open62541

open62541

open62541 (http://open62541.org) is an open source and free implementation of OPC UA (OPC Unified Architecture). open62541 is a C-based library that contains all the necessary tools to set up a dedicated OPC UA server, to integrate OPC UA-based communication into existing applications (linking with C++ projects is possible), or to create an OPC UA client. The library is distributed as a single pair of header and source files, that can be easily dropped into your project. An example server and client implementation can be found in the /examples directory or further down on this page.

open62541 is licensed under the LGPL + static linking exception. That means open62541 can be freely used also in commercial projects, although changes to the open62541 library itself need to be released under the same license. The server and client implementations in the /examples directory are in the public domain (CC0 license). They can be used under any license and changes don't have to be published.

Documentation

A general introduction to OPC UA and the open62541 documentation can be found at http://open62541.org/doc. Build instruction are here: https://github.com/acplt/open62541/wiki/Building-open62541.

For discussion and help, you can use

• the mailing list
• our IRC channel
• the bugtracker

Contribute to open62541

As an open source project, we invite new contributors to help improving open62541. If you are a developer, your bugfixes and new features are very welcome. Note that there are ways to contribute even without deep knowledge of the project or the UA standard:

• Report bugs
• Improve the documentation
• Work on issues marked as "easy hacks"

Example Server Implementation

Compile the examples with the single file distribution open62541.h and open62541.c from the latest release. With the GCC compiler, just run gcc -std=c99 <server.c> open62541.c -o server.

#include <signal.h>
#include "open62541.h"

#define WORKER_THREADS 2 /* if multithreading is enabled */
#define PORT 16664

UA_Boolean running = UA_TRUE;
void signalHandler(int sign) {
    running = UA_FALSE;
}

int main(int argc, char** argv) {
    /* catch ctrl-c */
    signal(SIGINT, signalHandler);

    /* init the server */
    UA_Server *server = UA_Server_new();
    UA_Server_addNetworkLayer(server,
        ServerNetworkLayerTCP_new(UA_ConnectionConfig_standard, PORT));
    UA_Server_setLogger(server, Logger_Stdout_new());

    /* add a variable node */
    UA_Variant *myIntegerVariant = UA_Variant_new();
    UA_Int32 myInteger = 42;
    UA_Variant_setScalarCopy(myIntegerVariant, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
    UA_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, "the answer");
    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, myIntegerVariant, myIntegerName,
                              myIntegerNodeId, parentNodeId, parentReferenceNodeId);

    /* run the server loop */
    UA_StatusCode retval = UA_Server_run(server, WORKER_THREADS, &running);
    UA_Server_delete(server);
    return retval;
}

Example Client Implementation

#include <stdio.h>
#include "open62541.h"

int main(int argc, char *argv[]) {
    UA_Client *client = UA_Client_new();
    UA_ClientNetworkLayer nl = ClientNetworkLayerTCP_new(UA_ConnectionConfig_standard);
    UA_StatusCode retval = UA_Client_connect(client, UA_ConnectionConfig_standard, nl,
                                             "opc.tcp://localhost:16664");
    if(retval != UA_STATUSCODE_GOOD) {
        UA_Client_delete(client);
    	return retval;
    }

    // Browse nodes in objects folder    
    UA_BrowseRequest bReq;
    UA_BrowseRequest_init(&bReq);
    bReq.requestedMaxReferencesPerNode = 0;
    bReq.nodesToBrowse = UA_BrowseDescription_new();
    bReq.nodesToBrowseSize = 1;
    bReq.nodesToBrowse[0].nodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER); //browse objects folder
    bReq.nodesToBrowse[0].resultMask = UA_BROWSERESULTMASK_ALL;	//return everything

    UA_BrowseResponse bResp = UA_Client_browse(client, &bReq);
    printf("%-9s %-16s %-16s %-16s\n", "NAMESPACE", "NODEID", "BROWSE NAME", "DISPLAY NAME");
    for (int i = 0; i < bResp.resultsSize; ++i) {
        for (int j = 0; j < bResp.results[i].referencesSize; ++j) {
            UA_ReferenceDescription *ref = &(bResp.results[i].references[j]);
            if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_NUMERIC){
                printf("%-9d %-16d %-16.*s %-16.*s\n", ref->browseName.namespaceIndex,
                ref->nodeId.nodeId.identifier.numeric, ref->browseName.name.length, 
                ref->browseName.name.data, ref->displayName.text.length, ref->displayName.text.data);
            }else if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_STRING){
                printf("%-9d %-16.*s %-16.*s %-16.*s\n", ref->browseName.namespaceIndex,
                ref->nodeId.nodeId.identifier.string.length, ref->nodeId.nodeId.identifier.string.data,
                ref->browseName.name.length, ref->browseName.name.data, ref->displayName.text.length,
                ref->displayName.text.data);
            }
            //TODO: distinguish further types
        }
    }
    UA_BrowseRequest_deleteMembers(&bReq);
    UA_BrowseResponse_deleteMembers(&bResp);

    UA_Int32 value = 0;	
    //Read node's value
    UA_ReadRequest rReq;
    UA_ReadRequest_init(&rReq);
    rReq.nodesToRead = UA_ReadValueId_new();
    rReq.nodesToReadSize = 1;
    rReq.nodesToRead[0].nodeId = UA_NODEID_STRING(1, "the.answer");
    rReq.nodesToRead[0].attributeId = UA_ATTRIBUTEID_VALUE;

    UA_ReadResponse rResp = UA_Client_read(client, &rReq);
    if(rResp.responseHeader.serviceResult == UA_STATUSCODE_GOOD &&
       rResp.resultsSize > 0 && rResp.results[0].hasValue &&
       rResp.results[0].value.data /* an empty array returns a null-ptr */ &&
       rResp.results[0].value.type == &UA_TYPES[UA_TYPES_INT32]){
           value = *(UA_Int32*)rResp.results[0].value.data;
           printf("the value is: %i\n", value);
   }

    UA_ReadRequest_deleteMembers(&rReq);
    UA_ReadResponse_deleteMembers(&rResp);
    
    value++;
	// Write node's value
	printf("\nWriting a value of node (1, \"the.answer\"):\n");
	UA_WriteRequest wReq;
	UA_WriteRequest_init(&wReq);
	wReq.nodesToWrite = UA_WriteValue_new();
	wReq.nodesToWriteSize = 1;
	wReq.nodesToWrite[0].nodeId = UA_NODEID_STRING_ALLOC(1, "the.answer"); /* assume this node exists */
	wReq.nodesToWrite[0].attributeId = UA_ATTRIBUTEID_VALUE;
	wReq.nodesToWrite[0].value.hasValue = UA_TRUE;
	wReq.nodesToWrite[0].value.value.type = &UA_TYPES[UA_TYPES_INT32];
	wReq.nodesToWrite[0].value.value.storageType = UA_VARIANT_DATA_NODELETE; //do not free the integer on deletion
	wReq.nodesToWrite[0].value.value.data = &value;

	UA_WriteResponse wResp = UA_Client_write(client, &wReq);
	if(wResp.responseHeader.serviceResult == UA_STATUSCODE_GOOD)
			printf("the new value is: %i\n", value);

	UA_WriteRequest_deleteMembers(&wReq);
	UA_WriteResponse_deleteMembers(&wResp);
    
    UA_Client_disconnect(client);
    UA_Client_delete(client);
    return UA_STATUSCODE_GOOD;
}