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/* This work is licensed under a Creative Commons CCZero 1.0 Universal License.
* See http://creativecommons.org/publicdomain/zero/1.0/ for more information. */
#include <open62541/client_config_default.h>
#include <open62541/client_highlevel_async.h>
#include <open62541/client_subscriptions.h>
#include <open62541/plugin/log_stdout.h>
#include <open62541/server_config_default.h>
#include <open62541/client_subscriptions.h>
#include <stdlib.h>
#include <signal.h>
UA_Boolean running = true;
static void InitCallMulti(UA_Client* client);
#ifdef UA_ENABLE_METHODCALLS
static void
methodCalled(UA_Client *client, void *userdata, UA_UInt32 requestId,
UA_CallResponse *response) {
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"**** CallRequest Response - Req:%u with %u results",
requestId, (UA_UInt32)response->resultsSize);
UA_StatusCode retval = response->responseHeader.serviceResult;
if(retval != UA_STATUSCODE_GOOD) {
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"**** CallRequest Response - Req:%u FAILED", requestId);
return;
}
for(size_t i = 0; i < response->resultsSize; i++) {
retval = response->results[i].statusCode;
if(retval != UA_STATUSCODE_GOOD) {
UA_CallResponse_clear(response);
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"**** CallRequest Response - Req: %u (%lu) failed",
requestId, (unsigned long)i);
continue;
}
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"---Method call was successful, returned %lu values.\n",
(unsigned long)response->results[i].outputArgumentsSize);
}
/* We initiate the MultiCall (2 methods within one CallRequest) */
InitCallMulti(client);
}
#ifdef UA_ENABLE_METHODCALLS
/* Workaround because we do not have an API for that yet */
static UA_StatusCode
UA_Client_call_asyncMulti(UA_Client *client,
const UA_NodeId objectId1, const UA_NodeId methodId1, size_t inputSize1, const UA_Variant *input1,
const UA_NodeId objectId2, const UA_NodeId methodId2, size_t inputSize2, const UA_Variant *input2,
UA_ClientAsyncServiceCallback callback, void *userdata, UA_UInt32 *reqId) {
UA_CallRequest request;
UA_CallRequest_init(&request);
UA_CallMethodRequest item[2];
UA_CallMethodRequest_init(&item[0]);
item[0].methodId = methodId1;
item[0].objectId = objectId1;
item[0].inputArguments = (UA_Variant *)(void*)(uintptr_t)input1; // cast const...
item[0].inputArgumentsSize = inputSize1;
UA_CallMethodRequest_init(&item[1]);
item[1].methodId = methodId2;
item[1].objectId = objectId2;
item[1].inputArguments = (UA_Variant *)(void*)(uintptr_t)input2; // cast const...
item[1].inputArgumentsSize = inputSize2;
request.methodsToCall = &item[0];
request.methodsToCallSize = 2;
return __UA_Client_AsyncService(client, &request,
&UA_TYPES[UA_TYPES_CALLREQUEST], callback,
&UA_TYPES[UA_TYPES_CALLRESPONSE], userdata, reqId);
}
/* End Workaround */
static void InitCallMulti(UA_Client* client) {
UA_UInt32 reqId = 0;
UA_Variant input;
UA_Variant_init(&input);
UA_String stringValue = UA_String_fromChars("World 3 (multi)");
UA_Variant_setScalar(&input, &stringValue, &UA_TYPES[UA_TYPES_STRING]);
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "**** Initiating CallRequest 3");
UA_Client_call_asyncMulti(client,
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(1, 62542), 1, &input,
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(1, 62541), 1, &input,
(UA_ClientAsyncServiceCallback)methodCalled, NULL, &reqId);
UA_String_clear(&stringValue);
}
#endif
#endif /* UA_ENABLE_METHODCALLS */
static void stopHandler(int sign) {
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Received Ctrl-C");
running = 0;
}
#ifdef UA_ENABLE_SUBSCRIPTIONS
static void
handler_currentTimeChanged(UA_Client *client, UA_UInt32 subId, void *subContext,
UA_UInt32 monId, void *monContext, UA_DataValue *value) {
if(UA_Variant_hasScalarType(&value->value, &UA_TYPES[UA_TYPES_DATETIME])) {
UA_DateTime raw_date = *(UA_DateTime *)value->value.data;
UA_DateTimeStruct dts = UA_DateTime_toStruct(raw_date);
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"date is: %02u-%02u-%04u %02u:%02u:%02u.%03u",
dts.day, dts.month, dts.year, dts.hour, dts.min, dts.sec, dts.milliSec);
}
}
static void
deleteSubscriptionCallback(UA_Client *client, UA_UInt32 subscriptionId, void *subscriptionContext) {
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"Subscription Id %u was deleted", subscriptionId);
}
static void
subscriptionInactivityCallback(UA_Client *client, UA_UInt32 subId, void *subContext) {
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"Inactivity for subscription %u", subId);
}
#endif
static void
stateCallback(UA_Client *client, UA_SecureChannelState channelState,
UA_SessionState sessionState, UA_StatusCode connectStatus) {
if(sessionState == UA_SESSIONSTATE_ACTIVATED) {
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"A session with the server is activated");
#ifdef UA_ENABLE_SUBSCRIPTIONS
/* A new session was created. We need to create the subscription. */
/* Create a subscription */
UA_CreateSubscriptionRequest request = UA_CreateSubscriptionRequest_default();
UA_CreateSubscriptionResponse response = UA_Client_Subscriptions_create(client, request,
NULL, NULL, deleteSubscriptionCallback);
if(response.responseHeader.serviceResult == UA_STATUSCODE_GOOD)
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"Create subscription succeeded, id %u", response.subscriptionId);
else
return;
/* Add a MonitoredItem */
UA_NodeId target =
UA_NODEID_NUMERIC(0, UA_NS0ID_SERVER_SERVERSTATUS_CURRENTTIME);
UA_MonitoredItemCreateRequest monRequest =
UA_MonitoredItemCreateRequest_default(target);
UA_MonitoredItemCreateResult monResponse =
UA_Client_MonitoredItems_createDataChange(client, response.subscriptionId,
UA_TIMESTAMPSTORETURN_BOTH,
monRequest, NULL, handler_currentTimeChanged, NULL);
if(monResponse.statusCode == UA_STATUSCODE_GOOD)
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"Monitoring UA_NS0ID_SERVER_SERVERSTATUS_CURRENTTIME', id %u",
monResponse.monitoredItemId);
#endif
#ifdef UA_ENABLE_METHODCALLS
UA_UInt32 reqId = 0;
UA_Variant input;
UA_Variant_init(&input);
UA_String stringValue = UA_String_fromChars("World 1");
UA_Variant_setScalar(&input, &stringValue, &UA_TYPES[UA_TYPES_STRING]);
/* Initiate Call 1 */
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"**** Initiating CallRequest 1");
UA_Client_call_async(client, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(1, 62541), 1, &input,
methodCalled, NULL, &reqId);
UA_String_clear(&stringValue);
/* Initiate Call 2 */
UA_Variant_init(&input);
stringValue = UA_String_fromChars("World 2");
UA_Variant_setScalar(&input, &stringValue, &UA_TYPES[UA_TYPES_STRING]);
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "**** Initiating CallRequest 2");
UA_Client_call_async(client, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(1, 62542), 1, &input,
methodCalled, NULL, &reqId);
UA_String_clear(&stringValue);
#endif /* UA_ENABLE_METHODCALLS */
}
if(sessionState == UA_SESSIONSTATE_CLOSED)
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Session disconnected");
}
int
main(int argc, char *argv[]) {
signal(SIGINT, stopHandler); /* catches ctrl-c */
UA_Client *client = UA_Client_new();
UA_ClientConfig *cc = UA_Client_getConfig(client);
UA_ClientConfig_setDefault(cc);
/* we use a high timeout because there may be other client and
* processing may take long if many method calls are waiting */
cc->timeout = 60000;
/* Set stateCallback */
cc->stateCallback = stateCallback;
#ifdef UA_ENABLE_SUBSCRIPTIONS
cc->subscriptionInactivityCallback = subscriptionInactivityCallback;
#endif
UA_StatusCode retval = UA_Client_connect(client, "opc.tcp://localhost:4840");
if(retval != UA_STATUSCODE_GOOD) {
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"Not connected. Retrying to connect in 1 second");
UA_Client_delete(client);
return 0;
}
/* Endless loop runAsync */
while(running) {
UA_Client_run_iterate(client, 100);
}
/* Clean up */
UA_Client_disconnect(client);
UA_Client_delete(client);
return 0;
}
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