open62541/src/pubsub/ua_pubsub_ns0.c

/* This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 *
 * Copyright (c) 2017-2018 Fraunhofer IOSB (Author: Andreas Ebner)
 * Copyright (c) 2019 Kalycito Infotech Private Limited
 */

#include <open62541/types.h>
#include "ua_pubsub_ns0.h"

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL /* conditional compilation */

typedef struct{
    UA_NodeId parentNodeId;
    UA_UInt32 parentClassifier;
    UA_UInt32 elementClassiefier;
} UA_NodePropertyContext;

//Prototypes
#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
static UA_StatusCode addWriterGroupAction(UA_Server *server,
                                          const UA_NodeId *sessionId, void *sessionHandle,
                                          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);
static UA_StatusCode removeGroupAction(UA_Server *server,
                                          const UA_NodeId *sessionId, void *sessionHandle,
                                          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);
static UA_StatusCode addDataSetWriterAction(UA_Server *server,
                                          const UA_NodeId *sessionId, void *sessionHandle,
                                          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);

#endif

static UA_StatusCode
addPubSubObjectNode(UA_Server *server, char* name, UA_UInt32 objectid,
              UA_UInt32 parentid, UA_UInt32 referenceid, UA_UInt32 type_id) {
    UA_ObjectAttributes object_attr = UA_ObjectAttributes_default;
    object_attr.displayName = UA_LOCALIZEDTEXT("", name);
    return UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(0, objectid),
                                   UA_NODEID_NUMERIC(0, parentid),
                                   UA_NODEID_NUMERIC(0, referenceid),
                                   UA_QUALIFIEDNAME(0, name),
                                   UA_NODEID_NUMERIC(0, type_id),
                                   object_attr, NULL, NULL);
}

static UA_StatusCode
writePubSubNs0VariableArray(UA_Server *server, UA_UInt32 id, void *v,
                      size_t length, const UA_DataType *type) {
    UA_Variant var;
    UA_Variant_init(&var);
    UA_Variant_setArray(&var, v, length, type);
    return UA_Server_writeValue(server, UA_NODEID_NUMERIC(0, id), var);
}

static UA_NodeId
findSingleChildNode(UA_Server *server, UA_QualifiedName targetName,
                    UA_NodeId referenceTypeId, UA_NodeId startingNode){
    UA_NodeId resultNodeId;
    UA_RelativePathElement rpe;
    UA_RelativePathElement_init(&rpe);
    rpe.referenceTypeId = referenceTypeId;
    rpe.isInverse = false;
    rpe.includeSubtypes = false;
    rpe.targetName = targetName;
    UA_BrowsePath bp;
    UA_BrowsePath_init(&bp);
    bp.startingNode = startingNode;
    bp.relativePath.elementsSize = 1;
    bp.relativePath.elements = &rpe;
    UA_BrowsePathResult bpr =
            UA_Server_translateBrowsePathToNodeIds(server, &bp);
    if(bpr.statusCode != UA_STATUSCODE_GOOD ||
       bpr.targetsSize < 1)
        return UA_NODEID_NULL;
    if(UA_NodeId_copy(&bpr.targets[0].targetId.nodeId, &resultNodeId) != UA_STATUSCODE_GOOD){
        UA_BrowsePathResult_deleteMembers(&bpr);
        return UA_NODEID_NULL;
    }
    UA_BrowsePathResult_deleteMembers(&bpr);
    return resultNodeId;
}

static void
onRead(UA_Server *server, const UA_NodeId *sessionId, void *sessionContext,
       const UA_NodeId *nodeid, void *context,
       const UA_NumericRange *range, const UA_DataValue *data) {
    UA_Variant value;
    UA_Variant_init(&value);
    const UA_NodePropertyContext *nodeContext = (const UA_NodePropertyContext*)context;
    const UA_NodeId *myNodeId = &nodeContext->parentNodeId;

    switch(nodeContext->parentClassifier){
    case UA_NS0ID_PUBSUBCONNECTIONTYPE: {
        UA_PubSubConnection *pubSubConnection =
            UA_PubSubConnection_findConnectionbyId(server, *myNodeId);
        switch(nodeContext->elementClassiefier) {
        case UA_NS0ID_PUBSUBCONNECTIONTYPE_PUBLISHERID:
            if(pubSubConnection->config->publisherIdType == UA_PUBSUB_PUBLISHERID_STRING) {
                UA_Variant_setScalar(&value, &pubSubConnection->config->publisherId.numeric,
                                     &UA_TYPES[UA_TYPES_STRING]);
            } else {
                UA_Variant_setScalar(&value, &pubSubConnection->config->publisherId.numeric,
                                     &UA_TYPES[UA_TYPES_UINT32]);
            }
            break;
        default:
            UA_LOG_WARNING(&server->config.logger, UA_LOGCATEGORY_SERVER,
                           "Read error! Unknown property.");
        }
        break;
    }
    case UA_NS0ID_WRITERGROUPTYPE: {
        UA_WriterGroup *writerGroup = UA_WriterGroup_findWGbyId(server, *myNodeId);
        if(!writerGroup)
            return;
        switch(nodeContext->elementClassiefier){
        case UA_NS0ID_WRITERGROUPTYPE_PUBLISHINGINTERVAL:
            UA_Variant_setScalar(&value, &writerGroup->config.publishingInterval,
                                 &UA_TYPES[UA_TYPES_DURATION]);
            break;
        default:
            UA_LOG_WARNING(&server->config.logger, UA_LOGCATEGORY_SERVER,
                           "Read error! Unknown property.");
        }
        break;
    }
    case UA_NS0ID_PUBLISHEDDATAITEMSTYPE: {
        UA_PublishedDataSet *publishedDataSet = UA_PublishedDataSet_findPDSbyId(server, *myNodeId);
        if(!publishedDataSet)
            return;
        switch(nodeContext->elementClassiefier) {
        case UA_NS0ID_PUBLISHEDDATAITEMSTYPE_PUBLISHEDDATA: {
            UA_PublishedVariableDataType *pvd = (UA_PublishedVariableDataType *)
                UA_calloc(publishedDataSet->fieldSize, sizeof(UA_PublishedVariableDataType));
            size_t counter = 0;
            UA_DataSetField *field;
            TAILQ_FOREACH(field, &publishedDataSet->fields, listEntry) {
                pvd[counter].attributeId = UA_ATTRIBUTEID_VALUE;
                pvd[counter].publishedVariable = field->config.field.variable.publishParameters.publishedVariable;
                //UA_NodeId_copy(&field->config.field.variable.publishParameters.publishedVariable, &pvd[counter].publishedVariable);
                counter++;
            }
            UA_Variant_setArray(&value, pvd, publishedDataSet->fieldSize,
                                &UA_TYPES[UA_TYPES_PUBLISHEDVARIABLEDATATYPE]);
            break;
        }
        case UA_NS0ID_PUBLISHEDDATAITEMSTYPE_DATASETMETADATA: {
            UA_Variant_setScalarCopy(&value, &publishedDataSet->dataSetMetaData, &UA_TYPES[UA_TYPES_DATASETMETADATATYPE]);
            break;
        }
        case UA_NS0ID_PUBLISHEDDATAITEMSTYPE_CONFIGURATIONVERSION: {
            UA_Variant_setScalarCopy(&value, &publishedDataSet->dataSetMetaData.configurationVersion,
                                     &UA_TYPES[UA_TYPES_CONFIGURATIONVERSIONDATATYPE]);
            break;
        }
        default:
            UA_LOG_WARNING(&server->config.logger, UA_LOGCATEGORY_SERVER,
                           "Read error! Unknown property.");
        }
        break;
    }
    default:
        UA_LOG_WARNING(&server->config.logger, UA_LOGCATEGORY_SERVER,
                       "Read error! Unknown parent element.");
    }
    UA_Server_writeValue(server, *nodeid, value);
}

static void
onWrite(UA_Server *server, const UA_NodeId *sessionId, void *sessionContext,
        const UA_NodeId *nodeId, void *nodeContext,
        const UA_NumericRange *range, const UA_DataValue *data){
    UA_Variant value;
    UA_NodeId myNodeId;
    UA_WriterGroup *writerGroup = NULL;
    switch(((UA_NodePropertyContext *) nodeContext)->parentClassifier){
        case UA_NS0ID_PUBSUBCONNECTIONTYPE:
            //no runtime writable attributes
            break;
        case UA_NS0ID_WRITERGROUPTYPE:
            myNodeId = ((UA_NodePropertyContext *) nodeContext)->parentNodeId;
            writerGroup = UA_WriterGroup_findWGbyId(server, myNodeId);
            UA_WriterGroupConfig writerGroupConfig;
            memset(&writerGroupConfig, 0, sizeof(writerGroupConfig));
            if(!writerGroup)
                return;
            switch(((UA_NodePropertyContext *) nodeContext)->elementClassiefier){
                case UA_NS0ID_WRITERGROUPTYPE_PUBLISHINGINTERVAL:
                    UA_Server_getWriterGroupConfig(server, writerGroup->identifier, &writerGroupConfig);
                    writerGroupConfig.publishingInterval = *((UA_Duration *) data->value.data);
                    UA_Server_updateWriterGroupConfig(server, writerGroup->identifier, &writerGroupConfig);
                    UA_Variant_setScalar(&value, data->value.data, &UA_TYPES[UA_TYPES_DURATION]);
                    UA_WriterGroupConfig_clear(&writerGroupConfig);
                    break;
                default:
                    UA_LOG_WARNING(&server->config.logger, UA_LOGCATEGORY_SERVER,
                                   "Write error! Unknown property element.");
            }
            break;
        default:
            UA_LOG_WARNING(&server->config.logger, UA_LOGCATEGORY_SERVER,
                           "Read error! Unknown parent element.");
    }
}

static UA_StatusCode
addVariableValueSource(UA_Server *server, UA_ValueCallback valueCallback,
                       UA_NodeId node, UA_NodePropertyContext *context){
    UA_Server_setNodeContext(server, node, context);
    return UA_Server_setVariableNode_valueCallback(server, node, valueCallback);
}

/*************************************************/
/*            PubSubConnection                   */
/*************************************************/
UA_StatusCode
addPubSubConnectionRepresentation(UA_Server *server, UA_PubSubConnection *connection){
    UA_StatusCode retVal = UA_STATUSCODE_GOOD;
    if(connection->config->name.length > 512)
        return UA_STATUSCODE_BADOUTOFMEMORY;
    UA_STACKARRAY(char, connectionName, sizeof(char) * connection->config->name.length +1);
    memcpy(connectionName, connection->config->name.data, connection->config->name.length);
    connectionName[connection->config->name.length] = '\0';
    //This code block must use a lock
    UA_NODESTORE_REMOVE(server, &connection->identifier);
    UA_NodeId pubSubConnectionNodeId;
    UA_ObjectAttributes attr = UA_ObjectAttributes_default;
    attr.displayName = UA_LOCALIZEDTEXT("de-DE", connectionName);
    retVal |= UA_Server_addNode_begin(server, UA_NODECLASS_OBJECT,
                                      UA_NODEID_NUMERIC(0, connection->identifier.identifier.numeric),
                                      UA_NODEID_NUMERIC(0, UA_NS0ID_PUBLISHSUBSCRIBE),
                                      UA_NODEID_NUMERIC(0, UA_NS0ID_HASPUBSUBCONNECTION),
                                      UA_QUALIFIEDNAME(0, connectionName),
                                      UA_NODEID_NUMERIC(0, UA_NS0ID_PUBSUBCONNECTIONTYPE),
                                      (const UA_NodeAttributes*)&attr, &UA_TYPES[UA_TYPES_OBJECTATTRIBUTES],
                                      NULL, &pubSubConnectionNodeId);
    addPubSubObjectNode(server, "Address", connection->identifier.identifier.numeric+1,
                        pubSubConnectionNodeId.identifier.numeric,  UA_NS0ID_HASCOMPONENT,
                        UA_NS0ID_NETWORKADDRESSURLTYPE);
    UA_Server_addNode_finish(server, pubSubConnectionNodeId);
    //End lock zone

    UA_NodeId addressNode, urlNode, interfaceNode, publisherIdNode, connectionPropertieNode, transportProfileUri;
    addressNode = findSingleChildNode(server, UA_QUALIFIEDNAME(0, "Address"),
                                      UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                                      UA_NODEID_NUMERIC(0, connection->identifier.identifier.numeric));
    urlNode = findSingleChildNode(server, UA_QUALIFIEDNAME(0, "Url"),
                                  UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT), addressNode);
    interfaceNode = findSingleChildNode(server, UA_QUALIFIEDNAME(0, "NetworkInterface"),
                                        UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT), addressNode);
    publisherIdNode = findSingleChildNode(server, UA_QUALIFIEDNAME(0, "PublisherId"),
                                        UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
                                        UA_NODEID_NUMERIC(0, connection->identifier.identifier.numeric));
    connectionPropertieNode = findSingleChildNode(server, UA_QUALIFIEDNAME(0, "ConnectionProperties"),
                                                 UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
                                                 UA_NODEID_NUMERIC(0, connection->identifier.identifier.numeric));
    transportProfileUri = findSingleChildNode(server, UA_QUALIFIEDNAME(0, "TransportProfileUri"),
                                          UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                                          UA_NODEID_NUMERIC(0, connection->identifier.identifier.numeric));

    if(UA_NodeId_equal(&addressNode, &UA_NODEID_NULL) ||
       UA_NodeId_equal(&urlNode, &UA_NODEID_NULL) ||
       UA_NodeId_equal(&interfaceNode, &UA_NODEID_NULL) ||
       UA_NodeId_equal(&publisherIdNode, &UA_NODEID_NULL) ||
       UA_NodeId_equal(&connectionPropertieNode, &UA_NODEID_NULL) ||
       UA_NodeId_equal(&transportProfileUri, &UA_NODEID_NULL)) {
        return UA_STATUSCODE_BADNOTFOUND;
    }

    retVal |= writePubSubNs0VariableArray(server, connectionPropertieNode.identifier.numeric,
                                          connection->config->connectionProperties,
                                          connection->config->connectionPropertiesSize,
                                          &UA_TYPES[UA_TYPES_KEYVALUEPAIR]);

    UA_NetworkAddressUrlDataType *networkAddressUrlDataType = ((UA_NetworkAddressUrlDataType *) connection->config->address.data);
    UA_Variant value;
    UA_Variant_init(&value);
    UA_Variant_setScalar(&value, &networkAddressUrlDataType->url, &UA_TYPES[UA_TYPES_STRING]);
    UA_Server_writeValue(server, urlNode, value);
    UA_Variant_setScalar(&value, &networkAddressUrlDataType->networkInterface, &UA_TYPES[UA_TYPES_STRING]);
    UA_Server_writeValue(server, interfaceNode, value);
    UA_Variant_setScalar(&value, &connection->config->transportProfileUri, &UA_TYPES[UA_TYPES_STRING]);
    UA_Server_writeValue(server, transportProfileUri, value);

    UA_NodePropertyContext *connectionPublisherIdContext = (UA_NodePropertyContext *) UA_malloc(sizeof(UA_NodePropertyContext));
    connectionPublisherIdContext->parentNodeId = connection->identifier;
    connectionPublisherIdContext->parentClassifier = UA_NS0ID_PUBSUBCONNECTIONTYPE;
    connectionPublisherIdContext->elementClassiefier = UA_NS0ID_PUBSUBCONNECTIONTYPE_PUBLISHERID;
    UA_ValueCallback valueCallback;
    valueCallback.onRead = onRead;
    valueCallback.onWrite = NULL;
    retVal |= addVariableValueSource(server, valueCallback, publisherIdNode, connectionPublisherIdContext);

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
    retVal |= UA_Server_addReference(server, connection->identifier,
                                     UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                                     UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_PUBSUBCONNECTIONTYPE_ADDWRITERGROUP), true);
    retVal |= UA_Server_addReference(server, connection->identifier,
                                     UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                                     UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_PUBSUBCONNECTIONTYPE_ADDREADERGROUP), true);
    retVal |= UA_Server_addReference(server, connection->identifier,
                                     UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                                     UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_PUBSUBCONNECTIONTYPE_REMOVEGROUP), true);
#endif
    return retVal;
}

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
static UA_StatusCode
addPubSubConnectionAction(UA_Server *server,
                          const UA_NodeId *sessionId, void *sessionHandle,
                          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_StatusCode retVal = UA_STATUSCODE_GOOD;
    UA_PubSubConnectionDataType pubSubConnectionDataType = *((UA_PubSubConnectionDataType *) input[0].data);
    UA_NetworkAddressUrlDataType networkAddressUrlDataType;
    memset(&networkAddressUrlDataType, 0, sizeof(networkAddressUrlDataType));
    UA_ExtensionObject eo = pubSubConnectionDataType.address;
    if(eo.encoding == UA_EXTENSIONOBJECT_DECODED){
        if(eo.content.decoded.type == &UA_TYPES[UA_TYPES_NETWORKADDRESSURLDATATYPE]){
            if(UA_NetworkAddressUrlDataType_copy((UA_NetworkAddressUrlDataType *) eo.content.decoded.data,
                                                 &networkAddressUrlDataType) != UA_STATUSCODE_GOOD){
                return UA_STATUSCODE_BADOUTOFMEMORY;
            }
        }
    }
    UA_PubSubConnectionConfig connectionConfig;
    memset(&connectionConfig, 0, sizeof(UA_PubSubConnectionConfig));
    connectionConfig.transportProfileUri = pubSubConnectionDataType.transportProfileUri;
    connectionConfig.name = pubSubConnectionDataType.name;
    //TODO set real connection state
    connectionConfig.enabled = pubSubConnectionDataType.enabled;
    //connectionConfig.enabled = pubSubConnectionDataType.enabled;
    UA_Variant_setScalar(&connectionConfig.address, &networkAddressUrlDataType,
                         &UA_TYPES[UA_TYPES_NETWORKADDRESSURLDATATYPE]);
    if(pubSubConnectionDataType.publisherId.type == &UA_TYPES[UA_TYPES_UINT32]){
        connectionConfig.publisherId.numeric = * ((UA_UInt32 *) pubSubConnectionDataType.publisherId.data);
    } else if(pubSubConnectionDataType.publisherId.type == &UA_TYPES[UA_TYPES_STRING]){
        connectionConfig.publisherIdType = UA_PUBSUB_PUBLISHERID_STRING;
        UA_String_copy((UA_String *) pubSubConnectionDataType.publisherId.data, &connectionConfig.publisherId.string);
    } else {
        UA_LOG_WARNING(&server->config.logger, UA_LOGCATEGORY_SERVER, "Unsupported PublisherId Type used.");
        //TODO what's the best default behaviour here?
        connectionConfig.publisherId.numeric = 0;
    }
    //call API function and create the connection
    UA_NodeId connectionId;

    retVal |= UA_Server_addPubSubConnection(server, &connectionConfig, &connectionId);

    if(retVal != UA_STATUSCODE_GOOD){
        return retVal;
    }
    for(size_t i = 0; i < pubSubConnectionDataType.writerGroupsSize; i++){
        //UA_PubSubConnection_addWriterGroup(server, UA_NODEID_NULL, NULL, NULL);
    }
    for(size_t i = 0; i < pubSubConnectionDataType.readerGroupsSize; i++){
        //UA_Server_addReaderGroup(server, NULL, NULL, NULL);
    }
    UA_NetworkAddressUrlDataType_deleteMembers(&networkAddressUrlDataType);
    //set ouput value
    UA_Variant_setScalarCopy(output, &connectionId, &UA_TYPES[UA_TYPES_NODEID]);
    return UA_STATUSCODE_GOOD;
}
#endif

UA_StatusCode
removePubSubConnectionRepresentation(UA_Server *server, UA_PubSubConnection *connection){
    UA_StatusCode retVal = UA_STATUSCODE_GOOD;
#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
    retVal |= UA_Server_deleteReference(server, connection->identifier, UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT), true,
                                        UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_PUBSUBCONNECTIONTYPE_ADDWRITERGROUP),
                                        false);
    retVal |= UA_Server_deleteReference(server, connection->identifier, UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT), true,
                                        UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_PUBSUBCONNECTIONTYPE_ADDREADERGROUP),
                                        false);
    retVal |= UA_Server_deleteReference(server, connection->identifier, UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT), true,
                                        UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_PUBSUBCONNECTIONTYPE_REMOVEGROUP),
                                        false);
#endif
    retVal |= UA_Server_deleteNode(server, connection->identifier, true);
    return retVal;
}

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
static UA_StatusCode
removeConnectionAction(UA_Server *server,
                       const UA_NodeId *sessionId, void *sessionHandle,
                       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_StatusCode retVal = UA_STATUSCODE_GOOD;
    UA_NodeId nodeToRemove = *((UA_NodeId *) input[0].data);
    retVal |= UA_Server_removePubSubConnection(server, nodeToRemove);
    if(retVal == UA_STATUSCODE_BADNOTFOUND)
        retVal = UA_STATUSCODE_BADNODEIDUNKNOWN;
    return retVal;
}
#endif

/**********************************************/
/*               DataSetReader                */
/**********************************************/
UA_StatusCode
addDataSetReaderRepresentation(UA_Server *server, UA_DataSetReader *dataSetReader){
    //TODO implement reader part
    return UA_STATUSCODE_BADNOTIMPLEMENTED;
}

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
static UA_StatusCode
addDataSetReaderAction(UA_Server *server,
                       const UA_NodeId *sessionId, void *sessionHandle,
                       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_StatusCode retVal = UA_STATUSCODE_BADNOTIMPLEMENTED;
    //TODO implement reader part
    return retVal;
}
#endif

UA_StatusCode
removeDataSetReaderRepresentation(UA_Server *server, UA_DataSetReader* dataSetReader){
    //TODO implement reader part
    return UA_STATUSCODE_BADNOTIMPLEMENTED;
}

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
static UA_StatusCode
removeDataSetReaderAction(UA_Server *server,
                          const UA_NodeId *sessionId, void *sessionHandle,
                          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_StatusCode retVal = UA_STATUSCODE_BADNOTIMPLEMENTED;
    //TODO implement reader part
    return retVal;
}
#endif

/*************************************************/
/*                PublishedDataSet               */
/*************************************************/
#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
static UA_StatusCode
addDataSetFolderAction(UA_Server *server,
                       const UA_NodeId *sessionId, void *sessionHandle,
                       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){
    /* defined in R 1.04 9.1.4.5.7 */
    UA_StatusCode retVal = UA_STATUSCODE_GOOD;
    UA_String newFolderName = *((UA_String *) input[0].data);
    UA_NodeId generatedId;
    UA_ObjectAttributes objectAttributes = UA_ObjectAttributes_default;
    UA_LocalizedText name = {UA_STRING("en-US"), newFolderName};
    objectAttributes.displayName = name;
    retVal |= UA_Server_addObjectNode(server, UA_NODEID_NULL, *objectId, UA_NODEID_NUMERIC(0,UA_NS0ID_ORGANIZES),
                                      UA_QUALIFIEDNAME(0, "DataSetFolder"), UA_NODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE),
                                      objectAttributes, NULL, &generatedId);
    UA_Variant_setScalarCopy(output, &generatedId, &UA_TYPES[UA_TYPES_NODEID]);
#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
    retVal |= UA_Server_addReference(server, generatedId,
                                     UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                                     UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE_ADDPUBLISHEDDATAITEMS), true);
    retVal |= UA_Server_addReference(server, generatedId,
                                     UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                                     UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE_REMOVEPUBLISHEDDATASET), true);
    retVal |= UA_Server_addReference(server, generatedId,
                                     UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                                     UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE_ADDDATASETFOLDER), true);
    retVal |= UA_Server_addReference(server, generatedId,
                                     UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                                     UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE_REMOVEDATASETFOLDER), true);
#endif
    return retVal;
}
#endif

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
static UA_StatusCode
removeDataSetFolderAction(UA_Server *server,
                          const UA_NodeId *sessionId, void *sessionHandle,
                          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_StatusCode retVal = UA_STATUSCODE_GOOD;
    UA_NodeId nodeToRemove = *((UA_NodeId *) input[0].data);
#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
    retVal |= UA_Server_deleteReference(server, nodeToRemove, UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT), true,
                                        UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE_ADDPUBLISHEDDATAITEMS),
                                        false);
    retVal |= UA_Server_deleteReference(server, nodeToRemove, UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT), true,
                                        UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE_REMOVEPUBLISHEDDATASET),
                                        false);
    retVal |= UA_Server_deleteReference(server, nodeToRemove, UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT), true,
                                        UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE_ADDDATASETFOLDER),
                                        false);
    retVal |= UA_Server_deleteReference(server, nodeToRemove, UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT), true,
                                        UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE_REMOVEDATASETFOLDER),
                                        false);
#endif
    retVal |= UA_Server_deleteNode(server, nodeToRemove, false);
    return retVal;
}
#endif

UA_StatusCode
addPublishedDataItemsRepresentation(UA_Server *server, UA_PublishedDataSet *publishedDataSet) {
    UA_StatusCode retVal = UA_STATUSCODE_GOOD;
    if(publishedDataSet->config.name.length > 512)
        return UA_STATUSCODE_BADOUTOFMEMORY;
    UA_STACKARRAY(char, pdsName, sizeof(char) * publishedDataSet->config.name.length +1);
    memcpy(pdsName, publishedDataSet->config.name.data, publishedDataSet->config.name.length);
    pdsName[publishedDataSet->config.name.length] = '\0';
    //This code block must use a lock
    UA_NODESTORE_REMOVE(server, &publishedDataSet->identifier);
    retVal |= addPubSubObjectNode(server, pdsName, publishedDataSet->identifier.identifier.numeric,
                                  UA_NS0ID_PUBLISHSUBSCRIBE_PUBLISHEDDATASETS,
                                  UA_NS0ID_HASPROPERTY, UA_NS0ID_PUBLISHEDDATAITEMSTYPE);
    //End lock zone

    UA_ValueCallback valueCallback;
    valueCallback.onRead = onRead;
    valueCallback.onWrite = NULL;

    UA_NodeId configurationVersionNode =
        findSingleChildNode(server, UA_QUALIFIEDNAME(0, "ConfigurationVersion"),
                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
                            UA_NODEID_NUMERIC(0, publishedDataSet->identifier.identifier.numeric));
    if(UA_NodeId_equal(&configurationVersionNode, &UA_NODEID_NULL))
        return UA_STATUSCODE_BADNOTFOUND;

    UA_NodePropertyContext * configurationVersionContext = (UA_NodePropertyContext *)
        UA_malloc(sizeof(UA_NodePropertyContext));
    configurationVersionContext->parentNodeId = publishedDataSet->identifier;
    configurationVersionContext->parentClassifier = UA_NS0ID_PUBLISHEDDATAITEMSTYPE;
    configurationVersionContext->elementClassiefier =
        UA_NS0ID_PUBLISHEDDATAITEMSTYPE_CONFIGURATIONVERSION;
    retVal |= addVariableValueSource(server, valueCallback, configurationVersionNode,
                                     configurationVersionContext);

    UA_NodeId publishedDataNode =
        findSingleChildNode(server, UA_QUALIFIEDNAME(0, "PublishedData"),
                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
                            UA_NODEID_NUMERIC(0, publishedDataSet->identifier.identifier.numeric));
    if(UA_NodeId_equal(&publishedDataNode, &UA_NODEID_NULL))
        return UA_STATUSCODE_BADNOTFOUND;

    UA_NodePropertyContext * publishingIntervalContext = (UA_NodePropertyContext *)
        UA_malloc(sizeof(UA_NodePropertyContext));
    publishingIntervalContext->parentNodeId = publishedDataSet->identifier;
    publishingIntervalContext->parentClassifier = UA_NS0ID_PUBLISHEDDATAITEMSTYPE;
    publishingIntervalContext->elementClassiefier = UA_NS0ID_PUBLISHEDDATAITEMSTYPE_PUBLISHEDDATA;
    retVal |= addVariableValueSource(server, valueCallback, publishedDataNode,
                                     publishingIntervalContext);

    UA_NodeId dataSetMetaDataNode =
        findSingleChildNode(server, UA_QUALIFIEDNAME(0, "DataSetMetaData"),
                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
                            UA_NODEID_NUMERIC(0, publishedDataSet->identifier.identifier.numeric));
    if(UA_NodeId_equal(&dataSetMetaDataNode, &UA_NODEID_NULL))
        return UA_STATUSCODE_BADNOTFOUND;

    UA_NodePropertyContext *metaDataContext = (UA_NodePropertyContext *)
        UA_malloc(sizeof(UA_NodePropertyContext));
    metaDataContext->parentNodeId = publishedDataSet->identifier;
    metaDataContext->parentClassifier = UA_NS0ID_PUBLISHEDDATAITEMSTYPE;
    metaDataContext->elementClassiefier = UA_NS0ID_PUBLISHEDDATAITEMSTYPE_DATASETMETADATA;
    retVal |= addVariableValueSource(server, valueCallback, dataSetMetaDataNode, metaDataContext);

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
    retVal |= UA_Server_addReference(server, publishedDataSet->identifier,
                                     UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                                     UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_PUBLISHEDDATAITEMSTYPE_ADDVARIABLES), true);
    retVal |= UA_Server_addReference(server, publishedDataSet->identifier,
                                     UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                                     UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_PUBLISHEDDATAITEMSTYPE_REMOVEVARIABLES), true);
#endif
    return retVal;
}

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
static UA_StatusCode
addPublishedDataItemsAction(UA_Server *server,
                            const UA_NodeId *sessionId, void *sessionHandle,
                            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_StatusCode retVal = UA_STATUSCODE_GOOD;
    size_t fieldNameAliasesSize = input[1].arrayLength;
    UA_String * fieldNameAliases = (UA_String *) input[1].data;
    size_t fieldFlagsSize = input[2].arrayLength;
    UA_DataSetFieldFlags * fieldFlags = (UA_DataSetFieldFlags *) input[2].data;
    size_t variablesToAddSize = input[3].arrayLength;
    UA_PublishedVariableDataType *variablesToAddField = (UA_PublishedVariableDataType *) input[3].data;

    if(!(fieldNameAliasesSize == fieldFlagsSize || fieldFlagsSize == variablesToAddSize))
        return UA_STATUSCODE_BADINVALIDARGUMENT;

    UA_PublishedDataSetConfig publishedDataSetConfig;
    memset(&publishedDataSetConfig, 0, sizeof(publishedDataSetConfig));
    publishedDataSetConfig.name = *((UA_String *) input[0].data);
    publishedDataSetConfig.publishedDataSetType = UA_PUBSUB_DATASET_PUBLISHEDITEMS;

    UA_NodeId dataSetItemsNodeId;
    retVal |= UA_Server_addPublishedDataSet(server, &publishedDataSetConfig, &dataSetItemsNodeId).addResult;

    UA_DataSetFieldConfig dataSetFieldConfig;
    for(size_t j = 0; j < variablesToAddSize; ++j) {
        memset(&dataSetFieldConfig, 0, sizeof(dataSetFieldConfig));
        dataSetFieldConfig.dataSetFieldType = UA_PUBSUB_DATASETFIELD_VARIABLE;
        dataSetFieldConfig.field.variable.fieldNameAlias = fieldNameAliases[j];
        if(fieldFlags[j] == UA_DATASETFIELDFLAGS_PROMOTEDFIELD){
            dataSetFieldConfig.field.variable.promotedField = UA_TRUE;
        }
        dataSetFieldConfig.field.variable.publishParameters = variablesToAddField[j];
        UA_Server_addDataSetField(server, dataSetItemsNodeId, &dataSetFieldConfig, NULL);
    }
    UA_PublishedVariableDataType_clear(variablesToAddField);
    return retVal;
}
#endif

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
static UA_StatusCode
addVariablesAction(UA_Server *server,
                   const UA_NodeId *sessionId, void *sessionHandle,
                   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_StatusCode retVal = UA_STATUSCODE_GOOD;

    return retVal;
}

static UA_StatusCode
removeVariablesAction(UA_Server *server,
                      const UA_NodeId *sessionId, void *sessionHandle,
                      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_StatusCode retVal = UA_STATUSCODE_GOOD;

    return retVal;
}
#endif


UA_StatusCode
removePublishedDataSetRepresentation(UA_Server *server, UA_PublishedDataSet *publishedDataSet){
    UA_StatusCode retVal = UA_STATUSCODE_GOOD;
    retVal |= UA_Server_deleteNode(server, publishedDataSet->identifier, false);

    return retVal;
}

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
static UA_StatusCode
removePublishedDataSetAction(UA_Server *server,
                             const UA_NodeId *sessionId, void *sessionHandle,
                             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_StatusCode retVal = UA_STATUSCODE_GOOD;
    UA_NodeId nodeToRemove = *((UA_NodeId *) input[0].data);
    retVal |= UA_Server_removePublishedDataSet(server, nodeToRemove);
    return retVal;
}
#endif

/**********************************************/
/*               WriterGroup                  */
/**********************************************/

static UA_StatusCode
readContentMask(UA_Server *server, const UA_NodeId *sessionId,
                void *sessionContext, const UA_NodeId *nodeId,
                void *nodeContext, UA_Boolean includeSourceTimeStamp,
                const UA_NumericRange *range, UA_DataValue *value) {
    UA_WriterGroup *writerGroup = (UA_WriterGroup*)nodeContext;
    if((writerGroup->config.messageSettings.encoding != UA_EXTENSIONOBJECT_DECODED &&
        writerGroup->config.messageSettings.encoding != UA_EXTENSIONOBJECT_DECODED_NODELETE) ||
       writerGroup->config.messageSettings.content.decoded.type !=
       &UA_TYPES[UA_TYPES_UADPWRITERGROUPMESSAGEDATATYPE])
        return UA_STATUSCODE_BADINTERNALERROR;
    UA_UadpWriterGroupMessageDataType *wgm = (UA_UadpWriterGroupMessageDataType*)
        writerGroup->config.messageSettings.content.decoded.data;

    UA_Variant_setScalarCopy(&value->value, &wgm->networkMessageContentMask,
                             &UA_TYPES[UA_TYPES_UADPNETWORKMESSAGECONTENTMASK]);
    value->hasValue = true;
    return UA_STATUSCODE_GOOD;
}

static UA_StatusCode
writeContentMask(UA_Server *server, const UA_NodeId *sessionId,
                 void *sessionContext, const UA_NodeId *nodeId,
                 void *nodeContext, const UA_NumericRange *range,
                 const UA_DataValue *value) {
    UA_WriterGroup *writerGroup = (UA_WriterGroup*)nodeContext;
    if((writerGroup->config.messageSettings.encoding != UA_EXTENSIONOBJECT_DECODED &&
        writerGroup->config.messageSettings.encoding != UA_EXTENSIONOBJECT_DECODED_NODELETE) ||
       writerGroup->config.messageSettings.content.decoded.type !=
       &UA_TYPES[UA_TYPES_UADPWRITERGROUPMESSAGEDATATYPE])
        return UA_STATUSCODE_BADINTERNALERROR;
    UA_UadpWriterGroupMessageDataType *wgm = (UA_UadpWriterGroupMessageDataType*)
        writerGroup->config.messageSettings.content.decoded.data;

    if(!value->value.type)
        return UA_STATUSCODE_BADTYPEMISMATCH;
    if(value->value.type->typeKind != UA_DATATYPEKIND_ENUM &&
       value->value.type->typeKind != UA_DATATYPEKIND_INT32)
        return UA_STATUSCODE_BADTYPEMISMATCH;

    wgm->networkMessageContentMask = *(UA_UadpNetworkMessageContentMask*)value->value.data;
    return UA_STATUSCODE_GOOD;
}

UA_StatusCode
addWriterGroupRepresentation(UA_Server *server, UA_WriterGroup *writerGroup){
    UA_StatusCode retVal = UA_STATUSCODE_GOOD;
    if(writerGroup->config.name.length > 512)
        return UA_STATUSCODE_BADOUTOFMEMORY;
    UA_STACKARRAY(char, wgName, sizeof(char) * writerGroup->config.name.length + 1);
    memcpy(wgName, writerGroup->config.name.data, writerGroup->config.name.length);
    wgName[writerGroup->config.name.length] = '\0';
    //This code block must use a lock
    UA_NODESTORE_REMOVE(server, &writerGroup->identifier);
    retVal |= addPubSubObjectNode(server, wgName, writerGroup->identifier.identifier.numeric,
                                  writerGroup->linkedConnection->identifier.identifier.numeric,
                                  UA_NS0ID_HASCOMPONENT, UA_NS0ID_WRITERGROUPTYPE);
    //End lock zone
    UA_NodeId keepAliveNode =
        findSingleChildNode(server, UA_QUALIFIEDNAME(0, "KeepAliveTime"),
                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
                            UA_NODEID_NUMERIC(0, writerGroup->identifier.identifier.numeric));
    UA_NodeId publishingIntervalNode =
        findSingleChildNode(server, UA_QUALIFIEDNAME(0, "PublishingInterval"),
                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
                            UA_NODEID_NUMERIC(0, writerGroup->identifier.identifier.numeric));
    if(UA_NodeId_equal(&keepAliveNode, &UA_NODEID_NULL) ||
       UA_NodeId_equal(&publishingIntervalNode, &UA_NODEID_NULL))
        return UA_STATUSCODE_BADNOTFOUND;

    UA_NodePropertyContext * publishingIntervalContext = (UA_NodePropertyContext *)
        UA_malloc(sizeof(UA_NodePropertyContext));
    publishingIntervalContext->parentNodeId = writerGroup->identifier;
    publishingIntervalContext->parentClassifier = UA_NS0ID_WRITERGROUPTYPE;
    publishingIntervalContext->elementClassiefier = UA_NS0ID_WRITERGROUPTYPE_PUBLISHINGINTERVAL;
    UA_ValueCallback valueCallback;
    valueCallback.onRead = onRead;
    valueCallback.onWrite = onWrite;
    retVal |= addVariableValueSource(server, valueCallback,
                                     publishingIntervalNode, publishingIntervalContext);
    UA_Server_writeAccessLevel(server, publishingIntervalNode,
                               UA_ACCESSLEVELMASK_READ ^ UA_ACCESSLEVELMASK_WRITE);

    UA_NodeId priorityNode =
        findSingleChildNode(server, UA_QUALIFIEDNAME(0, "Priority"),
                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
                            UA_NODEID_NUMERIC(0, writerGroup->identifier.identifier.numeric));
    UA_NodeId writerGroupIdNode =
        findSingleChildNode(server, UA_QUALIFIEDNAME(0, "WriterGroupId"),
                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
                            UA_NODEID_NUMERIC(0, writerGroup->identifier.identifier.numeric));
    UA_Variant value;
    UA_Variant_init(&value);
    UA_Variant_setScalar(&value, &writerGroup->config.publishingInterval, &UA_TYPES[UA_TYPES_DURATION]);
    UA_Server_writeValue(server, publishingIntervalNode, value);
    UA_Variant_setScalar(&value, &writerGroup->config.keepAliveTime, &UA_TYPES[UA_TYPES_DURATION]);
    UA_Server_writeValue(server, keepAliveNode, value);
    UA_Variant_setScalar(&value, &writerGroup->config.priority, &UA_TYPES[UA_TYPES_BYTE]);
    UA_Server_writeValue(server, priorityNode, value);
    UA_Variant_setScalar(&value, &writerGroup->config.writerGroupId, &UA_TYPES[UA_TYPES_UINT16]);
    UA_Server_writeValue(server, writerGroupIdNode, value);

    retVal |= addPubSubObjectNode(server, "MessageSettings", 0,
                                  writerGroup->identifier.identifier.numeric,
                                  UA_NS0ID_HASCOMPONENT, UA_NS0ID_UADPWRITERGROUPMESSAGETYPE);

    /* Find the variable with the content mask */

    UA_NodeId messageSettingsId =
        findSingleChildNode(server, UA_QUALIFIEDNAME(0, "MessageSettings"),
                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                            UA_NODEID_NUMERIC(0, writerGroup->identifier.identifier.numeric));
    UA_NodeId contentMaskId =
        findSingleChildNode(server, UA_QUALIFIEDNAME(0, "NetworkMessageContentMask"),
                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY), messageSettingsId);
    if(UA_NodeId_equal(&messageSettingsId, &UA_NODEID_NULL) ||
       UA_NodeId_equal(&contentMaskId, &UA_NODEID_NULL)) {
        return UA_STATUSCODE_BADNOTFOUND;
    }

    /* Set the callback */
    UA_DataSource ds;
    ds.read = readContentMask;
    ds.write = writeContentMask;
    UA_Server_setVariableNode_dataSource(server, contentMaskId, ds);
    UA_Server_setNodeContext(server, contentMaskId, writerGroup);

    /* Make writable */
    UA_Server_writeAccessLevel(server, contentMaskId,
                               UA_ACCESSLEVELMASK_WRITE | UA_ACCESSLEVELMASK_READ);

    return retVal;
}

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
static UA_StatusCode
addWriterGroupAction(UA_Server *server,
                             const UA_NodeId *sessionId, void *sessionHandle,
                             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_StatusCode retVal = UA_STATUSCODE_GOOD;
    UA_WriterGroupDataType *writerGroupDataType = ((UA_WriterGroupDataType *) input[0].data);
    UA_NodeId generatedId;
    UA_WriterGroupConfig writerGroupConfig;
    memset(&writerGroupConfig, 0, sizeof(UA_WriterGroupConfig));
    writerGroupConfig.name = writerGroupDataType->name;
    writerGroupConfig.publishingInterval = writerGroupDataType->publishingInterval;
    writerGroupConfig.writerGroupId = writerGroupDataType->writerGroupId;
    writerGroupConfig.enabled = writerGroupDataType->enabled;
    writerGroupConfig.priority = writerGroupDataType->priority;
    //TODO remove hard coded UADP
    writerGroupConfig.encodingMimeType = UA_PUBSUB_ENCODING_UADP;
    //ToDo transfer all arguments to internal WGConfiguration
    retVal |= UA_Server_addWriterGroup(server, *objectId, &writerGroupConfig, &generatedId);
    UA_Variant_setScalarCopy(output, &generatedId, &UA_TYPES[UA_TYPES_NODEID]);
    return retVal;
}
#endif

UA_StatusCode
removeGroupRepresentation(UA_Server *server, UA_WriterGroup *writerGroup) {
    UA_StatusCode retVal = UA_STATUSCODE_GOOD;
    retVal |= UA_Server_deleteNode(server, writerGroup->identifier, false);
    return retVal;
}

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
static UA_StatusCode
removeGroupAction(UA_Server *server,
                             const UA_NodeId *sessionId, void *sessionHandle,
                             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_StatusCode retVal = UA_STATUSCODE_GOOD;
    UA_NodeId nodeToRemove = *((UA_NodeId *) input[0].data);
    if(UA_WriterGroup_findWGbyId(server, nodeToRemove) != NULL)
        retVal |= UA_Server_removeWriterGroup(server, nodeToRemove);
    //else
        //retVal |= UA_Server_removeReaderGroup(server, nodeToRemve);
    return retVal;
}
#endif

/**********************************************/
/*               ReaderGroup                  */
/**********************************************/
UA_StatusCode
addReaderGroupRepresentation(UA_Server *server, UA_ReaderGroup *readerGroup){
    //TODO implement reader part
    return UA_STATUSCODE_BADNOTIMPLEMENTED;
}

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
static UA_StatusCode
addReaderGroupAction(UA_Server *server,
                     const UA_NodeId *sessionId, void *sessionHandle,
                     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_StatusCode retVal = UA_STATUSCODE_GOOD;
    //TODO implement reader part
    return retVal;
}
#endif

/**********************************************/
/*               DataSetWriter                */
/**********************************************/
UA_StatusCode
addDataSetWriterRepresentation(UA_Server *server, UA_DataSetWriter *dataSetWriter){
    UA_StatusCode retVal = UA_STATUSCODE_GOOD;
    if(dataSetWriter->config.name.length > 512)
        return UA_STATUSCODE_BADOUTOFMEMORY;
    UA_STACKARRAY(char, dswName, sizeof(char) * dataSetWriter->config.name.length + 1);
    memcpy(dswName, dataSetWriter->config.name.data, dataSetWriter->config.name.length);
    dswName[dataSetWriter->config.name.length] = '\0';
    //This code block must use a lock
    UA_NODESTORE_REMOVE(server, &dataSetWriter->identifier);
    retVal |= addPubSubObjectNode(server, dswName, dataSetWriter->identifier.identifier.numeric,
                                  dataSetWriter->linkedWriterGroup.identifier.numeric,
                                  UA_NS0ID_HASDATASETWRITER, UA_NS0ID_DATASETWRITERTYPE);
    //End lock zone
    retVal |= UA_Server_addReference(server, dataSetWriter->connectedDataSet,
                                     UA_NODEID_NUMERIC(0, UA_NS0ID_DATASETTOWRITER),
                                     UA_EXPANDEDNODEID_NUMERIC(0, dataSetWriter->identifier.identifier.numeric), true);


    retVal |= addPubSubObjectNode(server, "MessageSettings", 0,
                                  dataSetWriter->identifier.identifier.numeric,
                                  UA_NS0ID_HASCOMPONENT, UA_NS0ID_UADPDATASETWRITERMESSAGETYPE);
    return retVal;
}

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
static UA_StatusCode
addDataSetWriterAction(UA_Server *server,
                       const UA_NodeId *sessionId, void *sessionHandle,
                       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_DataSetWriterDataType *dataSetWriterDataType = (UA_DataSetWriterDataType *) input[0].data;

    UA_NodeId targetPDS = UA_NODEID_NULL;
    for(size_t i = 0; i < server->pubSubManager.publishedDataSetsSize; ++i) {
        if(UA_String_equal(&dataSetWriterDataType->dataSetName,
                           &server->pubSubManager.publishedDataSets[i].config.name)){
            targetPDS = server->pubSubManager.publishedDataSets[i].identifier;
        }
    }
    if(UA_NodeId_isNull(&targetPDS))
        return UA_STATUSCODE_BADPARENTNODEIDINVALID;

    UA_NodeId generatedId;
    UA_DataSetWriterConfig dataSetWriterConfig;
    memset(&dataSetWriterConfig, 0, sizeof(UA_DataSetWriterConfig));
    dataSetWriterConfig.name = dataSetWriterDataType->name;
    dataSetWriterConfig.dataSetName = dataSetWriterDataType->dataSetName;
    dataSetWriterConfig.keyFrameCount =  dataSetWriterDataType->keyFrameCount;
    dataSetWriterConfig.dataSetWriterId = dataSetWriterDataType->dataSetWriterId;

    UA_Server_addDataSetWriter(server, *objectId, targetPDS, &dataSetWriterConfig, &generatedId);
    UA_Variant_setScalarCopy(output, &generatedId, &UA_TYPES[UA_TYPES_NODEID]);
    return UA_STATUSCODE_GOOD;
}
#endif


UA_StatusCode
removeDataSetWriterRepresentation(UA_Server *server, UA_DataSetWriter *dataSetWriter) {
    UA_StatusCode retVal = UA_STATUSCODE_GOOD;
    retVal |= UA_Server_deleteNode(server, dataSetWriter->identifier, false);
    return retVal;
}

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
static UA_StatusCode
removeDataSetWriterAction(UA_Server *server,
                          const UA_NodeId *sessionId, void *sessionHandle,
                          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_StatusCode retVal = UA_STATUSCODE_GOOD;
    UA_NodeId nodeToRemove = *((UA_NodeId *) input[0].data);
    retVal |= UA_Server_removeDataSetWriter(server, nodeToRemove);
    return retVal;
}
#endif

/**********************************************/
/*                Destructors                 */
/**********************************************/

static void
connectionTypeDestructor(UA_Server *server,
                         const UA_NodeId *sessionId, void *sessionContext,
                         const UA_NodeId *typeId, void *typeContext,
                         const UA_NodeId *nodeId, void **nodeContext) {
    UA_LOG_INFO(&server->config.logger, UA_LOGCATEGORY_USERLAND, "Connection destructor called!");
    UA_NodeId publisherIdNode;
    publisherIdNode = findSingleChildNode(server, UA_QUALIFIEDNAME(0, "PublisherId"),
                                       UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY), *nodeId);
    UA_NodePropertyContext *internalConnectionContext;
    UA_Server_getNodeContext(server, publisherIdNode, (void **) &internalConnectionContext);
    if(!UA_NodeId_equal(&UA_NODEID_NULL , &publisherIdNode)){
        UA_free(internalConnectionContext);
    }

}

static void
writerGroupTypeDestructor(UA_Server *server,
                          const UA_NodeId *sessionId, void *sessionContext,
                          const UA_NodeId *typeId, void *typeContext,
                          const UA_NodeId *nodeId, void **nodeContext) {
    UA_LOG_INFO(&server->config.logger, UA_LOGCATEGORY_USERLAND, "WriterGroup destructor called!");
    UA_NodeId intervalNode;
    intervalNode = findSingleChildNode(server, UA_QUALIFIEDNAME(0, "PublishingInterval"),
                                       UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY), *nodeId);
    UA_NodePropertyContext *internalConnectionContext;
    UA_Server_getNodeContext(server, intervalNode, (void **) &internalConnectionContext);
    if(!UA_NodeId_equal(&UA_NODEID_NULL , &intervalNode)){
        UA_free(internalConnectionContext);
    }
}

static void
readerGroupTypeDestructor(UA_Server *server,
                          const UA_NodeId *sessionId, void *sessionContext,
                          const UA_NodeId *typeId, void *typeContext,
                          const UA_NodeId *nodeId, void **nodeContext) {
    UA_LOG_INFO(&server->config.logger, UA_LOGCATEGORY_USERLAND, "ReaderGroup destructor called!");
}

static void
dataSetWriterTypeDestructor(UA_Server *server,
                            const UA_NodeId *sessionId, void *sessionContext,
                            const UA_NodeId *typeId, void *typeContext,
                            const UA_NodeId *nodeId, void **nodeContext) {
    UA_LOG_INFO(&server->config.logger, UA_LOGCATEGORY_USERLAND, "DataSetWriter destructor called!");
}

static void
dataSetReaderTypeDestructor(UA_Server *server,
                            const UA_NodeId *sessionId, void *sessionContext,
                            const UA_NodeId *typeId, void *typeContext,
                            const UA_NodeId *nodeId, void **nodeContext) {
    UA_LOG_INFO(&server->config.logger, UA_LOGCATEGORY_USERLAND, "DataSetReader destructor called!");
}

static void
publishedDataItemsTypeDestructor(UA_Server *server,
                            const UA_NodeId *sessionId, void *sessionContext,
                            const UA_NodeId *typeId, void *typeContext,
                            const UA_NodeId *nodeId, void **nodeContext) {
    UA_LOG_INFO(&server->config.logger, UA_LOGCATEGORY_USERLAND,
                "PublishedDataItems destructor called!");
    void *childContext;
    UA_NodeId node = findSingleChildNode(server, UA_QUALIFIEDNAME(0, "PublishedData"),
                                         UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY), *nodeId);
    UA_Server_getNodeContext(server, node, (void**)&childContext);
    if(!UA_NodeId_equal(&UA_NODEID_NULL , &node))
        UA_free(childContext);

    node = findSingleChildNode(server, UA_QUALIFIEDNAME(0, "ConfigurationVersion"),
                               UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
                               *nodeId);
    UA_Server_getNodeContext(server, node, (void**)&childContext);
    if(!UA_NodeId_equal(&UA_NODEID_NULL , &node))
        UA_free(childContext);

    node = findSingleChildNode(server, UA_QUALIFIEDNAME(0, "DataSetMetaData"),
                               UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY), *nodeId);
    UA_Server_getNodeContext(server, node, (void**)&childContext);
    if(!UA_NodeId_equal(&node, &UA_NODEID_NULL))
        UA_free(childContext);
}

UA_StatusCode
UA_Server_initPubSubNS0(UA_Server *server) {
    UA_StatusCode retVal = UA_STATUSCODE_GOOD;
    UA_String profileArray[1];
    profileArray[0] = UA_STRING("http://opcfoundation.org/UA-Profile/Transport/pubsub-udp-uadp");

    retVal |= writePubSubNs0VariableArray(server, UA_NS0ID_PUBLISHSUBSCRIBE_SUPPORTEDTRANSPORTPROFILES,
                                    profileArray,
                                    1, &UA_TYPES[UA_TYPES_STRING]);

#ifdef UA_ENABLE_PUBSUB_INFORMATIONMODEL_METHODS
    retVal |= UA_Server_setMethodNode_callback(server,
                                               UA_NODEID_NUMERIC(0, UA_NS0ID_PUBLISHSUBSCRIBE_ADDCONNECTION), addPubSubConnectionAction);
    retVal |= UA_Server_setMethodNode_callback(server,
                                               UA_NODEID_NUMERIC(0, UA_NS0ID_PUBLISHSUBSCRIBE_REMOVECONNECTION), removeConnectionAction);
    retVal |= UA_Server_addReference(server, UA_NODEID_NUMERIC(0, UA_NS0ID_PUBLISHSUBSCRIBE_PUBLISHEDDATASETS),
                                     UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                                     UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE_ADDDATASETFOLDER), true);
    retVal |= UA_Server_addReference(server, UA_NODEID_NUMERIC(0, UA_NS0ID_PUBLISHSUBSCRIBE_PUBLISHEDDATASETS),
                                     UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                                     UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE_ADDPUBLISHEDDATAITEMS), true);
    retVal |= UA_Server_addReference(server, UA_NODEID_NUMERIC(0, UA_NS0ID_PUBLISHSUBSCRIBE_PUBLISHEDDATASETS),
                                     UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                                     UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE_REMOVEPUBLISHEDDATASET), true);
    retVal |= UA_Server_addReference(server, UA_NODEID_NUMERIC(0, UA_NS0ID_PUBLISHSUBSCRIBE_PUBLISHEDDATASETS),
                                     UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                                     UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE_REMOVEDATASETFOLDER), true);
    retVal |= UA_Server_setMethodNode_callback(server,
                                               UA_NODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE_ADDDATASETFOLDER), addDataSetFolderAction);
    retVal |= UA_Server_setMethodNode_callback(server,
                                               UA_NODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE_REMOVEDATASETFOLDER), removeDataSetFolderAction);
    retVal |= UA_Server_setMethodNode_callback(server,
                                               UA_NODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE_ADDPUBLISHEDDATAITEMS), addPublishedDataItemsAction);
    retVal |= UA_Server_setMethodNode_callback(server,
                                               UA_NODEID_NUMERIC(0, UA_NS0ID_DATASETFOLDERTYPE_REMOVEPUBLISHEDDATASET), removePublishedDataSetAction);
    retVal |= UA_Server_setMethodNode_callback(server,
                                               UA_NODEID_NUMERIC(0, UA_NS0ID_PUBLISHEDDATAITEMSTYPE_ADDVARIABLES), addVariablesAction);
    retVal |= UA_Server_setMethodNode_callback(server,
                                               UA_NODEID_NUMERIC(0, UA_NS0ID_PUBLISHEDDATAITEMSTYPE_REMOVEVARIABLES), removeVariablesAction);
    retVal |= UA_Server_setMethodNode_callback(server, UA_NODEID_NUMERIC(0, UA_NS0ID_PUBSUBCONNECTIONTYPE_ADDWRITERGROUP), addWriterGroupAction);
    retVal |= UA_Server_setMethodNode_callback(server, UA_NODEID_NUMERIC(0, UA_NS0ID_PUBSUBCONNECTIONTYPE_ADDREADERGROUP), addReaderGroupAction);
    retVal |= UA_Server_setMethodNode_callback(server, UA_NODEID_NUMERIC(0, UA_NS0ID_PUBSUBCONNECTIONTYPE_REMOVEGROUP), removeGroupAction);
    retVal |= UA_Server_setMethodNode_callback(server, UA_NODEID_NUMERIC(0, UA_NS0ID_WRITERGROUPTYPE_ADDDATASETWRITER), addDataSetWriterAction);
    retVal |= UA_Server_setMethodNode_callback(server, UA_NODEID_NUMERIC(0, UA_NS0ID_WRITERGROUPTYPE_REMOVEDATASETWRITER), removeDataSetWriterAction);
    retVal |= UA_Server_setMethodNode_callback(server, UA_NODEID_NUMERIC(0, UA_NS0ID_READERGROUPTYPE_ADDDATASETREADER), addDataSetReaderAction);
    retVal |= UA_Server_setMethodNode_callback(server, UA_NODEID_NUMERIC(0, UA_NS0ID_READERGROUPTYPE_REMOVEDATASETREADER), removeDataSetReaderAction);

#else
    retVal |= UA_Server_deleteReference(server, UA_NODEID_NUMERIC(0, UA_NS0ID_PUBLISHSUBSCRIBE), UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT), true,
                                        UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_PUBLISHSUBSCRIBE_ADDCONNECTION),
                                        false);
    retVal |= UA_Server_deleteReference(server, UA_NODEID_NUMERIC(0, UA_NS0ID_PUBLISHSUBSCRIBE), UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT), true,
                                        UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_PUBLISHSUBSCRIBE_REMOVECONNECTION),
                                        false);
#endif
    UA_NodeTypeLifecycle liveCycle;
    liveCycle.constructor = NULL;
    liveCycle.destructor = connectionTypeDestructor;
    UA_Server_setNodeTypeLifecycle(server, UA_NODEID_NUMERIC(0, UA_NS0ID_PUBSUBCONNECTIONTYPE), liveCycle);
    liveCycle.destructor = writerGroupTypeDestructor;
    UA_Server_setNodeTypeLifecycle(server, UA_NODEID_NUMERIC(0, UA_NS0ID_WRITERGROUPTYPE), liveCycle);
    liveCycle.destructor = readerGroupTypeDestructor;
    UA_Server_setNodeTypeLifecycle(server, UA_NODEID_NUMERIC(0, UA_NS0ID_READERGROUPTYPE), liveCycle);
    liveCycle.destructor = dataSetWriterTypeDestructor;
    UA_Server_setNodeTypeLifecycle(server, UA_NODEID_NUMERIC(0, UA_NS0ID_DATASETWRITERDATATYPE), liveCycle);
    liveCycle.destructor = publishedDataItemsTypeDestructor;
    UA_Server_setNodeTypeLifecycle(server, UA_NODEID_NUMERIC(0, UA_NS0ID_PUBLISHEDDATAITEMSTYPE), liveCycle);
    liveCycle.destructor = dataSetReaderTypeDestructor;
    UA_Server_setNodeTypeLifecycle(server, UA_NODEID_NUMERIC(0, UA_NS0ID_DATASETREADERDATATYPE), liveCycle);

    return retVal;
}

#endif /* UA_ENABLE_PUBSUB_INFORMATIONMODEL */