first

UA_PLC.h

@@ -0,0 +1,522 @@
+#include "open62541.h"
+
+#include <stdio.h>
+#include <signal.h>
+
+#include <stdlib.h>
+#include <assert.h>
+
+typedef unsigned char		u8;
+typedef unsigned short		u16;
+typedef unsigned int		u32;
+typedef long long 			TIME;
+typedef long long			DT;	
+//typedef int                 bool;
+#define bool _Bool
+#define true                1
+#define false               0
+#define MAX_ELEMENTS_INDEXRANGE 	10
+#define MAX_ELEMENTS_BROWSERESULT 	10
+#define MAX_ELEMENTS_NODELIST		10
+#define MAX_ELEMENTS_ARRAYDIMENSION	10
+#define MAX_ELEMENTS_NAMESPACES 	10
+#define MAX_ELEMENTS_RELATIVEPATH	10
+#define MAX_ELEMENTS_MONITORLIST	10
+#define MAX_ELEMENTS_SELECTIONS		10
+#define MAX_ELEMENTS_EVENTITEMLIST	10
+#define MAX_ELEMENTS_METHOD			10
+
+typedef struct {
+	int type;
+	void *data;
+} UA_Value;
+
+typedef struct {
+	int ArgumentSize;
+	UA_Value *value;
+} UA_Arguments;
+/*PLCopen strand UA date type*/
+
+
+typedef struct {
+    size_t length; /* The length of the string */
+    u8 *data; /* The content (not null-terminated) */
+} STRING;
+
+typedef enum {
+    UASMM_BestAvailable    	= 0, 
+    UASMM_None     			= 1,
+    UASMM_Sign       		= 2,
+    UASMM_SignEncrypt 		= 3
+}UASecurityMsgMode;
+
+typedef enum {
+    UASP_BestAvailable    	= 0, 
+    UASP_None     			= 1,
+    UASP_Basic128Rsa15      = 2,
+    UASP_Basic256 			= 3,
+	UASP_Basic256Sha256		= 4
+}UASecurityPolicy;
+
+typedef enum {
+    UATP_UATcp    			= 1, 
+    UATP_WSHttpBinary     	= 2,
+    UATP_WSHttpXmlOrBinary  = 3,
+    UATP_WSHttpXml 			= 4
+}UATransportProfile;
+
+typedef enum {
+    UAIT_Numeric    = 0, 
+    UAIT_String     = 1,
+    UAIT_GUID       = 2,
+    UAIT_Opaque 	= 3
+}UAIdentifierType;
+
+
+typedef enum {
+    UAUITT_Anonymous    = 0, 
+    UAUITT_Username     = 1,
+    UAUITT_x509       	= 2,
+    UAUITT_IssuedToken 	= 3
+}UAUserIdentityTokenType;
+
+
+typedef enum {
+    UAMS_Unknown    		= 0, 
+    UAMS_ControllerSync     = 1,
+    UAMS_FwSync       		= 2
+}UAMonitoringSyncMode;
+
+typedef enum {
+    UADT_None    			= 0, 
+    UADT_Absolute     		= 1,
+    UADT_Percent       		= 2
+}UADeadbandType;
+
+typedef enum {
+    UABD_Forward    		= 0, 
+    UABD_Inverse     		= 1,
+    UABD_Both       		= 2
+}UABrowseDirection;
+
+typedef enum {
+    UACS_Connected    		= 0, 
+    UACS_ConnectionError    = 1,
+    UACS_Shutdown       	= 2
+}UAConnectionStatus;
+
+typedef enum {
+    UASS_Running    		= 0, 
+    UASS_Failed    			= 1,
+    UASS_NoConfiguration    = 2,
+	UASS_Suspended			=3,
+	UASS_Shutdown			=4,
+	UASS_Test				=5,
+	UASS_CommunicationFault	=6,
+	UASS_Unknown			=7
+}UAServerState;
+
+typedef enum {
+    ReferenceType    		= 1, 
+    IsForward     			= 2,
+    NodeClass       		= 4,
+	BrowseName				= 8,
+	DisplayName				= 16
+}UABrowseResultMask;
+
+typedef enum {
+    UAHAUpdateStatusCode_HistorianRaw    		= 0, 
+    UAHAUpdateStatusCode_HistorianCalculated    = 1,
+    UAHAUpdateStatusCode_HistorianInterpolated  = 2,
+	UAHAUpdateStatusCode_Reserved	 			= 3,
+	UAHAUpdateStatusCode_HistorianPartial		= 4,
+	UAHAUpdateStatusCode_HistorianExtraData		= 8,
+	UAHAUpdateStatusCode_HistorianMultiValue	= 16
+}UAHAUpdateStatusCode;
+
+typedef enum  {
+    UANCM_None    		= 0, 
+    UANCM_Object     	= 1,
+    UANCM_Variable		= 2,
+    UANCM_Method 		= 4,
+	UANCM_ObjectType	= 8,
+	UANCM_VariableType	= 16,
+	UANCM_ReferenceType	= 32,
+	UANCM_DataType 		= 64,
+	UANCM_View			= 128,
+	UANCM_All			= 0x7fffffff
+}UANodeClassMask;
+
+typedef enum {
+	UAAI_NodeID 					= 1,
+	UAAI_NodeClass					= 2,
+	UAAI_BrowseName					= 3,
+	UAAI_DisplayName				= 4,
+	UAAI_Description				= 5,
+	UAAI_WriteMask					= 6,
+	UAAI_UserWriteMask				= 7,
+	UAAI_IsAbstract					= 8,
+	UAAI_Symmetric					= 9,
+	UAAI_InverseName				= 10,
+	UAAI_ContainsNoLoops			= 11,
+	UAAI_EventNotifier				= 12,
+	UAAI_Value						= 13,
+	UAAI_DataType					= 14,
+	UAAI_ValueRank					= 15,
+	UAAI_ArrayDimensions			= 16,
+	UAAI_AccessLevel				= 17,
+	UAAI_UserAccessLevel			= 18,
+	UAAI_MinimumSamplingInterval	= 19,
+	UAAI_Historizing				= 20,
+	UAAI_Executable					= 21,
+	UAAI_UserExeNamespaceIndexcutable				= 22
+}UAAttributeID;
+
+typedef struct {
+    UAUserIdentityTokenType UserIdentityTokenType;
+	STRING TokenParam1;
+	STRING TokenParam2;
+} UAUserIdentityToken;
+
+
+typedef struct {
+    u16 NamespaceIndex;
+	STRING Identifier;
+	UAIdentifierType IdentifierType;
+} UANodeID;
+
+typedef struct {
+    u32 ServerIndex;
+	STRING NamespaceURI;
+	UANodeID ID;
+} UAExpandedNodeID;
+
+typedef struct 
+{
+	char *Locale;
+	STRING Text;
+}UALocalizedText;
+
+typedef struct 
+{
+	u16 StartIndex;
+	u16 EndIndex;
+}UAIndexRange;
+
+
+typedef struct {
+    UANodeID ReferenceTypeID;
+	bool IsForward;
+	UAExpandedNodeID NodeID;
+	STRING BrowseName;
+	UALocalizedText DisplayName;
+	UANodeClassMask NodeClass;
+	UAExpandedNodeID TypeDefinition;
+} UAReferenceDescription;
+
+typedef struct 
+{
+	UAAttributeID AttributeID;
+	u16 IndexRangeCount;
+	UAIndexRange IndexRange[MAX_ELEMENTS_INDEXRANGE];
+}UANodeAdditionalInfo;
+
+typedef struct 
+{
+	u16 NamespaceIndex;
+	STRING Name;
+}UAQualifiedName;
+
+typedef struct 
+{
+	u16 AccessLevel;				//
+	u32 ArrayDimension[MAX_ELEMENTS_ARRAYDIMENSION];			//	
+	UAQualifiedName BrowseName;		//
+	bool ContainsNoLoops;			//
+	UANodeID DataType;				//
+	UALocalizedText Description;	//
+	UALocalizedText DisplayName;	//
+	u16 EventNotifier;				//
+	bool Executable;				//
+	bool Historizing;				//
+	STRING InverseName;				//
+	bool IsAbstract;				//
+	TIME MinimumSamplingInterval;	//
+	UANodeClassMask NodeClass;   	//
+	bool Symmetric;					//
+	u16 UserAccessLevel;			//
+	bool UserExecutable;			//
+	u32 UserWriteMask;				//
+	int ValueRank;					//
+	u32 WriteMask;					//
+}UANodeInformation;
+
+typedef struct 
+{
+	UANodeID ReferenceTypeId;
+	bool IsInverse;
+	bool IncludeSubtypes;
+	UAQualifiedName TargetName;
+}UARelativePathElement;
+
+typedef struct 
+{
+	u16 NoOfElements;
+	UARelativePathElement *Elements;
+}UARelativePath;
+
+typedef struct 
+{
+	UANodeID StartingNode;
+	UARelativePath RelativePath;
+}UABrowsePath;
+
+
+typedef struct{
+	//STRING SessionName;
+	//STRING ApplicationName;
+	UASecurityMsgMode SecurityMsgMode;
+	UASecurityPolicy SecurityPolicy;
+	STRING CertificateStore;
+	STRING ClientCertificateName;
+	STRING ServerUri;
+	bool CheckServerCertificate;
+	//UATransportProfile TransportProfile;
+	//UAUserIdentityToken UserIdentityToken;
+	TIME SessionTimeout;
+	//TIME MonitorConnection;
+	//STRING LocaleIDs[6];
+}UASessionConnectInfo;
+
+typedef struct 
+{
+	UA_Value Values;
+	DT TimeStamps;
+	u32 *NodeQualityIDs;
+	u16 NewValuesCount;
+}UAMonitoredVariables;
+
+typedef struct 
+{
+	TIME SamplingInterval;
+	u16 QueueSize;
+	bool DiscardOldest;
+	UADeadbandType DeadbandType;
+	float Deadband;
+}UAMonitoringParameter;
+
+typedef struct 
+{
+	UANodeID StartingNodeID;
+	UABrowseDirection Direction;
+	UANodeID ReferenceTypeID;
+	bool IncludeSubtypes;
+	UANodeClassMask NodeClass;
+	UABrowseResultMask ResultMask;
+}UABrowseDescription;
+
+typedef struct 
+{
+	UA_Value Values;
+	UAHAUpdateStatusCode StatusCode;
+	TIME ServerTimeStamp;
+	TIME SourceTimeStamp;
+}UAHADataValue;
+
+typedef struct 
+{
+    u16 nanoSec;
+    u16 microSec;
+    u16 milliSec;
+    u16 sec;
+    u16 min;
+    u16 hour;
+    u16 day;   /* From 1 to 31 */
+    u16 month; /* From 1 to 12 */
+    u16 year;
+} UADateTimeStruct;
+
+typedef struct 
+{
+    u16 Severity;
+    STRING Message;
+    STRING SourceName;
+    UANodeID SourceNode;
+    UANodeID EventType;
+	TIME Time;
+	TIME ReceiveTime;
+}UAEventField;
+
+/**
+ * UA_Connect
+ * ^^^^^^^^^^^
+ */
+u32 UA_Connect(STRING endpointUrl,UASessionConnectInfo SessionConnectInfo,long *ConnectionHdl);
+/**
+ * UA_Disconnect
+ * ^^^^^^^^^^^
+ */
+u32 UA_Disconnect(long ConnectionHdl);
+
+/**
+ * UA_NamespaceGetIndexList
+ * ^^^^^^^^^^^
+ */
+u32 UA_NamespaceGetIndexList(long ConnectionHdl,u16 NamespaceUrisCount,STRING *NamespaceUris,u16 *NamespaceIndexes);
+
+/**
+ * UA_ServerGetUriByIndex
+ * ^^^^^^^^^^^
+ */
+
+u32 UA_ServerGetUriByIndex(long ConnectionHdl,u32 ServerIndex,STRING *ServerUri);
+/**
+ * UA_ServerGetIndexByUriList
+ * ^^^^^^^^^^^
+ */
+u32 UA_ServerGetIndexByUriList(long ConnectionHdl,u16 ServerUrisCount,STRING ServerUris[],u16 *ServerIndexes);
+/**
+ * UA_TranslatePathList
+ * ^^^^^^^^^^^
+ */
+u32 UA_TranslatePathList(long ConnectionHdl,u16 BrowsePathsCount,UABrowsePath BrowsePaths[],UANodeID *TargetNodeIDs);
+/**
+ * UA_NodeGetHandleList
+ * ^^^^^^^^^^^
+ */
+u32 UA_NodeGetHandleList(long ConnectionHdl,u16 NodeIDCount,UANodeID *NodeIDs,long *NodeHdls,u32 ErrorIDs[]);
+/**
+ * UA_NodeReleaseHandleList
+ * ^^^^^^^^^^^
+ */
+u32 UA_NodeReleaseHandleList(long ConnectionHdl,u16 NodeHdlCount,long *NodeHdls,u32 ErrorIDs[]);
+/**
+ * UA_NodeGetInformation
+ * ^^^^^^^^^^^
+ */
+u32 UA_NodeGetInformation(long ConnectionHdl,UANodeID NodeID,UANodeInformation *NodeInfo,u32 ErrorIDs[]);
+/**
+ * UA_SubscriptionCreate
+ * ^^^^^^^^^^^
+ */
+u32 UA_SubscriptionCreate(long ConnectionHdl,bool PublishingEnable,u16 Priority,long *SubscriptionHdl,TIME *PublishingInterval);
+/**
+ * UA_SubscriptionDelete
+ * ^^^^^^^^^^^
+ */
+u32 UA_SubscriptionDelete(long ConnectionHdl,long SubscriptionHdl);
+
+/**
+ * UA_SubscriptionModify
+ * ^^^^^^^^^^^
+ */
+u32 UA_SubscriptionModify(long ConnectionHdl,long SubscriptionHdl,bool PublishingEnable,u16 Priority,TIME *PublishingInterval);
+/**
+ * UA_SubscriptionProcessed
+ * ^^^^^^^^^^^
+ */
+u32 UA_SubscriptionProcessed(long SubscriptionHdl);
+/**
+ * UA_MonitoredItemAddList
+ * ^^^^^^^^^^^
+ */
+u32 UA_MonitoredItemAddList(long ConnectionHdl,long SubscriptionHdl,u16 NodeHdlCount,
+                                                long *NodeHdls,UAMonitoringSyncMode SyncMode,
+                                                UANodeAdditionalInfo *NodeAddInfos,u32 *MonitoredItemHdls,u32 ErrorIDs[]);
+/**
+ * UA_MonitoredItemRemoveList
+ * ^^^^^^^^^^^
+ */
+u32 UA_MonitoredItemRemoveList(long ConnectionHdl,long SubscriptionHdl,u16 MonitoredItemHdlCount,long *MonitoredItemHdls,u32 ErrorIDs[]);
+/**
+ * UA_MonitoredItemModifyList
+ * ^^^^^^^^^^^
+ */
+u32 UA_MonitoredItemModifyList(long ConnectionHdl,long SubscriptionHdl,u16 MonitoredItemHdlCount,
+								long *MonitoredItemHdls,UAMonitoringParameter MonitoringParameter[],
+								u32 ErrorIDs[]);
+/**
+ * UA_MonitoredItemOperateList
+ * ^^^^^^^^^^^
+ */
+u32 UA_MonitoredItemOperateList(long ConnectionHdl,long SubscriptionHdl,u16 MonitoredItemHdlCount,long *MonitoredItemHdls,
+								UAMonitoredVariables *Variables,
+								bool *ValuesChanged,u16 *MinLostValueCount,u32 *NodeErrorIDs);
+/**
+ * UA_ReadList
+ * ^^^^^^^^^^^
+ */
+u32 UA_ReadList(long ConnectionHdl,u16 NodeHdlCount,long *NodeHdls,UANodeAdditionalInfo *NodeAddInfos,UA_Value *variables,u32 ErrorIDs[]);
+/**
+ * UA_WriteList
+ * ^^^^^^^^^^^
+ */
+u32 UA_WriteList(long ConnectionHdl,u16 NodeHdlCount,long *NodeHdls,UANodeAdditionalInfo *NodeAddInfos,UA_Value *variables,u32 ErrorIDs[]);
+/**
+ * UA_MethodGetHandleList
+ * ^^^^^^^^^^^
+ */
+u32 UA_MethodGetHandleList(long ConnectionHdl,u16 NodeIDCount,UANodeID *ObjectNodeIDs,UANodeID *MethodNodeIDs,long *MethodHdls,u32 ErrorIDs[]);
+/**
+ * UA_MethodReleaseHandleList
+ * ^^^^^^^^^^^
+ */
+u32 UA_MethodReleaseHandleList(long ConnectionHdl,u16 MethodHdlCount,long *MethodHdls,u32 *ErrorIDs);
+/**
+ * UA_MethodCall
+ * ^^^^^^^^^^^
+ */
+u32 UA_MethodCall(long ConnectionHdl,long MethodHdl,UA_Arguments *InputArguments, UA_Arguments *OutputArguments);
+
+/**
+ * UA_Browse
+ * ^^^^^^^^^^^
+ */
+u32 UA_Browse(long ConnectionHdl,UABrowseDescription BrowseDescription,u32 ContinuationPointIn,u16 *BrowseResultCount,UAReferenceDescription *BrowseResult,u32 ContinuationPointOut);
+
+/**
+ * UA_EventItemAdd
+ * ^^^^^^^^^^^
+ */
+u32 UA_EventItemAdd(long ConnectionHdl,long SubscriptionHdl,long NodeHdl,
+					UANodeID EventType,u16 EventFieldSelectionCount,
+					UARelativePath *EventFieldSelections,long *EventItemHdl);
+
+/**
+ * UA_EventItemOperateList
+ * ^^^^^^^^^^^
+ */
+u32 UA_EventItemOperateList(long ConnectionHdl,long SubscriptionHdl,u16 EventItemHdlCount,long *EventItemHdls,
+							UAEventField *Fields,bool EventProcessed,
+							u16 *RemainingEventCount,u32 *FieldErrorIDs);
+
+/**
+ * UA_EventItemRemoveList
+ * ^^^^^^^^^^^
+ */
+u32 UA_EventItemRemoveList(long ConnectionHdl,long SubscriptionHdl,u16 EventItemHdlCount,long EventItemHdls,u32 ErrorIDs[]);
+
+/**
+ * UA_HistoryUpdate
+ * ^^^^^^^^^^^
+ */
+u32 UA_HistoryUpdate(long ConnectionHdl,long NodeHdl,bool PerformInsert,bool PerformReplace,u16 DataValueCount,UAHADataValue *DataValues);
+
+/**
+ * UA_ConnectionGetStatus
+ * ^^^^^^^^^^^
+ */
+u32 UA_ConnectionGetStatus(long ConnectionHdl,UAConnectionStatus *ConnectionStatus,UAServerState *ServerState,u8 *ServiceLevel);
+
+
+
+// unsigned short UA_CreatClient(long *client);
+// unsigned int UA_ConnectServer(long client, const char *endpointUrl);
+// unsigned int UA_Client_writeValue(long client, char *NodeName, void *value, int type);
+// unsigned int UA_Client_readNode(long client, char *NodeName, UA_Value *outValue);
+// unsigned int UA_printValue(UA_Value *value);
+// unsigned int UA_Client_HistoryRead(long client, char *NodeName);
+// void UA_Client_Delete(long client);
+// void UA_Value_Clear(UA_Value *p);
+// void UA_Value_init(UA_Value *p);
+// void Browse(long client);

myClient.c

@@ -0,0 +1,36 @@
+#include <string.h>
+#include "UA_PLC.h"
+
+UA_Client *client;
+
+u32 CA_Connect(long *ConnectionHdl,TIME timeout){
+	UA_Client *c = UA_Client_new();
+	UA_StatusCode flag = UA_ClientConfig_setDefault(UA_Client_getConfig(c));
+	UA_ClientConfig *config=UA_Client_getConfig(c);
+
+	config->securityMode=1;
+    config->timeout = timeout;
+	if (flag == UA_STATUSCODE_GOOD) {
+		flag=UA_Client_connect(c, "opc.tcp://localhost:4840");
+
+	}else
+	{
+		UA_Client_delete(c);
+		//memset(c,0,100);
+		return flag;
+	}
+	client = c;
+	*ConnectionHdl = (long *)c;
+	printf("ConnectionHdl %lld \n",*ConnectionHdl);
+	return flag;
+}
+
+int main(int argc, char *argv[]) {
+    long *hdl;
+    TIME timeout = 200000;
+    CA_Connect(*hdl,timeout);
+    while(1)
+    {
+        
+    }
+}

myServer.c

@@ -0,0 +1,186 @@
+#include <open62541.h>
+#include <stdio.h>
+#include <signal.h>
+#include <stdbool.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 UA_StatusCode
+helloMethodCallback(UA_Server *server,
+                    const UA_NodeId *sessionId, void *sessionContext,
+                    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[0].data;
+    const char *helloPrefix = "Hello ";
+    size_t helloLen = strlen(helloPrefix);
+
+    // 分配内存用于存储输出字符串（前缀 + 输入字符串）
+    size_t resultLen = helloLen + inputStr->length;
+    UA_Byte *result = (UA_Byte*)UA_malloc(resultLen);
+    if (!result) {
+        return UA_STATUSCODE_BADOUTOFMEMORY;
+    }
+
+    // 将 "Hello " 和输入字符串复制到结果中
+    memcpy(result, helloPrefix, helloLen);
+    memcpy(result + helloLen, inputStr->data, inputStr->length);
+
+    // 将输出 variant 设置为结果字符串
+    UA_String resultStr;
+    resultStr.data = result;
+    resultStr.length = resultLen;
+    UA_Variant_setScalarCopy(output, &resultStr, &UA_TYPES[UA_TYPES_STRING]);
+
+    // 清理结果缓冲区
+    UA_String_clear(&resultStr);
+
+    return UA_STATUSCODE_GOOD;
+}
+
+static void manuallyDefinePump(UA_Server *server)
+{
+    // 声明并获取服务器分配的节点 ID
+    UA_NodeId pumpId;
+
+    // 定义对象属性并设置显示名称
+    UA_ObjectAttributes oAttr = UA_ObjectAttributes_default;
+    oAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Pump (Manual)");
+
+    // 添加泵对象节点
+    UA_Server_addObjectNode(server,
+                            UA_NODEID_NULL,
+                            UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
+                            UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
+                            UA_QUALIFIEDNAME(1, "Pump (Manual)"),
+                            UA_NODEID_NUMERIC(0, UA_NS0ID_BASEOBJECTTYPE),
+                            oAttr, NULL, &pumpId);
+
+    // 定义变量属性并添加“ManufacturerName”变量节点
+    UA_VariableAttributes mnAttr = UA_VariableAttributes_default;
+    UA_String manufacturerName = UA_STRING("Pump King Ltd.");
+    UA_Variant_setScalar(&mnAttr.value, &manufacturerName, &UA_TYPES[UA_TYPES_STRING]);
+    mnAttr.displayName = UA_LOCALIZEDTEXT("en-US", "ManufacturerName");
+
+    UA_Server_addVariableNode(server,
+                            UA_NODEID_NULL,
+                            pumpId,
+                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
+                            UA_QUALIFIEDNAME(1, "ManufacturerName"),
+                            UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
+                            mnAttr, NULL, NULL);
+
+    // 定义变量属性并添加“ModelName”变量节点
+    UA_VariableAttributes modelAttr = UA_VariableAttributes_default;
+    UA_String modelName = UA_STRING("Mega Pump 3000");
+    UA_Variant_setScalar(&modelAttr.value, &modelName, &UA_TYPES[UA_TYPES_STRING]);
+    modelAttr.displayName = UA_LOCALIZEDTEXT("en-US", "ModelName");
+
+    UA_Server_addVariableNode(server,
+                            UA_NODEID_NULL,
+                            pumpId,
+                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
+                            UA_QUALIFIEDNAME(1, "ModelName"),
+                            UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
+                            modelAttr, NULL, NULL);
+
+    // 定义变量属性并添加“Status”变量节点
+    UA_VariableAttributes statusAttr = UA_VariableAttributes_default;
+    UA_Boolean status = true;
+    UA_Variant_setScalar(&statusAttr.value, &status, &UA_TYPES[UA_TYPES_BOOLEAN]);
+    statusAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Status");
+
+    UA_Server_addVariableNode(server,
+                            UA_NODEID_NULL,
+                            pumpId,
+                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
+                            UA_QUALIFIEDNAME(1, "Status"),
+                            UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
+                            statusAttr, NULL, NULL);
+
+    // 定义变量属性并添加“MotorRPM”变量节点
+    UA_VariableAttributes rpmAttr = UA_VariableAttributes_default;
+    UA_Double rpm = 50.0;
+    UA_Variant_setScalar(&rpmAttr.value, &rpm, &UA_TYPES[UA_TYPES_DOUBLE]);
+    rpmAttr.displayName = UA_LOCALIZEDTEXT("en-US", "MotorRPM");
+
+    UA_Server_addVariableNode(server,
+                            UA_NODEID_NULL,
+                            pumpId,
+                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
+                            UA_QUALIFIEDNAME(1, "MotorRPM"),
+                            UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
+                            rpmAttr, NULL, NULL);
+    
+    UA_ObjectAttributes ptAttr = UA_ObjectAttributes_default;
+    ptAttr.displayName = UA_LOCALIZEDTEXT("en-US", "PumpType");
+    UA_NodeId pumpTypeId;
+    UA_Server_addObjectNode(server, UA_NODEID_NULL,
+                                         pumpId, UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
+                                         UA_QUALIFIEDNAME(1, "PumpType"), 
+                                         UA_NODEID_NUMERIC(0, UA_NS0ID_BASEOBJECTTYPE),
+                                         ptAttr,
+                                         NULL, &pumpTypeId);
+
+
+    UA_Argument inputArgument;
+    UA_Argument_init(&inputArgument);
+    inputArgument.description = UA_LOCALIZEDTEXT("zh-CN", "输入字符串");
+    inputArgument.name = UA_STRING("InputString");
+    inputArgument.dataType = UA_TYPES[UA_TYPES_STRING].typeId; // 字符串类型
+    inputArgument.valueRank = UA_VALUERANK_SCALAR; // 标量
+
+    // 定义方法的输出参数
+    UA_Argument outputArgument;
+    UA_Argument_init(&outputArgument);
+    outputArgument.description = UA_LOCALIZEDTEXT("zh-CN", "输出字符串");
+    outputArgument.name = UA_STRING("OutputString");
+    outputArgument.dataType = UA_TYPES[UA_TYPES_STRING].typeId; // 字符串类型
+    outputArgument.valueRank = UA_VALUERANK_SCALAR; // 标量
+
+    // 添加方法节点
+    UA_MethodAttributes helloAttr = UA_MethodAttributes_default;
+    helloAttr.description = UA_LOCALIZEDTEXT("zh-CN", "添加Hello前缀");
+    helloAttr.displayName = UA_LOCALIZEDTEXT("zh-CN", "HelloMethod");
+    helloAttr.executable = true;
+    helloAttr.userExecutable = true;
+
+    UA_NodeId helloMethodNodeId;
+    UA_Server_addMethodNode(server,
+                            UA_NODEID_NULL, // NodeId (自动生成)
+                            UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER), // 父节点为 ObjectsFolder
+                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT), // 引用类型
+                            UA_QUALIFIEDNAME(1, "HelloMethod"), // 浏览名称
+                            helloAttr, // 属性
+                            &helloMethodCallback, // 回调函数
+                            1, &inputArgument, // 输入参数的数量和描述
+                            1, &outputArgument, // 输出参数的数量和描述
+                            NULL,NULL);
+
+
+}
+
+
+ 
+int main(void) {
+    signal(SIGINT, stopHandler);
+    signal(SIGTERM, stopHandler);
+ 
+    UA_Server *server = UA_Server_new();
+    UA_ServerConfig_setDefault(UA_Server_getConfig(server));
+    
+    manuallyDefinePump(server);
+    
+    UA_StatusCode retval = UA_Server_run(server, &running);
+    UA_Server_delete(server);
+    return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE;
+}

opcuaClient.cbp

@@ -0,0 +1,49 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
+<CodeBlocks_project_file>
+	<FileVersion major="1" minor="6" />
+	<Project>
+		<Option title="opcuaClient" />
+		<Option pch_mode="2" />
+		<Option compiler="gcc" />
+		<Build>
+			<Target title="Debug">
+				<Option output="opcuaClient.so" imp_lib="$(TARGET_OUTPUT_DIR)$(TARGET_OUTPUT_BASENAME).a" def_file="$(TARGET_OUTPUT_DIR)$(TARGET_OUTPUT_BASENAME).def" prefix_auto="1" extension_auto="0" />
+				<Option object_output="obj/Debug/" />
+				<Option type="3" />
+				<Option compiler="gcc" />
+				<Compiler>
+					<Add option="-std=c99" />
+					<Add option="-fPIC" />
+					<Add option="-g" />
+				</Compiler>
+				<Linker>
+					<Add option="-shared" />
+				</Linker>
+			</Target>
+			<Target title="Release">
+				<Option output="bin/Release/opcuaClient" prefix_auto="1" extension_auto="1" />
+				<Option object_output="obj/Release/" />
+				<Option type="1" />
+				<Option compiler="gcc" />
+				<Compiler>
+					<Add option="-O2" />
+				</Compiler>
+				<Linker>
+					<Add option="-s" />
+				</Linker>
+			</Target>
+		</Build>
+		<Compiler>
+			<Add option="-Wall" />
+		</Compiler>
+		<Unit filename="UA_PLC.c">
+			<Option compilerVar="CC" />
+		</Unit>
+		<Unit filename="UA_PLC.h" />
+		<Unit filename="open62541.c">
+			<Option compilerVar="CC" />
+		</Unit>
+		<Unit filename="open62541.h" />
+		<Extensions />
+	</Project>
+</CodeBlocks_project_file>

opcuaClient.depend

@@ -0,0 +1,80 @@
+# depslib dependency file v1.0
+1725872367 source:/media/sf_E_DRIVE/Project/ePLC-Design/ePLC_X86Linux_Git/OPCUA_client/open62541.c
+	"open62541.h"
+	<stddef.h>
+	<math.h>
+	<valgrind/memcheck.h>
+	<limits.h>
+	<stdio.h>
+	<pthread.h>
+	<syslog.h>
+	<limits.h>
+	<string.h>
+	<string.h>
+	<limits.h>
+	<time.h>
+	<sys/time.h>
+	<mach/clock.h>
+	<mach/mach.h>
+	<time.h>
+	<windows.h>
+	<string.h>
+
+1725934839 /media/sf_E_DRIVE/Project/ePLC-Design/ePLC_X86Linux_Git/OPCUA_client/open62541.h
+	<stdlib.h>
+	<malloc.h>
+	<stdio.h>
+	<errno.h>
+	<winsock2.h>
+	<windows.h>
+	<ws2tcpip.h>
+	<io.h>
+	<unistd.h>
+	<iphlpapi.h>
+	<errno.h>
+	<arpa/inet.h>
+	<netinet/in.h>
+	<netdb.h>
+	<sys/ioctl.h>
+	<sys/select.h>
+	<sys/types.h>
+	<net/if.h>
+	<unistd.h>
+	<fcntl.h>
+	<unistd.h>
+	<sys/socket.h>
+	<sys/param.h>
+	<sys/socket.h>
+	<netinet/tcp.h>
+	<stdlib.h>
+	<stdio.h>
+	<strings.h>
+	<pthread.h>
+	<stdint.h>
+	<limits.h>
+	<wchar.h>
+	<string.h>
+	<stddef.h>
+	<stdint.h>
+	<stdbool.h>
+	<inttypes.h>
+	<alloca.h>
+	<assert.h>
+	<endian.h>
+	<sys/endian.h>
+	<sys/endian.h>
+	<libkern/OSByteOrder.h>
+	<gulliver.h>
+	<stdarg.h>
+
+1725938499 source:/media/sf_E_DRIVE/Project/ePLC-Design/ePLC_X86Linux_Git/OPCUA_client/UA_PLC.c
+	"UA_PLC.h"
+	<string.h>
+
+1725872367 /media/sf_E_DRIVE/Project/ePLC-Design/ePLC_X86Linux_Git/OPCUA_client/UA_PLC.h
+	"open62541.h"
+	<stdio.h>
+	<signal.h>
+	<stdlib.h>
+	<assert.h>
+

opcuaClient.layout

@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
+<CodeBlocks_layout_file>
+	<FileVersion major="1" minor="0" />
+	<ActiveTarget name="Debug" />
+	<File name="open62541.c" open="1" top="0" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="5745" topLine="0" />
+		</Cursor>
+	</File>
+	<File name="UA_PLC.c" open="1" top="1" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="30069" topLine="818" />
+		</Cursor>
+	</File>
+	<File name="open62541.h" open="1" top="0" tabpos="4" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="69135" topLine="1979" />
+		</Cursor>
+	</File>
+	<File name="UA_PLC.h" open="1" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="793" topLine="29" />
+		</Cursor>
+	</File>
+</CodeBlocks_layout_file>

opcuaClient/main.c

@@ -0,0 +1,8 @@
+#include <stdio.h>
+#include <stdlib.h>
+
+int main()
+{
+    printf("Hello world!\n");
+    return 0;
+}

opcuaClient/opcuaClient.layout

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
+<CodeBlocks_layout_file>
+	<FileVersion major="1" minor="0" />
+	<ActiveTarget name="Debug" />
+</CodeBlocks_layout_file>