open62541/examples/server.c

/* 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>
#include "open62541.h"

/* This server is configured to the Compliance Testing Tools (CTT) against. The
 * corresponding CTT configuration is available at
 * https://github.com/open62541/open62541-ctt */

UA_Boolean running = true;
UA_Logger logger = UA_Log_Stdout;

static UA_ByteString
loadFile(const char *const path) {
    UA_ByteString fileContents = UA_STRING_NULL;

    /* Open the file */
    FILE *fp = fopen(path, "rb");
    if(!fp) {
        errno = 0; /* We read errno also from the tcp layer... */
        return fileContents;
    }

    /* Get the file length, allocate the data and read */
    fseek(fp, 0, SEEK_END);
    fileContents.length = (size_t)ftell(fp);
    fileContents.data = (UA_Byte *)UA_malloc(fileContents.length * sizeof(UA_Byte));
    if(fileContents.data) {
        fseek(fp, 0, SEEK_SET);
        size_t read = fread(fileContents.data, sizeof(UA_Byte), fileContents.length, fp);
        if(read != fileContents.length)
            UA_ByteString_deleteMembers(&fileContents);
    } else {
        fileContents.length = 0;
    }
    fclose(fp);

    return fileContents;
}

static void
stopHandler(int sign) {
    UA_LOG_INFO(logger, UA_LOGCATEGORY_SERVER, "Received Ctrl-C");
    running = 0;
}

/* Datasource Example */
static UA_StatusCode
readTimeData(UA_Server *server,
             const UA_NodeId *sessionId, void *sessionContext,
             const UA_NodeId *nodeId, void *nodeContext,
             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, &currentTime, &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(UA_Server *server,
           const UA_NodeId *sessionId, void *sessionContext,
           const UA_NodeId *methodId, void *methodContext,
           const UA_NodeId *objectId, void *objectContext,
           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 *)UA_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(UA_Server *server,
            const UA_NodeId *sessionId, void *sessionContext,
            const UA_NodeId *methodId, void *methodContext,
            const UA_NodeId *objectId, void *objectContext,
            size_t inputSize, const UA_Variant *input,
            size_t outputSize, UA_Variant *output) {
    return UA_STATUSCODE_GOOD;
}

static UA_StatusCode
outargMethod(UA_Server *server,
             const UA_NodeId *sessionId, void *sessionContext,
             const UA_NodeId *methodId, void *methodContext,
             const UA_NodeId *objectId, void *objectContext,
             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 */
    signal(SIGTERM, stopHandler);

#ifdef UA_ENABLE_ENCRYPTION
    if(argc < 3) {
        UA_LOG_FATAL(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
                     "Missing arguments for encryption support. "
                         "Arguments are <server-certificate.der> "
                         "<private-key.der> [<trustlist1.crl>, ...]");
        return 1;
    }

    /* Load certificate and private key */
    UA_ByteString certificate = loadFile(argv[1]);
    UA_ByteString privateKey = loadFile(argv[2]);

    /* Load the trustlist */
    UA_ByteString *trustList = NULL;
    size_t trustListSize = 0;
    if(argc > 3) {
        trustListSize = (size_t)argc - 3;
        trustList = (UA_ByteString *)
            UA_alloca(sizeof(UA_ByteString) * trustListSize);
        for(size_t i = 0; i < trustListSize; i++)
            trustList[i] = loadFile(argv[i + 3]);
    }

    /* Loading of a revocation list currently unsupported */
    UA_ByteString *revocationList = NULL;
    size_t revocationListSize = 0;

    UA_ServerConfig *config =
        UA_ServerConfig_new_allSecurityPolicies(4840, &certificate, &privateKey,
                                                trustList, trustListSize,
                                                revocationList, revocationListSize);
    UA_ByteString_deleteMembers(&certificate);
    UA_ByteString_deleteMembers(&privateKey);
    for(size_t i = 0; i < trustListSize; i++)
        UA_ByteString_deleteMembers(&trustList[i]);

    if(!config) {
        UA_LOG_FATAL(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
                     "Could not create the server config");
        return 1;
    }
#else
    if(argc < 2) {
        UA_LOG_FATAL(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
                     "Missing argument for the server certificate");
        return 1;
    }
    UA_ByteString certificate = loadFile(argv[1]);
    UA_ServerConfig *config = UA_ServerConfig_new_minimal(4840, &certificate);
    UA_ByteString_deleteMembers(&certificate);
#endif

    /* uncomment next line to add a custom hostname */
    // UA_ServerConfig_set_customHostname(config, UA_STRING("custom"));

    UA_Server *server = UA_Server_new(config);
    if(server == NULL)
        return 1;

    /* add a static variable node to the server */
    UA_VariableAttributes myVar = UA_VariableAttributes_default;
    myVar.description = UA_LOCALIZEDTEXT("en-US", "the answer");
    myVar.displayName = UA_LOCALIZEDTEXT("en-US", "the answer");
    myVar.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
    myVar.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
    myVar.valueRank = -1;
    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.read = readTimeData;
    dateDataSource.write = NULL;
    UA_VariableAttributes v_attr = UA_VariableAttributes_default;
    v_attr.description = UA_LOCALIZEDTEXT("en-US", "current time");
    v_attr.displayName = UA_LOCALIZEDTEXT("en-US", "current time");
    v_attr.accessLevel = UA_ACCESSLEVELMASK_READ;
    v_attr.dataType = UA_TYPES[UA_TYPES_DATETIME].typeId;
    v_attr.valueRank = -1;
    const UA_QualifiedName dateName = UA_QUALIFIEDNAME(1, "current time");
    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, NULL, NULL);

    /* 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_default;
    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 */
                            1, &inputArguments, 1, &outputArguments, NULL, 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_default;
    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_default;
        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 */
    addmethodattributes = UA_MethodAttributes_default;
    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 */
                            0, NULL, 0, NULL, NULL, NULL);

    /* Method with in arguments */
    addmethodattributes = UA_MethodAttributes_default;
    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 */
                            1, &inputArguments, 0, NULL, NULL, NULL);

    /* Method with out arguments */
    addmethodattributes = UA_MethodAttributes_default;
    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 */
                            0, NULL, 1, &outputArguments, NULL, NULL);

    /* Method with inout arguments */
    addmethodattributes = UA_MethodAttributes_default;
    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 */
                            1, &inputArguments, 1, &outputArguments, NULL, NULL);
#endif

    /* run server */
    UA_StatusCode retval = UA_Server_run(server, &running);
    UA_Server_delete(server);
    UA_ServerConfig_delete(config);
    return (int)retval;
}