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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/plugin/log_stdout.h>
#include <open62541/server.h>
/**
* This will create a type structure and some instances of the types:
*
* Create a rudimentary objectType
*
* Type:
* + MammalType
* v- Class = "mamalia"
* v- Species
* o- Abilities
* v- MakeSound
* v- Breathe = True
* + DogType
* v- Species = "Canis"
* v- Name
* o- Abilities
* v- MakeSound = "Wuff"
* v- FetchNewPaper
*/
static void
createMammals(UA_Server *server) {
UA_ObjectTypeAttributes otAttr = UA_ObjectTypeAttributes_default;
otAttr.description = UA_LOCALIZEDTEXT("en-US", "A mammal");
otAttr.displayName = UA_LOCALIZEDTEXT("en-US", "MammalType");
UA_Server_addObjectTypeNode(server, UA_NODEID_NUMERIC(1, 10000),
UA_NODEID_NUMERIC(0, UA_NS0ID_BASEOBJECTTYPE),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
UA_QUALIFIEDNAME(1, "MammalType"), otAttr, NULL, NULL);
UA_VariableAttributes vAttr = UA_VariableAttributes_default;
vAttr.description = UA_LOCALIZEDTEXT("en-US", "This mammals class");
vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Class");
UA_String classVar = UA_STRING("mamalia");
UA_Variant_setScalar(&vAttr.value, &classVar, &UA_TYPES[UA_TYPES_STRING]);
UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, 10001),
UA_NODEID_NUMERIC(1, 10000),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
UA_QUALIFIEDNAME(1, "Class"),
UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
vAttr, NULL, NULL);
vAttr = UA_VariableAttributes_default;
vAttr.description = UA_LOCALIZEDTEXT("en-US", "This mammals species");
vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Species");
UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, 10002),
UA_NODEID_NUMERIC(1, 10000),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
UA_QUALIFIEDNAME(1, "Species"),
UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
vAttr, NULL, NULL);
otAttr = UA_ObjectTypeAttributes_default;
otAttr.description = UA_LOCALIZEDTEXT("en-US", "A dog, subtype of mammal");
otAttr.displayName = UA_LOCALIZEDTEXT("en-US", "DogType");
UA_Server_addObjectTypeNode(server, UA_NODEID_NUMERIC(1, 20000),
UA_NODEID_NUMERIC(1, 10000),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
UA_QUALIFIEDNAME(1, "DogType"), otAttr, NULL, NULL);
vAttr = UA_VariableAttributes_default;
vAttr.description = UA_LOCALIZEDTEXT("en-US", "This dogs species");
vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Species");
UA_String defaultSpecies = UA_STRING("Canis");
UA_Variant_setScalar(&vAttr.value, &defaultSpecies, &UA_TYPES[UA_TYPES_STRING]);
UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, 20001),
UA_NODEID_NUMERIC(1, 20000),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
UA_QUALIFIEDNAME(1, "Species"),
UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
vAttr, NULL, NULL);
vAttr = UA_VariableAttributes_default;
vAttr.description = UA_LOCALIZEDTEXT("en-US", "This dogs name");
vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Name");
UA_String defaultName = UA_STRING("unnamed dog");
UA_Variant_setScalar(&vAttr.value, &defaultName, &UA_TYPES[UA_TYPES_STRING]);
UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, 20002),
UA_NODEID_NUMERIC(1, 20000),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
UA_QUALIFIEDNAME(1, "Name"),
UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
vAttr, NULL, NULL);
/* Instatiate a dog named bello:
* (O) Objects
* + O Bello <DogType>
* + Age
* + Name
*/
UA_ObjectAttributes oAttr = UA_ObjectAttributes_default;
oAttr.description = UA_LOCALIZEDTEXT("en-US", "A dog named Bello");
oAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Bello");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, 0),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "Bello"), UA_NODEID_NUMERIC(1, 20000),
oAttr, NULL, NULL);
oAttr = UA_ObjectAttributes_default;
oAttr.description = UA_LOCALIZEDTEXT("en-US", "Another dog");
oAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Dog2");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, 0),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "Dog2"), UA_NODEID_NUMERIC(1, 20000),
oAttr, NULL, NULL);
oAttr = UA_ObjectAttributes_default;
oAttr.description = UA_LOCALIZEDTEXT("en-US", "A mmamal");
oAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Mmamal1");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, 0),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "Mammal1"), UA_NODEID_NUMERIC(1, 10000),
oAttr, NULL, NULL);
}
/**
* This method shows the usage of _begin and _finish methods.
* Normally, if you create an instance of an object type, all its
* mandatory children are inherited and created.
* It could be the case that you first need to create a node,
* add some children with specific IDs and then all the remaining
* inherited children should be created.
* For this use-case you can use first the _begin method,
* which creates the node, including its parent references.
* Then you can add any children, and then you should
* call _finish on that node, which then adds all the inherited children.
*
* For further details check the example below or the corresponding
* method documentation.
*
* To demonstrate this, we use the following example:
*
* + ObjectType
* + LampType (Object)
* + IsOn (Variable, Boolean, Mandatory)
* + Brightness (Variable, UInt16, Mandatory)
* + Objects
* + LampGreen
* Should inherit the mandatory IsOn and Brightness with a generated node ID
* + LampRed
* IsOn should have the node ID 30101, Brightness will be inherited with a generated node ID
*
*/
static void
createCustomInheritance(UA_Server *server) {
/* Add LampType object type node */
UA_ObjectTypeAttributes otAttr = UA_ObjectTypeAttributes_default;
otAttr.description = UA_LOCALIZEDTEXT("en-US", "A Lamp");
otAttr.displayName = UA_LOCALIZEDTEXT("en-US", "LampType");
UA_Server_addObjectTypeNode(server, UA_NODEID_NUMERIC(1, 30000),
UA_NODEID_NUMERIC(0, UA_NS0ID_BASEOBJECTTYPE),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
UA_QUALIFIEDNAME(1, "LampType"), otAttr, NULL, NULL);
/* Add the two mandatory children, IsOn and Brightness */
UA_VariableAttributes vAttr = UA_VariableAttributes_default;
vAttr.description = UA_LOCALIZEDTEXT("en-US", "Switch lamp on/off");
vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "IsOn");
UA_Boolean isOn = UA_FALSE;
UA_Variant_setScalar(&vAttr.value, &isOn, &UA_TYPES[UA_TYPES_BOOLEAN]);
UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, 30001),
UA_NODEID_NUMERIC(1, 30000),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
UA_QUALIFIEDNAME(1, "IsOn"),
UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
vAttr, NULL, NULL);
UA_Server_addReference(server, UA_NODEID_NUMERIC(1, 30001),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASMODELLINGRULE),
UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_MODELLINGRULE_MANDATORY), true);
vAttr = UA_VariableAttributes_default;
vAttr.description = UA_LOCALIZEDTEXT("en-US", "Lamp brightness");
vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Brightness");
UA_UInt16 brightness = 142;
UA_Variant_setScalar(&vAttr.value, &brightness, &UA_TYPES[UA_TYPES_UINT16]);
UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, 30002),
UA_NODEID_NUMERIC(1, 30000),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
UA_QUALIFIEDNAME(1, "Brightness"),
UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
vAttr, NULL, NULL);
UA_Server_addReference(server, UA_NODEID_NUMERIC(1, 30002),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASMODELLINGRULE),
UA_EXPANDEDNODEID_NUMERIC(0, UA_NS0ID_MODELLINGRULE_MANDATORY), true);
/* Now we want to inherit all the mandatory children for LampGreen and don't
* care about the node ids. These will be automatically generated. This will
* internally call the _begin and _finish methods */
UA_ObjectAttributes oAttr = UA_ObjectAttributes_default;
oAttr.description = UA_LOCALIZEDTEXT("en-US", "A green lamp");
oAttr.displayName = UA_LOCALIZEDTEXT("en-US", "LampGreen");
UA_Server_addObjectNode(server, UA_NODEID_NUMERIC(1, 0),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "LampGreen"), UA_NODEID_NUMERIC(1, 30000),
oAttr, NULL, NULL);
/* For the red lamp we want to set the node ID of the IsOn child manually,
* thus we need to use the _begin method, add the child and then _finish: */
/* The call to UA_Server_addNode_begin will create the node and its parent
* references, but it will not instantiate the mandatory children */
oAttr = UA_ObjectAttributes_default;
oAttr.description = UA_LOCALIZEDTEXT("en-US", "A red lamp");
oAttr.displayName = UA_LOCALIZEDTEXT("en-US", "LampRed");
UA_Server_addNode_begin(server, UA_NODECLASS_OBJECT,
UA_NODEID_NUMERIC(1, 30100),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "LampRed"),
UA_NODEID_NUMERIC(1, 30000),
(const UA_NodeAttributes*)&oAttr,
&UA_TYPES[UA_TYPES_OBJECTATTRIBUTES], NULL, NULL);
/* Now we can add the IsOn with our own node ID */
vAttr = UA_VariableAttributes_default;
vAttr.description = UA_LOCALIZEDTEXT("en-US", "Switch lamp on/off");
vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "IsOn");
isOn = UA_FALSE;
UA_Variant_setScalar(&vAttr.value, &isOn, &UA_TYPES[UA_TYPES_BOOLEAN]);
UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, 30101),
UA_NODEID_NUMERIC(1, 30100),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASPROPERTY),
UA_QUALIFIEDNAME(1, "IsOn"),
UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
vAttr, NULL, NULL);
/* And then we need to call the UA_Server_addNode_finish which adds all the
* remaining children and does some further initialization. It will not add
* the IsNode child, since a child with the same browse name already
* exists */
UA_Server_addNode_finish(server, UA_NODEID_NUMERIC(1, 30100));
}
int main(void) {
UA_Server *server = UA_Server_new();
createMammals(server);
createCustomInheritance(server);
UA_Server_runUntilInterrupt(server);
UA_Server_delete(server);
return 0;
}
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