ua_client.h 20 KB

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  1. /* This Source Code Form is subject to the terms of the Mozilla Public
  2. * License, v. 2.0. If a copy of the MPL was not distributed with this
  3. * file, You can obtain one at http://mozilla.org/MPL/2.0/.
  4. *
  5. * Copyright 2015-2017 (c) Fraunhofer IOSB (Author: Julius Pfrommer)
  6. * Copyright 2015-2016 (c) Sten Grüner
  7. * Copyright 2015-2016 (c) Chris Iatrou
  8. * Copyright 2015-2017 (c) Florian Palm
  9. * Copyright 2015 (c) Holger Jeromin
  10. * Copyright 2015 (c) Oleksiy Vasylyev
  11. * Copyright 2017 (c) Stefan Profanter, fortiss GmbH
  12. * Copyright 2017 (c) Mark Giraud, Fraunhofer IOSB
  13. * Copyright 2018 (c) Thomas Stalder, Blue Time Concept SA
  14. * Copyright 2018 (c) Kalycito Infotech Private Limited
  15. */
  16. #ifndef UA_CLIENT_H_
  17. #define UA_CLIENT_H_
  18. #include "ua_types.h"
  19. #include "ua_types_generated.h"
  20. #include "ua_types_generated_handling.h"
  21. #include "ua_plugin_securitypolicy.h"
  22. #include "ua_plugin_network.h"
  23. #include "ua_plugin_log.h"
  24. #include "ua_client_config.h"
  25. #include "ua_nodeids.h"
  26. _UA_BEGIN_DECLS
  27. /**
  28. * .. _client:
  29. *
  30. * Client
  31. * ======
  32. *
  33. * The client implementation allows remote access to all OPC UA services. For
  34. * convenience, some functionality has been wrapped in :ref:`high-level
  35. * abstractions <client-highlevel>`.
  36. *
  37. * **However**: At this time, the client does not yet contain its own thread or
  38. * event-driven main-loop. So the client will not perform any actions
  39. * automatically in the background. This is especially relevant for
  40. * subscriptions. The user will have to periodically call
  41. * `UA_Client_Subscriptions_manuallySendPublishRequest`. See also :ref:`here
  42. * <client-subscriptions>`.
  43. *
  44. *
  45. * .. include:: client_config.rst
  46. *
  47. * Client Lifecycle
  48. * ---------------- */
  49. /* Create a new client */
  50. UA_Client UA_EXPORT *
  51. UA_Client_new(void);
  52. /* Get the client connection status */
  53. UA_ClientState UA_EXPORT
  54. UA_Client_getState(UA_Client *client);
  55. /* Get the client configuration */
  56. UA_EXPORT UA_ClientConfig *
  57. UA_Client_getConfig(UA_Client *client);
  58. /* Get the client context */
  59. static UA_INLINE void *
  60. UA_Client_getContext(UA_Client *client) {
  61. UA_ClientConfig *config = UA_Client_getConfig(client); /* Cannot fail */
  62. return config->clientContext;
  63. }
  64. /* Reset a client */
  65. void UA_EXPORT
  66. UA_Client_reset(UA_Client *client);
  67. /* Delete a client */
  68. void UA_EXPORT
  69. UA_Client_delete(UA_Client *client);
  70. /**
  71. * Connect to a Server
  72. * ------------------- */
  73. typedef void (*UA_ClientAsyncServiceCallback)(UA_Client *client, void *userdata,
  74. UA_UInt32 requestId, void *response);
  75. /* Connect to the server
  76. *
  77. * @param client to use
  78. * @param endpointURL to connect (for example "opc.tcp://localhost:4840")
  79. * @return Indicates whether the operation succeeded or returns an error code */
  80. UA_StatusCode UA_EXPORT
  81. UA_Client_connect(UA_Client *client, const char *endpointUrl);
  82. UA_StatusCode UA_EXPORT
  83. UA_Client_connect_async(UA_Client *client, const char *endpointUrl,
  84. UA_ClientAsyncServiceCallback callback,
  85. void *connected);
  86. /* Connect to the server without creating a session
  87. *
  88. * @param client to use
  89. * @param endpointURL to connect (for example "opc.tcp://localhost:4840")
  90. * @return Indicates whether the operation succeeded or returns an error code */
  91. UA_StatusCode UA_EXPORT
  92. UA_Client_connect_noSession(UA_Client *client, const char *endpointUrl);
  93. /* Connect to the selected server with the given username and password
  94. *
  95. * @param client to use
  96. * @param endpointURL to connect (for example "opc.tcp://localhost:4840")
  97. * @param username
  98. * @param password
  99. * @return Indicates whether the operation succeeded or returns an error code */
  100. UA_StatusCode UA_EXPORT
  101. UA_Client_connect_username(UA_Client *client, const char *endpointUrl,
  102. const char *username, const char *password);
  103. /* Disconnect and close a connection to the selected server */
  104. UA_StatusCode UA_EXPORT
  105. UA_Client_disconnect(UA_Client *client);
  106. UA_StatusCode UA_EXPORT
  107. UA_Client_disconnect_async(UA_Client *client, UA_UInt32 *requestId);
  108. /* Close a connection to the selected server */
  109. UA_DEPRECATED static UA_INLINE UA_StatusCode
  110. UA_Client_close(UA_Client *client) {
  111. return UA_Client_disconnect(client);
  112. }
  113. /**
  114. * Discovery
  115. * --------- */
  116. /* Gets a list of endpoints of a server
  117. *
  118. * @param client to use. Must be connected to the same endpoint given in
  119. * serverUrl or otherwise in disconnected state.
  120. * @param serverUrl url to connect (for example "opc.tcp://localhost:4840")
  121. * @param endpointDescriptionsSize size of the array of endpoint descriptions
  122. * @param endpointDescriptions array of endpoint descriptions that is allocated
  123. * by the function (you need to free manually)
  124. * @return Indicates whether the operation succeeded or returns an error code */
  125. UA_StatusCode UA_EXPORT
  126. UA_Client_getEndpoints(UA_Client *client, const char *serverUrl,
  127. size_t* endpointDescriptionsSize,
  128. UA_EndpointDescription** endpointDescriptions);
  129. /* Gets a list of all registered servers at the given server.
  130. *
  131. * You can pass an optional filter for serverUris. If the given server is not registered,
  132. * an empty array will be returned. If the server is registered, only that application
  133. * description will be returned.
  134. *
  135. * Additionally you can optionally indicate which locale you want for the server name
  136. * in the returned application description. The array indicates the order of preference.
  137. * A server may have localized names.
  138. *
  139. * @param client to use. Must be connected to the same endpoint given in
  140. * serverUrl or otherwise in disconnected state.
  141. * @param serverUrl url to connect (for example "opc.tcp://localhost:4840")
  142. * @param serverUrisSize Optional filter for specific server uris
  143. * @param serverUris Optional filter for specific server uris
  144. * @param localeIdsSize Optional indication which locale you prefer
  145. * @param localeIds Optional indication which locale you prefer
  146. * @param registeredServersSize size of returned array, i.e., number of found/registered servers
  147. * @param registeredServers array containing found/registered servers
  148. * @return Indicates whether the operation succeeded or returns an error code */
  149. UA_StatusCode UA_EXPORT
  150. UA_Client_findServers(UA_Client *client, const char *serverUrl,
  151. size_t serverUrisSize, UA_String *serverUris,
  152. size_t localeIdsSize, UA_String *localeIds,
  153. size_t *registeredServersSize,
  154. UA_ApplicationDescription **registeredServers);
  155. #ifdef UA_ENABLE_DISCOVERY
  156. /* Get a list of all known server in the network. Only supported by LDS servers.
  157. *
  158. * @param client to use. Must be connected to the same endpoint given in
  159. * serverUrl or otherwise in disconnected state.
  160. * @param serverUrl url to connect (for example "opc.tcp://localhost:4840")
  161. * @param startingRecordId optional. Only return the records with an ID higher
  162. * or equal the given. Can be used for pagination to only get a subset of
  163. * the full list
  164. * @param maxRecordsToReturn optional. Only return this number of records
  165. * @param serverCapabilityFilterSize optional. Filter the returned list to only
  166. * get servers with given capabilities, e.g. "LDS"
  167. * @param serverCapabilityFilter optional. Filter the returned list to only get
  168. * servers with given capabilities, e.g. "LDS"
  169. * @param serverOnNetworkSize size of returned array, i.e., number of
  170. * known/registered servers
  171. * @param serverOnNetwork array containing known/registered servers
  172. * @return Indicates whether the operation succeeded or returns an error code */
  173. UA_StatusCode UA_EXPORT
  174. UA_Client_findServersOnNetwork(UA_Client *client, const char *serverUrl,
  175. UA_UInt32 startingRecordId, UA_UInt32 maxRecordsToReturn,
  176. size_t serverCapabilityFilterSize, UA_String *serverCapabilityFilter,
  177. size_t *serverOnNetworkSize, UA_ServerOnNetwork **serverOnNetwork);
  178. #endif
  179. /**
  180. * .. _client-services:
  181. *
  182. * Services
  183. * --------
  184. *
  185. * The raw OPC UA services are exposed to the client. But most of them time, it
  186. * is better to use the convenience functions from ``ua_client_highlevel.h``
  187. * that wrap the raw services. */
  188. /* Don't use this function. Use the type versions below instead. */
  189. void UA_EXPORT
  190. __UA_Client_Service(UA_Client *client, const void *request,
  191. const UA_DataType *requestType, void *response,
  192. const UA_DataType *responseType);
  193. /*
  194. * Attribute Service Set
  195. * ^^^^^^^^^^^^^^^^^^^^^ */
  196. static UA_INLINE UA_ReadResponse
  197. UA_Client_Service_read(UA_Client *client, const UA_ReadRequest request) {
  198. UA_ReadResponse response;
  199. __UA_Client_Service(client, &request, &UA_TYPES[UA_TYPES_READREQUEST],
  200. &response, &UA_TYPES[UA_TYPES_READRESPONSE]);
  201. return response;
  202. }
  203. static UA_INLINE UA_WriteResponse
  204. UA_Client_Service_write(UA_Client *client, const UA_WriteRequest request) {
  205. UA_WriteResponse response;
  206. __UA_Client_Service(client, &request, &UA_TYPES[UA_TYPES_WRITEREQUEST],
  207. &response, &UA_TYPES[UA_TYPES_WRITERESPONSE]);
  208. return response;
  209. }
  210. /*
  211. * Historical Access Service Set
  212. * ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ */
  213. #ifdef UA_ENABLE_HISTORIZING
  214. static UA_INLINE UA_HistoryReadResponse
  215. UA_Client_Service_historyRead(UA_Client *client, const UA_HistoryReadRequest request) {
  216. UA_HistoryReadResponse response;
  217. __UA_Client_Service(client, &request, &UA_TYPES[UA_TYPES_HISTORYREADREQUEST],
  218. &response, &UA_TYPES[UA_TYPES_HISTORYREADRESPONSE]);
  219. return response;
  220. }
  221. static UA_INLINE UA_HistoryUpdateResponse
  222. UA_Client_Service_historyUpdate(UA_Client *client, const UA_HistoryUpdateRequest request) {
  223. UA_HistoryUpdateResponse response;
  224. __UA_Client_Service(client, &request, &UA_TYPES[UA_TYPES_HISTORYUPDATEREQUEST],
  225. &response, &UA_TYPES[UA_TYPES_HISTORYUPDATERESPONSE]);
  226. return response;
  227. }
  228. #endif
  229. /*
  230. * Method Service Set
  231. * ^^^^^^^^^^^^^^^^^^ */
  232. #ifdef UA_ENABLE_METHODCALLS
  233. static UA_INLINE UA_CallResponse
  234. UA_Client_Service_call(UA_Client *client, const UA_CallRequest request) {
  235. UA_CallResponse response;
  236. __UA_Client_Service(client, &request, &UA_TYPES[UA_TYPES_CALLREQUEST],
  237. &response, &UA_TYPES[UA_TYPES_CALLRESPONSE]);
  238. return response;
  239. }
  240. #endif
  241. /*
  242. * NodeManagement Service Set
  243. * ^^^^^^^^^^^^^^^^^^^^^^^^^^ */
  244. static UA_INLINE UA_AddNodesResponse
  245. UA_Client_Service_addNodes(UA_Client *client, const UA_AddNodesRequest request) {
  246. UA_AddNodesResponse response;
  247. __UA_Client_Service(client, &request, &UA_TYPES[UA_TYPES_ADDNODESREQUEST],
  248. &response, &UA_TYPES[UA_TYPES_ADDNODESRESPONSE]);
  249. return response;
  250. }
  251. static UA_INLINE UA_AddReferencesResponse
  252. UA_Client_Service_addReferences(UA_Client *client,
  253. const UA_AddReferencesRequest request) {
  254. UA_AddReferencesResponse response;
  255. __UA_Client_Service(client, &request, &UA_TYPES[UA_TYPES_ADDREFERENCESREQUEST],
  256. &response, &UA_TYPES[UA_TYPES_ADDREFERENCESRESPONSE]);
  257. return response;
  258. }
  259. static UA_INLINE UA_DeleteNodesResponse
  260. UA_Client_Service_deleteNodes(UA_Client *client,
  261. const UA_DeleteNodesRequest request) {
  262. UA_DeleteNodesResponse response;
  263. __UA_Client_Service(client, &request, &UA_TYPES[UA_TYPES_DELETENODESREQUEST],
  264. &response, &UA_TYPES[UA_TYPES_DELETENODESRESPONSE]);
  265. return response;
  266. }
  267. static UA_INLINE UA_DeleteReferencesResponse
  268. UA_Client_Service_deleteReferences(UA_Client *client,
  269. const UA_DeleteReferencesRequest request) {
  270. UA_DeleteReferencesResponse response;
  271. __UA_Client_Service(client, &request, &UA_TYPES[UA_TYPES_DELETEREFERENCESREQUEST],
  272. &response, &UA_TYPES[UA_TYPES_DELETEREFERENCESRESPONSE]);
  273. return response;
  274. }
  275. /*
  276. * View Service Set
  277. * ^^^^^^^^^^^^^^^^ */
  278. static UA_INLINE UA_BrowseResponse
  279. UA_Client_Service_browse(UA_Client *client, const UA_BrowseRequest request) {
  280. UA_BrowseResponse response;
  281. __UA_Client_Service(client, &request, &UA_TYPES[UA_TYPES_BROWSEREQUEST],
  282. &response, &UA_TYPES[UA_TYPES_BROWSERESPONSE]);
  283. return response;
  284. }
  285. static UA_INLINE UA_BrowseNextResponse
  286. UA_Client_Service_browseNext(UA_Client *client,
  287. const UA_BrowseNextRequest request) {
  288. UA_BrowseNextResponse response;
  289. __UA_Client_Service(client, &request, &UA_TYPES[UA_TYPES_BROWSENEXTREQUEST],
  290. &response, &UA_TYPES[UA_TYPES_BROWSENEXTRESPONSE]);
  291. return response;
  292. }
  293. static UA_INLINE UA_TranslateBrowsePathsToNodeIdsResponse
  294. UA_Client_Service_translateBrowsePathsToNodeIds(UA_Client *client,
  295. const UA_TranslateBrowsePathsToNodeIdsRequest request) {
  296. UA_TranslateBrowsePathsToNodeIdsResponse response;
  297. __UA_Client_Service(client, &request,
  298. &UA_TYPES[UA_TYPES_TRANSLATEBROWSEPATHSTONODEIDSREQUEST],
  299. &response,
  300. &UA_TYPES[UA_TYPES_TRANSLATEBROWSEPATHSTONODEIDSRESPONSE]);
  301. return response;
  302. }
  303. static UA_INLINE UA_RegisterNodesResponse
  304. UA_Client_Service_registerNodes(UA_Client *client,
  305. const UA_RegisterNodesRequest request) {
  306. UA_RegisterNodesResponse response;
  307. __UA_Client_Service(client, &request, &UA_TYPES[UA_TYPES_REGISTERNODESREQUEST],
  308. &response, &UA_TYPES[UA_TYPES_REGISTERNODESRESPONSE]);
  309. return response;
  310. }
  311. static UA_INLINE UA_UnregisterNodesResponse
  312. UA_Client_Service_unregisterNodes(UA_Client *client,
  313. const UA_UnregisterNodesRequest request) {
  314. UA_UnregisterNodesResponse response;
  315. __UA_Client_Service(client, &request,
  316. &UA_TYPES[UA_TYPES_UNREGISTERNODESREQUEST],
  317. &response, &UA_TYPES[UA_TYPES_UNREGISTERNODESRESPONSE]);
  318. return response;
  319. }
  320. /*
  321. * Query Service Set
  322. * ^^^^^^^^^^^^^^^^^ */
  323. #ifdef UA_ENABLE_QUERY
  324. static UA_INLINE UA_QueryFirstResponse
  325. UA_Client_Service_queryFirst(UA_Client *client,
  326. const UA_QueryFirstRequest request) {
  327. UA_QueryFirstResponse response;
  328. __UA_Client_Service(client, &request, &UA_TYPES[UA_TYPES_QUERYFIRSTREQUEST],
  329. &response, &UA_TYPES[UA_TYPES_QUERYFIRSTRESPONSE]);
  330. return response;
  331. }
  332. static UA_INLINE UA_QueryNextResponse
  333. UA_Client_Service_queryNext(UA_Client *client,
  334. const UA_QueryNextRequest request) {
  335. UA_QueryNextResponse response;
  336. __UA_Client_Service(client, &request, &UA_TYPES[UA_TYPES_QUERYFIRSTREQUEST],
  337. &response, &UA_TYPES[UA_TYPES_QUERYFIRSTRESPONSE]);
  338. return response;
  339. }
  340. #endif
  341. /**
  342. * .. _client-async-services:
  343. *
  344. * Asynchronous Services
  345. * ---------------------
  346. * All OPC UA services are asynchronous in nature. So several service calls can
  347. * be made without waiting for a response first. Responess may come in a
  348. * different ordering. */
  349. /* Use the type versions of this method. See below. However, the general
  350. * mechanism of async service calls is explained here.
  351. *
  352. * We say that an async service call has been dispatched once this method
  353. * returns UA_STATUSCODE_GOOD. If there is an error after an async service has
  354. * been dispatched, the callback is called with an "empty" response where the
  355. * statusCode has been set accordingly. This is also done if the client is
  356. * shutting down and the list of dispatched async services is emptied.
  357. *
  358. * The statusCode received when the client is shutting down is
  359. * UA_STATUSCODE_BADSHUTDOWN.
  360. *
  361. * The statusCode received when the client don't receive response
  362. * after specified config->timeout (in ms) is
  363. * UA_STATUSCODE_BADTIMEOUT.
  364. *
  365. * Instead, you can use __UA_Client_AsyncServiceEx to specify
  366. * a custom timeout
  367. *
  368. * The userdata and requestId arguments can be NULL. */
  369. UA_StatusCode UA_EXPORT
  370. __UA_Client_AsyncService(UA_Client *client, const void *request,
  371. const UA_DataType *requestType,
  372. UA_ClientAsyncServiceCallback callback,
  373. const UA_DataType *responseType,
  374. void *userdata, UA_UInt32 *requestId);
  375. UA_StatusCode UA_EXPORT
  376. UA_Client_sendAsyncRequest(UA_Client *client, const void *request,
  377. const UA_DataType *requestType, UA_ClientAsyncServiceCallback callback,
  378. const UA_DataType *responseType, void *userdata, UA_UInt32 *requestId);
  379. /* Listen on the network and process arriving asynchronous responses in the
  380. * background. Internal housekeeping, renewal of SecureChannels and subscription
  381. * management is done as well. */
  382. UA_StatusCode UA_EXPORT
  383. UA_Client_run_iterate(UA_Client *client, UA_UInt16 timeout);
  384. UA_DEPRECATED static UA_INLINE UA_StatusCode
  385. UA_Client_runAsync(UA_Client *client, UA_UInt16 timeout) {
  386. return UA_Client_run_iterate(client, timeout);
  387. }
  388. UA_DEPRECATED static UA_INLINE UA_StatusCode
  389. UA_Client_manuallyRenewSecureChannel(UA_Client *client) {
  390. return UA_Client_run_iterate(client, 0);
  391. }
  392. /* Use the type versions of this method. See below. However, the general
  393. * mechanism of async service calls is explained here.
  394. *
  395. * We say that an async service call has been dispatched once this method
  396. * returns UA_STATUSCODE_GOOD. If there is an error after an async service has
  397. * been dispatched, the callback is called with an "empty" response where the
  398. * statusCode has been set accordingly. This is also done if the client is
  399. * shutting down and the list of dispatched async services is emptied.
  400. *
  401. * The statusCode received when the client is shutting down is
  402. * UA_STATUSCODE_BADSHUTDOWN.
  403. *
  404. * The statusCode received when the client don't receive response
  405. * after specified timeout (in ms) is
  406. * UA_STATUSCODE_BADTIMEOUT.
  407. *
  408. * The timeout can be disabled by setting timeout to 0
  409. *
  410. * The userdata and requestId arguments can be NULL. */
  411. UA_StatusCode UA_EXPORT
  412. __UA_Client_AsyncServiceEx(UA_Client *client, const void *request,
  413. const UA_DataType *requestType,
  414. UA_ClientAsyncServiceCallback callback,
  415. const UA_DataType *responseType,
  416. void *userdata, UA_UInt32 *requestId,
  417. UA_UInt32 timeout);
  418. /**
  419. * Timed Callbacks
  420. * ---------------
  421. * Repeated callbacks can be attached to a client and will be executed in the
  422. * defined interval. */
  423. typedef void (*UA_ClientCallback)(UA_Client *client, void *data);
  424. /* Add a callback for execution at a specified time. If the indicated time lies
  425. * in the past, then the callback is executed at the next iteration of the
  426. * server's main loop.
  427. *
  428. * @param client The client object.
  429. * @param callback The callback that shall be added.
  430. * @param data Data that is forwarded to the callback.
  431. * @param date The timestamp for the execution time.
  432. * @param callbackId Set to the identifier of the repeated callback . This can
  433. * be used to cancel the callback later on. If the pointer is null, the
  434. * identifier is not set.
  435. * @return Upon success, UA_STATUSCODE_GOOD is returned. An error code
  436. * otherwise. */
  437. UA_StatusCode UA_EXPORT
  438. UA_Client_addTimedCallback(UA_Client *client, UA_ClientCallback callback,
  439. void *data, UA_DateTime date, UA_UInt64 *callbackId);
  440. /* Add a callback for cyclic repetition to the client.
  441. *
  442. * @param client The client object.
  443. * @param callback The callback that shall be added.
  444. * @param data Data that is forwarded to the callback.
  445. * @param interval_ms The callback shall be repeatedly executed with the given
  446. * interval (in ms). The interval must be positive. The first execution
  447. * occurs at now() + interval at the latest.
  448. * @param callbackId Set to the identifier of the repeated callback . This can
  449. * be used to cancel the callback later on. If the pointer is null, the
  450. * identifier is not set.
  451. * @return Upon success, UA_STATUSCODE_GOOD is returned. An error code
  452. * otherwise. */
  453. UA_StatusCode UA_EXPORT
  454. UA_Client_addRepeatedCallback(UA_Client *client, UA_ClientCallback callback,
  455. void *data, UA_Double interval_ms,
  456. UA_UInt64 *callbackId);
  457. UA_StatusCode UA_EXPORT
  458. UA_Client_changeRepeatedCallbackInterval(UA_Client *client,
  459. UA_UInt64 callbackId,
  460. UA_Double interval_ms);
  461. void UA_EXPORT
  462. UA_Client_removeCallback(UA_Client *client, UA_UInt64 callbackId);
  463. #define UA_Client_removeRepeatedCallback(client, callbackId) \
  464. UA_Client_removeCallback(client, callbackId)
  465. /**
  466. * .. toctree::
  467. *
  468. * client_highlevel
  469. * client_subscriptions */
  470. _UA_END_DECLS
  471. #endif /* UA_CLIENT_H_ */