/* This work is licensed under a Creative Commons CCZero 1.0 Universal License. * See http://creativecommons.org/publicdomain/zero/1.0/ for more information. */ /** * IMPORTANT ANNOUNCEMENT * The PubSub subscriber API is currently not finished. This examples can be used to receive * and print the values, which are published by the tutorial_pubsub_publish example. * The following code uses internal API which will be later replaced by the higher-level * PubSub subscriber API. */ #include #include #include #include #include #include "ua_pubsub_networkmessage.h" #include #ifdef UA_ENABLE_PUBSUB_ETH_UADP #include #endif UA_Boolean running = true; static void stopHandler(int sign) { UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "received ctrl-c"); running = false; } static UA_StatusCode subscriberListen(UA_PubSubChannel *psc) { UA_ByteString buffer; UA_StatusCode retval = UA_ByteString_allocBuffer(&buffer, 512); if(retval != UA_STATUSCODE_GOOD) { UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Message buffer allocation failed!"); return retval; } /* Receive the message. Blocks for 100ms */ retval = psc->receive(psc, &buffer, NULL, 100); if(retval != UA_STATUSCODE_GOOD || buffer.length == 0) { /* Workaround!! Reset buffer length. Receive can set the length to zero. * Then the buffer is not deleted because no memory allocation is * assumed. * TODO: Return an error code in 'receive' instead of setting the buf * length to zero. */ buffer.length = 512; UA_ByteString_clear(&buffer); return UA_STATUSCODE_GOOD; } /* Decode the message */ UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Message length: %lu", (unsigned long) buffer.length); UA_NetworkMessage networkMessage; memset(&networkMessage, 0, sizeof(UA_NetworkMessage)); size_t currentPosition = 0; UA_NetworkMessage_decodeBinary(&buffer, ¤tPosition, &networkMessage); UA_ByteString_clear(&buffer); /* Is this the correct message type? */ if(networkMessage.networkMessageType != UA_NETWORKMESSAGE_DATASET) goto cleanup; /* At least one DataSetMessage in the NetworkMessage? */ if(networkMessage.payloadHeaderEnabled && networkMessage.payloadHeader.dataSetPayloadHeader.count < 1) goto cleanup; /* Is this a KeyFrame-DataSetMessage? */ for(size_t j = 0; j < networkMessage.payloadHeader.dataSetPayloadHeader.count; j++) { UA_DataSetMessage *dsm = &networkMessage.payload.dataSetPayload.dataSetMessages[j]; if(dsm->header.dataSetMessageType != UA_DATASETMESSAGE_DATAKEYFRAME) continue; /* Loop over the fields and print well-known content types */ for(int i = 0; i < dsm->data.keyFrameData.fieldCount; i++) { const UA_DataType *currentType = dsm->data.keyFrameData.dataSetFields[i].value.type; if(currentType == &UA_TYPES[UA_TYPES_BYTE]) { UA_Byte value = *(UA_Byte *)dsm->data.keyFrameData.dataSetFields[i].value.data; UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Message content: [Byte] \tReceived data: %i", value); } else if (currentType == &UA_TYPES[UA_TYPES_DATETIME]) { UA_DateTime value = *(UA_DateTime *)dsm->data.keyFrameData.dataSetFields[i].value.data; UA_DateTimeStruct receivedTime = UA_DateTime_toStruct(value); UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Message content: [DateTime] \t" "Received date: %02i-%02i-%02i Received time: %02i:%02i:%02i", receivedTime.year, receivedTime.month, receivedTime.day, receivedTime.hour, receivedTime.min, receivedTime.sec); } } } cleanup: UA_NetworkMessage_clear(&networkMessage); return retval; } int main(int argc, char **argv) { signal(SIGINT, stopHandler); signal(SIGTERM, stopHandler); UA_PubSubTransportLayer udpLayer = UA_PubSubTransportLayerUDPMP(); UA_PubSubConnectionConfig connectionConfig; memset(&connectionConfig, 0, sizeof(connectionConfig)); connectionConfig.name = UA_STRING("UADP Connection 1"); connectionConfig.transportProfileUri = UA_STRING("http://opcfoundation.org/UA-Profile/Transport/pubsub-udp-uadp"); connectionConfig.enabled = UA_TRUE; UA_NetworkAddressUrlDataType networkAddressUrl = {UA_STRING_NULL , UA_STRING("opc.udp://224.0.0.22:4840/")}; UA_Variant_setScalar(&connectionConfig.address, &networkAddressUrl, &UA_TYPES[UA_TYPES_NETWORKADDRESSURLDATATYPE]); UA_PubSubChannel *psc = udpLayer.createPubSubChannel(&connectionConfig); psc->regist(psc, NULL, NULL); UA_StatusCode retval = UA_STATUSCODE_GOOD; while(running && retval == UA_STATUSCODE_GOOD) retval = subscriberListen(psc); psc->close(psc); return 0; }