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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. */
/**
* Adding Async Methods to Objects
* -------------------------
*
* An object in an OPC UA information model may contain methods similar to
* objects in a programming language. Methods are represented by a MethodNode.
* Note that several objects may reference the same MethodNode. When an object
* type is instantiated, a reference to the method is added instead of copying
* the MethodNode. Therefore, the identifier of the context object is always
* explicitly stated when a method is called.
*
* The method callback takes as input a custom data pointer attached to the
* method node, the identifier of the object from which the method is called,
* and two arrays for the input and output arguments. The input and output
* arguments are all of type :ref:`variant`. Each variant may in turn contain a
* (multi-dimensional) array or scalar of any data type.
*
* Constraints for the method arguments are defined in terms of data type, value
* rank and array dimension (similar to variable definitions). The argument
* definitions are stored in child VariableNodes of the MethodNode with the
* respective BrowseNames ``(0, "InputArguments")`` and ``(0,
* "OutputArguments")``.
*
* Example: Hello World Method
* ^^^^^^^^^^^^^^^^^^^^^^^^^^^
* The method takes a string scalar and returns a string scalar with "Hello "
* prepended. The type and length of the input arguments is checked internally
* by the SDK, so that we don't have to verify the arguments in the callback. */
#include <open62541/client_config_default.h>
#include <open62541/plugin/log_stdout.h>
#include <open62541/server.h>
#include <signal.h>
#include <stdlib.h>
#include "common.h"
#ifndef UA_ARCHITECTURE_WIN32
#include <pthread.h>
#define THREAD_HANDLE pthread_t
#define THREAD_CREATE(handle, callback) do { \
sigset_t set; \
sigemptyset(&set); \
sigaddset(&set, SIGINT); \
pthread_sigmask(SIG_BLOCK, &set, NULL); \
pthread_create(&handle, NULL, callback, &set); \
} while(0)
#define THREAD_JOIN(handle) pthread_join(handle, NULL)
#define THREAD_CALLBACK(name) static void * name(void *_)
#else
#include <windows.h>
#define THREAD_HANDLE HANDLE
#define THREAD_CREATE(handle, callback) { handle = CreateThread( NULL, 0, callback, NULL, 0, NULL); }
#define THREAD_JOIN(handle) WaitForSingleObject(handle, INFINITE)
#define THREAD_CALLBACK(name) static DWORD WINAPI name( LPVOID lpParam )
#endif
static UA_Server* globalServer;
static volatile UA_Boolean running = true;
static UA_StatusCode
helloWorldMethodCallback1(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]);
char* test = (char*)calloc(1,tmp.length+1);
memcpy(test, tmp.data, tmp.length);
UA_String_clear(&tmp);
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "'Hello World 1 (async)' was called and will take 3 seconds");
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, " Data 1: %s", test);
free(test);
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "'Hello World 1 (async)' has ended");
return UA_STATUSCODE_GOOD;
}
static void
addHelloWorldMethod1(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` async");
helloAttr.displayName = UA_LOCALIZEDTEXT("en-US","Hello World async");
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, &helloWorldMethodCallback1,
1, &inputArgument, 1, &outputArgument, NULL, NULL);
/* Get the method node */
UA_NodeId id = UA_NODEID_NUMERIC(1, 62541);
UA_Server_setMethodNodeAsync(server, id, UA_TRUE);
}
static UA_StatusCode
helloWorldMethodCallback2(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]);
char* test = (char*)calloc(1, tmp.length + 1);
memcpy(test, tmp.data, tmp.length);
UA_String_clear(&tmp);
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "'Hello World 2 (async)' was called and will take 1 seconds");
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, " Data 2: %s", test);
free(test);
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "'Hello World 2 (async)' has ended");
return UA_STATUSCODE_GOOD;
}
static void
addHelloWorldMethod2(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` sync");
helloAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Hello World sync");
helloAttr.executable = true;
helloAttr.userExecutable = true;
UA_Server_addMethodNode(server, UA_NODEID_NUMERIC(1, 62542),
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "hello world 2"),
helloAttr, &helloWorldMethodCallback2,
1, &inputArgument, 1, &outputArgument, NULL, NULL);
/* Get the method node */
UA_NodeId id = UA_NODEID_NUMERIC(1, 62542);
UA_Server_setMethodNodeAsync(server, id, UA_TRUE);
}
THREAD_CALLBACK(ThreadWorker) {
while(running) {
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER,
"Try to dequeue an async operation");
const UA_AsyncOperationRequest* request = NULL;
void *context = NULL;
UA_AsyncOperationType type;
if(UA_Server_getAsyncOperationNonBlocking(globalServer, &type, &request, &context, NULL) == true) {
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "AsyncMethod_Testing: Got entry: OKAY");
UA_CallMethodResult response = UA_Server_call(globalServer, &request->callMethodRequest);
UA_Server_setAsyncOperationResult(globalServer, (UA_AsyncOperationResponse*)&response,
context);
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "AsyncMethod_Testing: Call done: OKAY");
UA_CallMethodResult_clear(&response);
} else {
/* not a good style, but done for simplicity :-) */
sleep_ms(100);
}
}
return 0;
}
/* This callback will be called when a new entry is added to the Callrequest queue */
static void
TestCallback(UA_Server *server) {
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Dispatched an async method");
}
int main(void) {
globalServer = UA_Server_new();
/* Set the NotifyCallback */
UA_ServerConfig *config = UA_Server_getConfig(globalServer);
config->asyncOperationNotifyCallback = TestCallback;
/* Start the Worker-Thread */
THREAD_HANDLE hThread;
THREAD_CREATE(hThread, ThreadWorker);
/* Add methods */
addHelloWorldMethod1(globalServer);
addHelloWorldMethod2(globalServer);
UA_Server_runUntilInterrupt(globalServer);
/* Shutdown the thread */
running = false;
THREAD_JOIN(hThread);
UA_Server_delete(globalServer);
return 0;
}
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