open62541 server 설정

tutorial을 따라하다 보면 내가 무엇을 모르는지 잘 모른다. 아래 같은 그림을 그리고 싶었는데 잘 안된다. 내가 서버를 건드릴 일은 없겠지만, 클라이언트를 테스트하려면 서버가 필요하다.

#include "open62541.h"

#include <signal.h>
#include <stdlib.h>

static volatile UA_Boolean running = true;
static void stopHandler(int sig) {
    UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "received ctrl-c");
    running = false;
}

static void
beforeReadVal(UA_Server *server,
               const UA_NodeId *sessionId, void *sessionContext,
               const UA_NodeId *nodeid, void *nodeContext,
               const UA_NumericRange *range, const UA_DataValue *data) {
    //updateCurrentTime(server);
	int tmpVal = rand()%1000;
    UA_Variant value;
    UA_Variant_setScalar(&value, &tmpVal, &UA_TYPES[UA_TYPES_INT32]);
    UA_NodeId currentNodeId = UA_NODEID_STRING(1, "Test Var:Me");
    UA_Server_writeValue(server, currentNodeId, value);
}


/* predefined identifier for later use */
UA_NodeId pumpTypeId = {1, UA_NODEIDTYPE_NUMERIC, {1001}};
UA_NodeId cylTypeId = {1, UA_NODEIDTYPE_NUMERIC, {2001}};

static void
defineObjectTypes(UA_Server *server) {
    /* Define the object type for "Device" */
    UA_NodeId deviceTypeId; /* get the nodeid assigned by the server */
    UA_ObjectTypeAttributes dtAttr = UA_ObjectTypeAttributes_default;
    dtAttr.displayName = UA_LOCALIZEDTEXT("en-US", "DeviceType");
    UA_Server_addObjectTypeNode(server, UA_NODEID_NULL,
                                UA_NODEID_NUMERIC(0, UA_NS0ID_BASEOBJECTTYPE),
                                UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
                                UA_QUALIFIEDNAME(1, "DeviceType"), dtAttr,
                                NULL, &deviceTypeId);

    UA_VariableAttributes mnAttr = UA_VariableAttributes_default;
    mnAttr.displayName = UA_LOCALIZEDTEXT("en-US", "ManufacturerName");
    UA_NodeId manufacturerNameId;
    UA_Server_addVariableNode(server, UA_NODEID_NULL, deviceTypeId,
                              UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                              UA_QUALIFIEDNAME(1, "ManufacturerName"),
                              UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE), mnAttr, NULL, &manufacturerNameId);
    /* Make the manufacturer name mandatory */
    UA_Server_addReference(server, manufacturerNameId,
                           UA_NODEID_NUMERIC(0, UA_NS0ID_HASMODELLINGRULE),
                           UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_MODELLINGRULE_MANDATORY), true);


    UA_VariableAttributes modelAttr = UA_VariableAttributes_default;
    modelAttr.displayName = UA_LOCALIZEDTEXT("en-US", "ModelName");
    UA_Server_addVariableNode(server, UA_NODEID_NULL, deviceTypeId,
                              UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                              UA_QUALIFIEDNAME(1, "ModelName"),
                              UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE), modelAttr, NULL, NULL);

    /* Define the object type for "Pump" */
    UA_ObjectTypeAttributes ptAttr = UA_ObjectTypeAttributes_default;
    ptAttr.displayName = UA_LOCALIZEDTEXT("en-US", "PumpType");
    UA_Server_addObjectTypeNode(server, pumpTypeId,
                                deviceTypeId, UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
                                UA_QUALIFIEDNAME(1, "PumpType"), ptAttr,
                                NULL, NULL);

    UA_VariableAttributes statusAttr = UA_VariableAttributes_default;
    statusAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Status");
    statusAttr.valueRank = UA_VALUERANK_SCALAR;
    UA_NodeId statusId;
    UA_Server_addVariableNode(server, UA_NODEID_NULL, pumpTypeId,
                              UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                              UA_QUALIFIEDNAME(1, "Status"),
                              UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE), statusAttr, NULL, &statusId);
    /* Make the status variable mandatory */
    UA_Server_addReference(server, statusId,
                           UA_NODEID_NUMERIC(0, UA_NS0ID_HASMODELLINGRULE),
                           UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_MODELLINGRULE_MANDATORY), true);

    UA_VariableAttributes rpmAttr = UA_VariableAttributes_default;
    rpmAttr.displayName = UA_LOCALIZEDTEXT("en-US", "MotorRPM");
    rpmAttr.valueRank = UA_VALUERANK_SCALAR;
    UA_Server_addVariableNode(server, UA_NODEID_NULL, pumpTypeId,
                              UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                              UA_QUALIFIEDNAME(1, "MotorRPMs"),
                              UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE), rpmAttr, NULL, NULL);
}

static void
defineCylTypes(UA_Server *server) {
    /* Define the object type for "Device" */
    UA_NodeId deviceTypeId; /* get the nodeid assigned by the server */
    UA_ObjectTypeAttributes dtAttr = UA_ObjectTypeAttributes_default;
    dtAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Cylinder Type");
    UA_Server_addObjectTypeNode(server, UA_NODEID_NULL,
                                UA_NODEID_NUMERIC(0, UA_NS0ID_BASEOBJECTTYPE),
                                UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
                                UA_QUALIFIEDNAME(1, "Cylinder Type"), dtAttr,
                                NULL, &deviceTypeId);

    UA_VariableAttributes mnAttr = UA_VariableAttributes_default;
    mnAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Manufacturer Name");
    UA_NodeId manufacturerNameId;
    UA_Server_addVariableNode(server, UA_NODEID_NULL, deviceTypeId,
                              UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                              UA_QUALIFIEDNAME(1, "Cylinder"),
                              UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE), mnAttr, NULL, &manufacturerNameId);

    UA_VariableAttributes modelAttr = UA_VariableAttributes_default;
	UA_NodeId modelNameId;
    modelAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Cyl Model Name");
    UA_Server_addVariableNode(server, UA_NODEID_NULL, deviceTypeId,
                              UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                              UA_QUALIFIEDNAME(1, "Cyl Model Name"),
                              UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE), modelAttr, NULL, &modelNameId);

    UA_Server_addReference(server,modelNameId,
                           UA_NODEID_NUMERIC(0, UA_NS0ID_HASMODELLINGRULE),
                           UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_MODELLINGRULE_MANDATORY), true);

    /* Define the object type for "Pump" */
    UA_ObjectTypeAttributes ptAttr = UA_ObjectTypeAttributes_default;
    ptAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Running State");
    UA_Server_addObjectTypeNode(server, cylTypeId,
                                deviceTypeId, UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
                                UA_QUALIFIEDNAME(1, "Running State"), ptAttr,
                                NULL, NULL);


    UA_VariableAttributes statusAttr = UA_VariableAttributes_default;
    statusAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Status");
    statusAttr.valueRank = UA_VALUERANK_SCALAR;
    UA_NodeId statusId;
    UA_Server_addVariableNode(server, UA_NODEID_NULL, cylTypeId,
                              UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                              UA_QUALIFIEDNAME(1, "Status"),
                              UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE), statusAttr, NULL, &statusId);
    /* Make the manufacturer name mandatory */
	// UA_Server_addReference()를 어떻게 하냐에 따라  statusId
	// instance 만들경우 표시
    UA_Server_addReference(server, statusId,
                           UA_NODEID_NUMERIC(0, UA_NS0ID_HASMODELLINGRULE),
                           UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_MODELLINGRULE_MANDATORY), true);
}

static void
addPumpObjectInstance(UA_Server *server, char *name) {
    UA_ObjectAttributes oAttr = UA_ObjectAttributes_default;
    oAttr.displayName = UA_LOCALIZEDTEXT("en-US", name);
    UA_Server_addObjectNode(server, UA_NODEID_NULL,
                            UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
                            UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
                            UA_QUALIFIEDNAME(1, name),
                            pumpTypeId, /* this refers to the object type
                                           identifier */
                            oAttr, NULL, NULL);
}

static void
addCylObjectInstance(UA_Server *server, char *name) {
    UA_ObjectAttributes oAttr = UA_ObjectAttributes_default;
    oAttr.displayName = UA_LOCALIZEDTEXT("en-US", name);
	/*
	UA_Server_addObjectNode(UA_Server *server, const UA_NodeId requestedNewNodeId,
                        const UA_NodeId parentNodeId,
                        const UA_NodeId referenceTypeId,
                        const UA_QualifiedName browseName,
                        const UA_NodeId typeDefinition,
                        const UA_ObjectAttributes attr,
                        void *nodeContext, UA_NodeId *outNewNodeId) {
						*/

    UA_Server_addObjectNode(server, UA_NODEID_NULL,
                            UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
                            UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
                            UA_QUALIFIEDNAME(1, name),
                            cylTypeId, /* this refers to the object type
                                           identifier */
                            oAttr, NULL, NULL);
}

static UA_StatusCode
pumpTypeConstructor(UA_Server *server,
                    const UA_NodeId *sessionId, void *sessionContext,
                    const UA_NodeId *typeId, void *typeContext,
                    const UA_NodeId *nodeId, void **nodeContext) {
    UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "New pump created");

    /* Find the NodeId of the status child variable */
    UA_RelativePathElement rpe;
    UA_RelativePathElement_init(&rpe);
    rpe.referenceTypeId = UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT);
    rpe.isInverse = false;
    rpe.includeSubtypes = false;
    rpe.targetName = UA_QUALIFIEDNAME(1, "Status");

    UA_BrowsePath bp;
    UA_BrowsePath_init(&bp);
    bp.startingNode = *nodeId;
    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 bpr.statusCode;

    /* Set the status value */
    UA_Boolean status = true;
    UA_Variant value;
    UA_Variant_setScalar(&value, &status, &UA_TYPES[UA_TYPES_BOOLEAN]);
    UA_Server_writeValue(server, bpr.targets[0].targetId.nodeId, value);
    UA_BrowsePathResult_clear(&bpr);

    /* At this point we could replace the node context .. */

    return UA_STATUSCODE_GOOD;
}

static void
addPumpTypeConstructor(UA_Server *server) {
    UA_NodeTypeLifecycle lifecycle;
    lifecycle.constructor = pumpTypeConstructor;
    lifecycle.destructor = NULL;
    UA_Server_setNodeTypeLifecycle(server, pumpTypeId, lifecycle);
}




//method 추가
static UA_StatusCode
helloWorldMethodCallback(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_String *inputStr = (UA_String*)input->data;
    UA_String tmp = UA_STRING_ALLOC("Hello ");
    if(inputStr->length > 0) {
        tmp.data = (UA_Byte *)UA_realloc(tmp.data, tmp.length + inputStr->length);
        memcpy(&tmp.data[tmp.length], inputStr->data, inputStr->length);
        tmp.length += inputStr->length;
    }
    UA_Variant_setScalarCopy(output, &tmp, &UA_TYPES[UA_TYPES_STRING]);
    UA_String_clear(&tmp);
    UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Hello World was called");
    return UA_STATUSCODE_GOOD;
}

static void
addHellWorldMethod(UA_Server *server) {
    UA_Argument inputArgument;
    UA_Argument_init(&inputArgument);
    inputArgument.description = UA_LOCALIZEDTEXT("en-US", "A String");
    inputArgument.name = UA_STRING("MyInput");
    inputArgument.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
    inputArgument.valueRank = UA_VALUERANK_SCALAR;

    UA_Argument outputArgument;
    UA_Argument_init(&outputArgument);
    outputArgument.description = UA_LOCALIZEDTEXT("en-US", "A String");
    outputArgument.name = UA_STRING("MyOutput");
    outputArgument.dataType = UA_TYPES[UA_TYPES_STRING].typeId;
    outputArgument.valueRank = UA_VALUERANK_SCALAR;

    UA_MethodAttributes helloAttr = UA_MethodAttributes_default;
    helloAttr.description = UA_LOCALIZEDTEXT("en-US","Say `Hello World`");
    helloAttr.displayName = UA_LOCALIZEDTEXT("en-US","Hello World");
    helloAttr.executable = true;
    helloAttr.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"),
                            helloAttr, &helloWorldMethodCallback,
                            1, &inputArgument, 1, &outputArgument, NULL, NULL);
}


int main(void) {
    signal(SIGINT, stopHandler);
    signal(SIGTERM, stopHandler);

    UA_Server *server = UA_Server_new();
    UA_ServerConfig_setDefault(UA_Server_getConfig(server));
	UA_ServerConfig* config = UA_Server_getConfig(server);
	config->verifyRequestTimestamp = UA_RULEHANDLING_ACCEPT;

	//addVariable(server);
	//writeVariable(server);
	//writeWrongVariable(server);


	//vendor, serial, variable 순으로 추가.

	//공통으로 사용할 부분 설정.
	UA_NodeId parentNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
	UA_NodeId parentReferenceNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT);
	//variable 추가.
	UA_VariableAttributes varAttr = UA_VariableAttributes_default;
	UA_Int32 varName = 10;
    UA_Variant_setScalar(&varAttr.value, &varName, &UA_TYPES[UA_TYPES_INT32]);
    UA_NodeId varNodeId = UA_NODEID_STRING(1, "Test Var:Me");
	UA_QualifiedName myVarName = UA_QUALIFIEDNAME(1, "variable");
    UA_Server_addVariableNode(server, varNodeId, parentNodeId,
                              parentReferenceNodeId, myVarName,
                              UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE), varAttr, NULL, NULL);

	//add callback
    UA_ValueCallback callback ;
    callback.onRead = beforeReadVal;
    callback.onWrite = NULL;
	UA_NodeId currentNodeId = UA_NODEID_STRING(1, "Test Var:Me");
    UA_Server_setVariableNode_valueCallback(server, currentNodeId, callback);

	defineObjectTypes(server);
	defineCylTypes(server);
	addPumpObjectInstance(server, "pump2");
	addPumpObjectInstance(server, "pump3");
	addPumpTypeConstructor(server);
	addPumpObjectInstance(server, "pump4");
	addPumpObjectInstance(server, "pump5");

	addCylObjectInstance(server, "pin1");
	addCylObjectInstance(server, "pin2");




	//method
	addHellWorldMethod(server);


	//서버 구동.
	UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Starting server...");
	UA_StatusCode retval = UA_Server_run(server, &running);
	UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Shutdown server...");


	UA_Server_delete(server);
	return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE;
}

object를 define할 때 어느 변수를 인스턴스에 포함할지 결정할 수 있다. defineCylTypes 함수 중 UA_Server_addReference의 변수로 전에 선언한 id를 넘겨주면 붙는다.

    UA_NodeId statusId;
    UA_Server_addVariableNode(server, UA_NODEID_NULL, cylTypeId,
                              UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                              UA_QUALIFIEDNAME(1, "Status"),
                              UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE), statusAttr, NULL, &statusId);
    /* Make the manufacturer name mandatory */
	// UA_Server_addReference()를 어떻게 하냐에 따라  statusId
	// instance 만들경우 표시
    UA_Server_addReference(server, statusId,
                           UA_NODEID_NUMERIC(0, UA_NS0ID_HASMODELLINGRULE),
                           UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_MODELLINGRULE_MANDATORY), true);

꼬리의 꼬리를 무는 OPC UA.