID_NUMERIC(1, MATRIXID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), qualifiedName,
UA_NODEID_NULL, attr, NULL, NULL);
UA_Variant_deleteMembers(&attr.value);
#ifdef UA_ENABLE_TYPENAMES
UA_LocalizedText_deleteMembers(&attr.displayName);
UA_QualifiedName_deleteMembers(&qualifiedName);
#endif
}
/* Hierarchy of depth 10 for CTT testing with forward and inverse references */
/* Enter node "depth 9" in CTT configuration - Project->Settings->Server
Test->NodeIds->Paths->Starting Node 1 */
object_attr.description = UA_LOCALIZEDTEXT("en_US","DepthDemo");
object_attr.displayName = UA_LOCALIZEDTEXT("en_US","DepthDemo");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, DEPTHID),
UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), UA_QUALIFIEDNAME(1, "DepthDemo"),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
id = DEPTHID; // running id in namespace 0 - Start with Matrix NODE
for(UA_UInt32 i = 1; i <= 20; i++) {
char name[15];
#if defined(_WIN32) && !defined(__MINGW32__)
sprintf_s(name, 15, "depth%i", i);
#else
sprintf(name, "depth%i", i);
#endif
object_attr.description = UA_LOCALIZEDTEXT("en_US",name);
object_attr.displayName = UA_LOCALIZEDTEXT("en_US",name);
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, id+i),
UA_NODEID_NUMERIC(1, i==1 ? DEPTHID : id+i-1), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
UA_QUALIFIEDNAME(1, name),
UA_NODEID_NUMERIC(0, UA_NS0ID_FOLDERTYPE), object_attr, NULL, NULL);
}
/* Add the variable to some more places to get a node with three inverse references for the CTT */
UA_ExpandedNodeId answer_nodeid = UA_EXPANDEDNODEID_STRING(1, "the.answer");
UA_Server_addReference(server, UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), answer_nodeid, true);
UA_Server_addReference(server, UA_NODEID_NUMERIC(1, SCALARID),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), answer_nodeid, true);
/* Example for manually setting an attribute within the server */
UA_LocalizedText objectsName = UA_LOCALIZEDTEXT("en_US", "Objects");
UA_Server_writeDisplayName(server, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER), objectsName);
#define NOARGID 60000
#define INARGID 60001
#define OUTARGID 60002
#define INOUTARGID 60003
#ifdef UA_ENABLE_METHODCALLS
/* adding some more method nodes to pass CTT */
/* Method without arguments */
UA_MethodAttributes_init(&addmethodattributes);
addmethodattributes.displayName = UA_LOCALIZEDTEXT("en_US", "noarg");
addmethodattributes.executable = true;
addmethodattributes.userExecutable = true;
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, NOARGID),
UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "noarg"), addmethodattributes,
&noargMethod, /* callback of the method node */
NULL, /* handle passed with the callback */
0, NULL, 0, NULL, NULL);
/* Method with in arguments */
UA_MethodAttributes_init(&addmethodattributes);
addmethodattributes.displayName = UA_LOCALIZEDTEXT("en_US", "inarg");
addmethodattributes.executable = true;
addmethodattributes.userExecutable = true;
UA_Argument_init(&inputArguments);
inputArguments.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
inputArguments.description = UA_LOCALIZEDTEXT("en_US", "Input");
inputArguments.name = UA_STRING("Input");
inputArguments.valueRank = -1; //uaexpert will crash if set to 0 ;)
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, INARGID),
UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "noarg"), addmethodattributes,
&noargMethod, /* callback of the method node */
NULL, /* handle passed with the callback */
1, &inputArguments, 0, NULL, NULL);
/* Method with out arguments */
UA_MethodAttributes_init(&addmethodattributes);
addmethodattributes.displayName = UA_LOCALIZEDTEXT("en_US", "outarg");
addmethodattributes.executable = true;
addmethodattributes.userExecutable = true;
UA_Argument_init(&outputArguments);
outputArguments.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
outputArguments.description = UA_LOCALIZEDTEXT("en_US", "Output");
outputArguments.name = UA_STRING("Output");
outputArguments.valueRank = -1;
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, OUTARGID),
UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "outarg"), addmethodattributes,
&outargMethod, /* callback of the method node */
NULL, /* handle passed with the callback */
0, NULL, 1, &outputArguments, NULL);
/* Method with inout arguments */
UA_MethodAttributes_init(&addmethodattributes);
addmethodattributes.displayName = UA_LOCALIZEDTEXT("en_US", "inoutarg");
addmethodattributes.executable = true;
addmethodattributes.userExecutable = true;
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, INOUTARGID),
UA_NODEID_NUMERIC(1, DEMOID),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "inoutarg"), addmethodattributes,
&outargMethod, /* callback of the method node */
NULL, /* handle passed with the callback */
1, &inputArguments, 1, &outputArguments, NULL);
#endif
/* run server */
UA_StatusCode retval = UA_Server_run(server, &running); /* run until ctrl-c is received */
/* deallocate certificate's memory */
UA_ByteString_deleteMembers(&config.serverCertificate);
UA_Server_delete(server);
nl.deleteMembers(&nl);
return (int)retval;
}