get

.vscode/settings.json

@@ -1,3 +0,0 @@
-{
-    "C_Cpp.errorSquiggles": "disabled"
-}

myClient.c

@@ -0,0 +1,629 @@
+#include <string.h>
+#include "UA_PLC.h"
+
+// UA_Client *client;
+
+// u32 Connect(long *ConnectionHdl){
+// 	UA_Client *c = UA_Client_new();
+// 	UA_StatusCode flag = UA_ClientConfig_setDefault(UA_Client_getConfig(c));
+// 	UA_ClientConfig *config=UA_Client_getConfig(c);
+// 	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;
+// }
+
+void saveUA_ReferenceDescriptionToUAReferenceDescription(int j,UA_ReferenceDescription *ref,UAReferenceDescription *BrowseResult){
+	memcpy(BrowseResult[j].BrowseName.data,ref->browseName.name.data,ref->browseName.name.length);
+	BrowseResult[j].BrowseName.length=ref->browseName.name.length;
+	memcpy(BrowseResult[j].DisplayName.Locale,ref->displayName.locale.data,ref->displayName.locale.length);
+	memcpy(BrowseResult[j].DisplayName.Text.data,ref->displayName.text.data,ref->displayName.text.length);
+	BrowseResult[j].IsForward=ref->isForward;
+	BrowseResult[j].NodeClass=ref->nodeClass;
+	BrowseResult[j].NodeID.ID.NamespaceIndex=ref->nodeId.nodeId.namespaceIndex;
+	BrowseResult[j].NodeID.ID.IdentifierType=ref->nodeId.nodeId.identifierType;
+	BrowseResult[j].NodeID.ID.Identifier.length=ref->nodeId.nodeId.identifier.string.length;
+	BrowseResult[j].NodeID.ID.Identifier.data=ref->nodeId.nodeId.identifier.string.data;
+	BrowseResult[j].NodeID.NamespaceURI.length=ref->nodeId.namespaceUri.length;
+	memcpy(BrowseResult[j].NodeID.NamespaceURI.data,ref->nodeId.namespaceUri.data,ref->nodeId.namespaceUri.length);
+	BrowseResult[j].NodeID.ServerIndex=ref->nodeId.serverIndex;
+	BrowseResult[j].ReferenceTypeID.NamespaceIndex=ref->referenceTypeId.namespaceIndex;
+	BrowseResult[j].ReferenceTypeID.IdentifierType=ref->referenceTypeId.identifierType;
+	BrowseResult[j].ReferenceTypeID.Identifier.length=ref->referenceTypeId.identifier.string.length;
+	//memcpy(BrowseResult[j].ReferenceTypeID.Identifier.data,ref->referenceTypeId.identifier.string.data,ref->referenceTypeId.identifier.string.length);
+	BrowseResult[j].TypeDefinition.ID.NamespaceIndex=ref->typeDefinition.nodeId.namespaceIndex;
+	BrowseResult[j].TypeDefinition.ID.IdentifierType=ref->typeDefinition.nodeId.identifierType;
+	BrowseResult[j].TypeDefinition.ID.Identifier.length=ref->typeDefinition.nodeId.identifier.string.length;
+	memcpy(BrowseResult[j].TypeDefinition.ID.Identifier.data,ref->typeDefinition.nodeId.identifier.string.data,ref->typeDefinition.nodeId.identifier.string.length);
+	BrowseResult[j].TypeDefinition.NamespaceURI.length=ref->typeDefinition.namespaceUri.length;
+	memcpy(BrowseResult[j].TypeDefinition.NamespaceURI.data,ref->typeDefinition.namespaceUri.data,ref->typeDefinition.namespaceUri.length);
+	BrowseResult[j].TypeDefinition.ServerIndex=ref->typeDefinition.serverIndex;
+}
+
+u32 UA_NodeGetHandleList(long ConnectionHdl,u16 NodeIDCount,UANodeID *NodeIDs,long *NodeHdls,u32 ErrorIDs[]){
+	int i;
+	u32 retval=0;
+	UA_NodeId *NodeID=malloc(sizeof(UA_NodeId)*NodeIDCount);
+	if(NodeIDCount>MAX_ELEMENTS_NODELIST){
+		retval=0xA0000002;
+		return retval;
+	}
+
+	for(i=0;i<NodeIDCount;i++){
+        printf("\nNdeIDs[i].IdentifierType=%d,NodeIDs[i].NamespaceIndex=%d,NodeIDs[i].Identifier.length=%d, NodeIDs[i].Identifier.data=%s\n",
+            NodeIDs[i].IdentifierType,   NodeIDs[i].NamespaceIndex,  NodeIDs[i].Identifier.length ,NodeIDs[i].Identifier.data );
+
+		if(NodeIDs[i].IdentifierType>=0&&NodeIDs[i].IdentifierType<4){
+			switch(NodeIDs[i].IdentifierType){
+				case 0:NodeID[i]=UA_NODEID_NUMERIC(NodeIDs[i].NamespaceIndex,NodeIDs[i].Identifier.data);break;
+				case 1:NodeID[i]=UA_NODEID_STRING(NodeIDs[i].NamespaceIndex,NodeIDs[i].Identifier.data);break;
+				case 2:NodeID[i].identifierType=4;
+						NodeID[i].identifier.string.data=NodeIDs[i].Identifier.data;
+						NodeID[i].identifier.string.length=NodeIDs[i].Identifier.length;
+						NodeID[i].namespaceIndex=NodeIDs[i].NamespaceIndex;break;
+				case 3:NodeID[i]=UA_NODEID_BYTESTRING(NodeIDs[i].NamespaceIndex,NodeIDs[i].Identifier.data);break;
+			}
+			ErrorIDs[i]=0;
+		}else{
+			ErrorIDs[i]=0xA0000301;
+			retval=ErrorIDs[i];
+		}
+		// NodeID[i].identifier.string.data=NodeIDs[i].Identifier.data;
+		// NodeID[i].identifier.string.length=NodeIDs[i].Identifier.length;
+		// NodeID[i].namespaceIndex=NodeIDs[i].NamespaceIndex;
+		NodeHdls[i]=&NodeID[i];
+		//UA_NodeId *NodeID1=malloc(sizeof(UA_NodeId)*NodeIDCount);
+		//UA_NodeId_delete(&NodeID[i]);
+	}
+
+	return retval;
+
+}
+
+u32 UA_ReadList(long ConnectionHdl,u16 NodeHdlCount,long *NodeHdls,UANodeAdditionalInfo *NodeAddInfos,UA_Value *variables,u32 ErrorIDs[]){
+	UA_Client *c = (UA_Client*)ConnectionHdl;
+	int i;
+	u32 retval;
+ 	UA_ReadValueId item[NodeHdlCount];
+	if(NodeHdlCount>MAX_ELEMENTS_NODELIST){
+		retval=0xA0000002;
+	}
+	else
+    {
+        for(i=0;i<NodeHdlCount;i++){
+            UA_ReadValueId_init(&item[i]);
+            item[i].nodeId = *(UA_NodeId*)NodeHdls[i];
+            //item[i].nodeId.identifier.numeric = NodeHdls[i];//zjy 20240910
+            item[i].attributeId = NodeAddInfos[i].AttributeID;
+            //item[i].nodeId.namespaceIndex = 1;
+            printf("------------#2------NodeHdls[i] = %ld ,item[i].nodeId = %d,item[i].attributeId=%d,item[i].nodeId.namespaceIndex=%d-\n",
+               NodeHdls[i],item[i].nodeId.identifier.string.length,item[i].attributeId,item[i].nodeId.namespaceIndex);
+        }
+        UA_ReadRequest request;
+        UA_ReadRequest_init(&request);
+        request.nodesToRead = &item[0];
+        request.nodesToReadSize = 1;
+        UA_ReadResponse response = UA_Client_Service_read(c, request);
+        retval = response.responseHeader.serviceResult;
+        if(retval == UA_STATUSCODE_GOOD)
+        {
+            printf("------------#3---------------\n");
+            if(response.resultsSize==NodeHdlCount)
+            {
+                printf("------------#4---------------\n");
+                for (i = 0; i < NodeHdlCount; i++)
+                {
+                    ErrorIDs[i]=response.results[i].status;
+                }
+                retval = 0 ;
+                for(i=0;i<NodeHdlCount;i++)
+                {
+                    if(ErrorIDs[i]==UA_STATUSCODE_GOOD)
+                    {
+                        printf("------------#5---------------\n");
+                        UA_DataValue res = response.results[i];
+                        if(!res.hasValue)
+                        {
+                            printf("------------#6---------------\n");
+                            UA_ReadResponse_clear(&response);
+                            retval =  UA_STATUSCODE_BADUNEXPECTEDERROR;
+                        }
+						else
+						{
+  							if(NodeAddInfos[i].AttributeID == UA_ATTRIBUTEID_VALUE)
+							{
+  								//UA_Variant *out=malloc(sizeof(UA_Variant));
+								UA_Variant out;
+								//memcpy(&out, &res.value, sizeof(UA_Variant));
+								//UA_Variant_init(&res.value);
+								//variables[i].data =res.value.data;
+								long temp ;
+								memcpy(&temp,res.value.data,8);
+								variables[i].data = (void *)temp;
+
+								variables[i].type=res.value.type->typeId.identifier.numeric;
+
+							}
+							else if(NodeAddInfos[i].AttributeID == UA_ATTRIBUTEID_NODECLASS)
+							{
+								//UA_NodeClass *out1;
+								//memcpy(out1, (UA_NodeClass*)res.value.data, sizeof(UA_NodeClass));
+								memcpy(variables[i].data,res.value.data,8);
+								variables[i].type=UA_TYPES_NODECLASS;
+							}
+							else if(UA_Variant_isScalar(&res.value))
+							{
+								//memcpy(&variables[i].data, &res.value.data, res.value.type->memSize);
+								//UA_free(res.value.data);
+								//res.value.data = 0;
+								variables[i].type=res.value.type->typeId.identifier.numeric;
+							}
+							else
+							{
+								retval = UA_STATUSCODE_BADUNEXPECTEDERROR;
+							}
+
+						}
+						UA_free(res.value.data);   //?????   need or not
+					}
+                }  //end for
+            }
+            else
+            {
+
+                retval = UA_STATUSCODE_BADUNEXPECTEDERROR;
+            }
+        }//end if(retval == UA_STATUSCODE_GOOD)
+      //  printf("------------#f8 --------------\n");
+        // UA_ReadResponse_clear(&response);
+    }
+
+    return retval;
+}
+
+u32 UA_WriteList(long ConnectionHdl,u16 NodeHdlCount,long *NodeHdls,UANodeAdditionalInfo *NodeAddInfos,UA_Value *variables,u32 ErrorIDs[]){
+	UA_Client *c = (UA_Client*)ConnectionHdl;
+	int i;
+	UA_StatusCode retval=0;
+	if(NodeHdlCount>MAX_ELEMENTS_NODELIST){
+		retval=0xA0000002;
+		return retval;
+	}
+	//UA_NodeId NODEid= UA_NODEID_STRING(1, "A1.the anwser2");
+	//UA_Client_writeValueAttribute(c,NODEid,&in);
+	UA_WriteValue wValue[NodeHdlCount];
+	for(i=0;i<NodeHdlCount;i++){
+		UA_WriteValue_init(&wValue[i]);
+	 	wValue[i].nodeId = *(UA_NodeId*)NodeHdls[i];
+	 	//wValue[i].nodeId = NODEid;
+	 	wValue[i].attributeId = NodeAddInfos[i].AttributeID;
+	 	if(NodeAddInfos[i].AttributeID == UA_ATTRIBUTEID_VALUE){
+	 		UA_Variant in;
+			UA_Variant_init(&in);
+			UA_Variant_setScalar(&in,variables[i].data,&UA_TYPES[variables[i].type-1]);
+         	wValue[i].value.value = in;
+			wValue[i].value.hasValue = true;
+	 	}
+	 	else{
+	 		UA_Variant_setScalar(&wValue[i].value.value, (void*)(uintptr_t)variables[i].data, &UA_TYPES[variables[i].type-1]);
+		}
+	}
+	UA_WriteRequest wReq;
+	UA_WriteRequest_init(&wReq);
+	wReq.nodesToWrite = &wValue[0];
+	wReq.nodesToWriteSize = NodeHdlCount;
+
+	UA_WriteResponse wResp = UA_Client_Service_write(c, wReq);
+
+	retval = wResp.responseHeader.serviceResult;
+	if(retval==UA_STATUSCODE_GOOD){
+		if(wResp.resultsSize==NodeHdlCount){
+			for(i=0;i<NodeHdlCount;i++){
+				ErrorIDs[i]=wResp.results[i];
+			}
+		}else{
+			retval=UA_STATUSCODE_BADUNEXPECTEDERROR;
+		}
+	}
+	UA_WriteRequest_clear(&wResp);
+	return retval;
+}
+
+void readTest(long ConnectionHdl,u16 NodeHdlCount,long *NodeHdls,UA_Value *variables,u32 ErrorIDs[])
+{
+    UA_Client *c = (UA_Client*)ConnectionHdl;
+	int i;
+	u32 retval;
+ 	UA_ReadValueId item[NodeHdlCount];
+	if(NodeHdlCount>MAX_ELEMENTS_NODELIST){
+		retval=0xA0000002;
+	}
+	else
+    {
+        for(i=0;i<NodeHdlCount;i++){
+            UA_ReadValueId_init(&item[i]);
+            item[i].nodeId = *(UA_NodeId*)NodeHdls[i];
+            //item[i].nodeId.identifier.numeric = NodeHdls[i];//zjy 20240910
+            item[i].attributeId = 1;
+            //item[i].nodeId.namespaceIndex = 1;
+            printf("------------#2------NodeHdls[i] = %ld ,item[i].nodeId = %d,item[i].attributeId=%d,item[i].nodeId.namespaceIndex=%d-\n",
+               NodeHdls[i],item[i].nodeId.identifier.string.length,item[i].attributeId,item[i].nodeId.namespaceIndex);
+        }
+        UA_ReadRequest request;
+        UA_ReadRequest_init(&request);
+        request.nodesToRead = &item[0];
+        request.nodesToReadSize = 1;
+        UA_ReadResponse response = UA_Client_Service_read(c, request);
+        retval = response.responseHeader.serviceResult;
+        if(retval == UA_STATUSCODE_GOOD)
+        {
+            printf("------------#3---------------\n");
+            printf("%d\n",response.resultsSize);
+            if(response.resultsSize==NodeHdlCount)
+            {
+                printf("------------#4---------------\n");
+                for (i = 0; i < NodeHdlCount; i++)
+                {
+                    ErrorIDs[i]=response.results[i].status;
+                }
+                retval = 0 ;
+                for(i=0;i<NodeHdlCount;i++)
+                {
+                    if(ErrorIDs[i]==UA_STATUSCODE_GOOD)
+                    {
+                        printf("------------#5---------------\n");
+                        UA_DataValue res = response.results[i];
+                        if(!res.hasValue)
+                        {
+                            printf("------------#6---------------\n");
+                            UA_ReadResponse_clear(&response);
+                            retval =  UA_STATUSCODE_BADUNEXPECTEDERROR;
+                        }
+						else
+						{
+  							memcpy(variables[i].data,res.value.data,8);
+							variables[i].type=UA_TYPES_NODECLASS;
+						}
+						UA_free(res.value.data);   //?????   need or not
+					}
+                }  //end for
+            }
+            else
+            {
+
+                retval = UA_STATUSCODE_BADUNEXPECTEDERROR;
+            }
+        }
+    }
+}
+
+void writeTest(long ConnectionHdl,u16 NodeHdlCount,long *NodeHdls,UA_Value *variables,u32 ErrorIDs[]){
+    UA_Client *c = (UA_Client*)ConnectionHdl;
+	int i;
+	UA_StatusCode retval=0;
+	if(NodeHdlCount>MAX_ELEMENTS_NODELIST){
+		retval=0xA0000002;
+		return retval;
+	}
+	//UA_NodeId NODEid= UA_NODEID_STRING(1, "A1.the anwser2");
+	//UA_Client_writeValueAttribute(c,NODEid,&in);
+	UA_WriteValue wValue[NodeHdlCount];
+	for(i=0;i<NodeHdlCount;i++){
+		UA_WriteValue_init(&wValue[i]);
+	 	wValue[i].nodeId = *(UA_NodeId*)NodeHdls[i];
+	 	//wValue[i].nodeId = NODEid;
+	 	wValue[i].attributeId = 1;
+	 	UA_Variant_setScalar(&wValue[i].value.value, (void*)(uintptr_t)variables[i].data, &UA_TYPES[variables[i].type-1]);
+	}
+	UA_WriteRequest wReq;
+	UA_WriteRequest_init(&wReq);
+	wReq.nodesToWrite = &wValue[0];
+	wReq.nodesToWriteSize = NodeHdlCount;
+
+	UA_WriteResponse wResp = UA_Client_Service_write(c, wReq);
+
+	retval = wResp.responseHeader.serviceResult;
+	if(retval==UA_STATUSCODE_GOOD){
+		if(wResp.resultsSize==NodeHdlCount){
+			for(i=0;i<NodeHdlCount;i++){
+				ErrorIDs[i]=wResp.results[i];
+			}
+		}else{
+			retval=UA_STATUSCODE_BADUNEXPECTEDERROR;
+		}
+	}
+	UA_WriteRequest_clear(&wResp);
+	return retval;
+}
+
+u32 SubscriptionCreate(long ConnectionHdl,bool PublishingEnable,u16 Priority,long *SubscriptionHdl,TIME *PublishingInterval){
+	UA_Client *c = (UA_Client*)ConnectionHdl;
+	UA_CreateSubscriptionRequest request = UA_CreateSubscriptionRequest_default();
+	request.requestedPublishingInterval=*PublishingInterval;
+	request.publishingEnabled=PublishingEnable;
+	request.priority=Priority;
+	UA_CreateSubscriptionResponse *response=malloc(sizeof(UA_CreateSubscriptionResponse));
+	*response = UA_Client_Subscriptions_create(c,request,NULL,NULL,NULL);
+	u32 retval=response[0].responseHeader.serviceResult;
+	if(retval!=UA_STATUSCODE_GOOD){
+		UA_CreateSubscriptionResponse_clear(&response[0]);
+		return retval;
+	}
+	printf("response[0].subscripstionId is %x\n",response[0].subscriptionId);
+	*SubscriptionHdl=(long *)response[0].subscriptionId;
+	UA_CreateSubscriptionResponse_clear(&response[0]);
+	return retval;
+}
+
+u32 UA_SubscriptionDelete(long ConnectionHdl,long SubscriptionHdl){
+	UA_Client *c = (UA_Client*)ConnectionHdl;
+	u32 retval=UA_Client_Subscriptions_deleteSingle(c,SubscriptionHdl);
+	return retval;
+}
+
+u32 SubscriptionHdlzu2[100];
+u32 MonItemHdlzu[100];
+UAMonitoredVariables MonVlaue[100];
+int MontNum=0;
+static void handler_DataChanged(UA_Client *client, UA_UInt32 subId,
+                                    void *subContext, UA_UInt32 monId,
+                                    void *monContext, UA_DataValue *value)
+{
+    UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Received Notification");
+
+    UA_NodeId *ptr = (UA_NodeId*)monContext;
+	SubscriptionHdlzu2[MontNum]=subId;
+	MonItemHdlzu[MontNum]=monId;
+	MonVlaue[MontNum].Values.data=value->value.data;
+	MonVlaue[MontNum].Values.type=value->value.type->typeId.identifier.numeric;
+	UA_DateTime now = UA_DateTime_nowMonotonic();
+	MonVlaue[MontNum].TimeStamps=now;
+	MonVlaue[MontNum].NewValuesCount=1;
+	//MonVlaue[MontNum].NodeQualityIDs[0]=0;
+    //UA_Int32 currentValue = *(UA_Int32*)(value->value.data);
+
+	MontNum++;
+}
+
+u32 MonitoredItemAddList(long ConnectionHdl,long SubscriptionHdl,u16 NodeHdlCount,
+							long *NodeHdls,UAMonitoringSyncMode SyncMode,
+							UANodeAdditionalInfo *NodeAddInfos,u32 *MonitoredItemHdls,u32 ErrorIDs[]){
+	UA_Client *c = (UA_Client*)ConnectionHdl;
+	u32 retval=0;
+	if(NodeHdlCount>MAX_ELEMENTS_MONITORLIST){
+		retval=0xA0000002;
+		return retval;
+	}
+	if(SyncMode==UAMS_ControllerSync){
+		for(int i=0;i<NodeHdlCount;i++){
+			UA_NodeId *NodeID=(UA_NodeId*)NodeHdls[i];
+			UA_MonitoredItemCreateRequest monRequest=UA_MonitoredItemCreateRequest_default(*NodeID);
+			monRequest.itemToMonitor.attributeId = NodeAddInfos[i].AttributeID;
+			UA_MonitoredItemCreateResult monResponse=
+			UA_Client_MonitoredItems_createDataChange(c,SubscriptionHdl,UA_TIMESTAMPSTORETURN_BOTH,
+														monRequest,NodeID,handler_DataChanged,NULL);
+		if(monResponse.statusCode!=UA_STATUSCODE_GOOD){
+			retval=monResponse.statusCode;
+		}
+		ErrorIDs[i]=monResponse.statusCode;
+		MonitoredItemHdls[i]=monResponse.monitoredItemId;
+		}
+	}
+	return retval;
+
+}
+
+u32 Browse(long ConnectionHdl,UABrowseDescription BrowseDescription,u32 ContinuationPointIn,u16 *BrowseResultCount,UAReferenceDescription *BrowseResult,u32 ContinuationPointOut){
+	UA_Client *c = (UA_Client*)ConnectionHdl;
+	UA_StatusCode retval;
+	if(ContinuationPointIn==0){
+		UA_BrowseRequest bReq;
+		UA_BrowseRequest_init(&bReq);
+		bReq.requestedMaxReferencesPerNode = 0;
+		bReq.nodesToBrowse = UA_BrowseDescription_new();
+		bReq.nodesToBrowseSize = 1;
+		switch(BrowseDescription.StartingNodeID.IdentifierType){
+			case 0:bReq.nodesToBrowse[0].nodeId=UA_NODEID_NUMERIC(BrowseDescription.StartingNodeID.NamespaceIndex,BrowseDescription.StartingNodeID.Identifier.data);break;
+			case 1:bReq.nodesToBrowse[0].nodeId=UA_NODEID_STRING(BrowseDescription.StartingNodeID.NamespaceIndex,BrowseDescription.StartingNodeID.Identifier.data);break;
+			case 2:bReq.nodesToBrowse[0].nodeId.identifierType=4;
+					bReq.nodesToBrowse[0].nodeId.identifier.string.data=BrowseDescription.StartingNodeID.Identifier.data;
+					bReq.nodesToBrowse[0].nodeId.identifier.string.length=BrowseDescription.StartingNodeID.Identifier.length;
+					bReq.nodesToBrowse[0].nodeId.namespaceIndex=BrowseDescription.StartingNodeID.NamespaceIndex;break;
+			case 3:bReq.nodesToBrowse[0].nodeId=UA_NODEID_BYTESTRING(BrowseDescription.StartingNodeID.NamespaceIndex,BrowseDescription.StartingNodeID.Identifier.data);break;
+			default:retval=UA_STATUSCODE_BADUNEXPECTEDERROR;
+		}
+		if(BrowseDescription.ReferenceTypeID.Identifier.length!=NULL)
+			bReq.nodesToBrowse[0].referenceTypeId=UA_NODEID_NUMERIC(0,BrowseDescription.ReferenceTypeID.Identifier.length);
+		if(BrowseDescription.ResultMask==1||BrowseDescription.ResultMask==2||BrowseDescription.ResultMask==4||BrowseDescription.ResultMask==8||BrowseDescription.ResultMask==16)
+		 	bReq.nodesToBrowse[0].resultMask = BrowseDescription.ResultMask;
+		if(BrowseDescription.Direction==2||BrowseDescription.Direction==1||BrowseDescription.Direction==0)
+		 	bReq.nodesToBrowse[0].browseDirection = BrowseDescription.Direction;
+		if(BrowseDescription.IncludeSubtypes==0||BrowseDescription.IncludeSubtypes==1)
+		 	bReq.nodesToBrowse[0].includeSubtypes = BrowseDescription.IncludeSubtypes;
+		if(BrowseDescription.NodeClass!=NULL)
+		 	bReq.nodesToBrowse[0].nodeClassMask = BrowseDescription.NodeClass;
+
+		UA_BrowseResponse bResp = UA_Client_Service_browse(c, bReq);
+		retval = bResp.responseHeader.serviceResult;
+		if(retval == UA_STATUSCODE_GOOD) {
+			if(bResp.results[0].referencesSize<=MAX_ELEMENTS_NODELIST){
+				*BrowseResultCount=bResp.results[0].referencesSize;
+				for(size_t j = 0; j < bResp.results[0].referencesSize; ++j){
+					UA_ReferenceDescription *ref = &bResp.results[0].references[j];
+					saveUA_ReferenceDescriptionToUAReferenceDescription(j,ref,BrowseResult);
+				}
+				ContinuationPointOut=0;
+			}else if(bResp.results[0].referencesSize>MAX_ELEMENTS_NODELIST){
+				*BrowseResultCount=MAX_ELEMENTS_NODELIST;
+				UA_ReferenceDescription *ref1=malloc(sizeof(UA_ReferenceDescription)*(bResp.results[0].referencesSize-MAX_ELEMENTS_NODELIST+1));
+				for(size_t j = 0; j < MAX_ELEMENTS_NODELIST; ++j){
+					UA_ReferenceDescription *ref = &bResp.results[0].references[j];
+					saveUA_ReferenceDescriptionToUAReferenceDescription(j,ref,BrowseResult);
+				}
+				for(size_t j=MAX_ELEMENTS_NODELIST+1;j<=bResp.results[0].referencesSize;j++){
+					ref1[j-MAX_ELEMENTS_NODELIST]=bResp.results[0].references[j];
+				}
+				ref1[0].browseName.namespaceIndex=bResp.results[0].referencesSize-MAX_ELEMENTS_NODELIST;
+				ContinuationPointOut=(u32 *)ref1;
+			}
+
+		}
+		//UA_BrowseRequest_clear(&bReq);
+    	//UA_BrowseResponse_clear(&bResp);
+	}else{
+		UA_ReferenceDescription *ref=(UA_ReferenceDescription *)ContinuationPointOut;
+		if(ref[0].browseName.namespaceIndex<=MAX_ELEMENTS_NODELIST){
+			for(size_t j = 1; j < ref[0].browseName.namespaceIndex+1; ++j){
+				saveUA_ReferenceDescriptionToUAReferenceDescription(j,ref,BrowseResult);
+			}
+			ContinuationPointOut=0;
+		}else if(ref[0].browseName.namespaceIndex>MAX_ELEMENTS_NODELIST){
+			UA_ReferenceDescription *ref1=malloc(sizeof(UA_ReferenceDescription)*(ref[0].browseName.namespaceIndex-MAX_ELEMENTS_NODELIST+1));
+			for(size_t j = 1; j < MAX_ELEMENTS_NODELIST+1; ++j){
+				saveUA_ReferenceDescriptionToUAReferenceDescription(j,ref,BrowseResult);
+			}
+			for(size_t j=MAX_ELEMENTS_NODELIST+1;j<=ref[0].browseName.namespaceIndex;j++){
+				ref1[j-MAX_ELEMENTS_NODELIST]=ref[j];
+			}
+			ref1[0].browseName.namespaceIndex=ref[0].browseName.namespaceIndex-MAX_ELEMENTS_NODELIST;
+			ContinuationPointOut=(u32 *)ref1;
+		}
+
+	}
+
+	return retval;
+}
+
+
+u32 UA_MethodGetHandleList(long ConnectionHdl,u16 NodeIDCount,UANodeID *ObjectNodeIDs,UANodeID *MethodNodeIDs,long *MethodHdls,u32 ErrorIDs[]){
+	UA_Client *c = (UA_Client*)ConnectionHdl;
+	u32 retval=0;
+	if(NodeIDCount>MAX_ELEMENTS_METHOD){
+		retval=0xA0000002;
+		return retval;
+	}
+	UA_CallRequest *request=malloc(sizeof(UA_CallRequest));
+	UA_CallRequest_init(request);
+	UA_CallMethodRequest *item = (UA_CallMethodRequest*)malloc(sizeof(UA_CallMethodRequest) * NodeIDCount);
+	for(int i = 0;i<NodeIDCount;i++){
+
+		UA_CallMethodRequest_init(&item[i]);
+
+		switch(ObjectNodeIDs[i].IdentifierType){
+			case 0:item[i].objectId=UA_NODEID_NUMERIC(ObjectNodeIDs[i].NamespaceIndex,ObjectNodeIDs[i].Identifier.data);break;
+			case 1:item[i].objectId=UA_NODEID_STRING(ObjectNodeIDs[i].NamespaceIndex,ObjectNodeIDs[i].Identifier.data);break;
+			case 2:item[i].objectId.identifierType=4;
+					item[i].objectId.identifier.string.data=ObjectNodeIDs[i].Identifier.data;
+					item[i].objectId.identifier.string.length=ObjectNodeIDs[i].Identifier.length;
+					item[i].objectId.namespaceIndex=ObjectNodeIDs[i].NamespaceIndex;break;
+			case 3:item[i].objectId=UA_NODEID_BYTESTRING(ObjectNodeIDs[i].NamespaceIndex,ObjectNodeIDs[i].Identifier.data);break;
+			default:ErrorIDs[i]==0xA0000301;retval=ErrorIDs[i];break;
+		}
+		switch(MethodNodeIDs[i].IdentifierType){
+			case 0:item[i].methodId=UA_NODEID_NUMERIC(MethodNodeIDs[i].NamespaceIndex,MethodNodeIDs[i].Identifier.data);break;
+			case 1:item[i].methodId=UA_NODEID_STRING(MethodNodeIDs[i].NamespaceIndex,MethodNodeIDs[i].Identifier.data);break;
+			case 2:item[i].methodId.identifierType=4;
+					item[i].methodId.identifier.string.data=MethodNodeIDs[i].Identifier.data;
+					item[i].methodId.identifier.string.length=MethodNodeIDs[i].Identifier.length;
+					item[i].methodId.namespaceIndex=MethodNodeIDs[i].NamespaceIndex;break;
+			case 3:item[i].methodId=UA_NODEID_BYTESTRING(MethodNodeIDs[i].NamespaceIndex,MethodNodeIDs[i].Identifier.data);break;
+			default:ErrorIDs[i]==0xA0000301;retval=ErrorIDs[i];break;
+		}
+		//UA_CallMethodRequest_clear(&item);
+		
+
+		//UA_CallRequest_clear(request);
+		
+		MethodHdls[i]=(long *)&item[i];
+		printf("%lld\n",MethodHdls[i]);
+		ErrorIDs[i]=0;
+	}
+	request->methodsToCall = &item;
+	request->methodsToCallSize = NodeIDCount;
+
+	return retval;
+}
+
+
+
+
+int main(int argc, char *argv[]) {
+	
+    // long connecthdl;
+	// Connect(&connecthdl);
+	UA_Client *client = UA_Client_new();
+    UA_ClientConfig_setDefault(UA_Client_getConfig(client));
+    UA_StatusCode retval = UA_Client_connect(client, "opc.tcp://localhost:4840");
+    if(retval != UA_STATUSCODE_GOOD) {
+        UA_Client_delete(client);
+        return (int)retval;
+    }
+	long hdl = (long)client;
+	UANodeID nodes[4];
+	long nodeHdls[4] = {0};
+	u32 errors[4];
+	printf("Browsing nodes in objects folder:\n");
+    UA_BrowseRequest bReq;
+    UA_BrowseRequest_init(&bReq);
+    bReq.requestedMaxReferencesPerNode = 0;
+    bReq.nodesToBrowse = UA_BrowseDescription_new();
+    bReq.nodesToBrowseSize = 1;
+    bReq.nodesToBrowse[0].nodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER); /* browse objects folder */
+    bReq.nodesToBrowse[0].resultMask = UA_BROWSERESULTMASK_ALL; /* return everything */
+    UA_BrowseResponse bResp = UA_Client_Service_browse(client, bReq);
+	printf("\n\n 0x%08x \n\n",bResp.responseHeader.serviceResult);
+    printf("%-9s %-16s %-16s %-16s\n", "NAMESPACE", "NODEID", "BROWSE NAME", "DISPLAY NAME");
+    for(size_t i = 0; i < bResp.resultsSize; ++i) {
+        for(size_t j = 0; j < bResp.results[i].referencesSize; ++j) {
+            UA_ReferenceDescription *ref = &(bResp.results[i].references[j]);
+            if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_NUMERIC) {
+                printf("%-9u %-16u %-16.*s %-16.*s\n", ref->nodeId.nodeId.namespaceIndex,
+                       ref->nodeId.nodeId.identifier.numeric, (int)ref->browseName.name.length,
+                       ref->browseName.name.data, (int)ref->displayName.text.length,
+                       ref->displayName.text.data);
+            } else if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_STRING) {
+                printf("%-9u %-16.*s %-16.*s %-16.*s\n", ref->nodeId.nodeId.namespaceIndex,
+                       (int)ref->nodeId.nodeId.identifier.string.length,
+                       ref->nodeId.nodeId.identifier.string.data,
+                       (int)ref->browseName.name.length, ref->browseName.name.data,
+                       (int)ref->displayName.text.length, ref->displayName.text.data);
+            }
+
+			printf("\n%lld\n\n",ref->nodeId.nodeId.identifier.numeric);
+
+			nodes[j].Identifier.length = ref->nodeId.nodeId.identifier.string.length;
+			if(nodes[j].Identifier.length > 0) {
+    			nodes[j].Identifier.data = (u8*)malloc(nodes[j].Identifier.length);
+				snprintf(nodes[j].Identifier.data, 64, "%lld", (long long)ref->nodeId.nodeId.identifier.numeric);
+    			
+			}
+			nodes[j].IdentifierType = ref->nodeId.nodeId.identifierType;
+			nodes[j].NamespaceIndex = ref->nodeId.nodeId.namespaceIndex;
+            /* TODO: distinguish further types */
+        }
+    }
+    UA_BrowseRequest_clear(&bReq);
+    UA_BrowseResponse_clear(&bResp);
+
+	UANodeID ObjectNodeIDs[4];
+	UANodeID MethodNodeIDs[1];
+	long MethodHdls[4];
+	u32 ErrorIDs[1];
+	UA_MethodGetHandleList(hdl,4,nodes,MethodNodeIDs,MethodHdls,ErrorIDs);
+	printf("1111\n");
+	printf("%lld\n",MethodHdls[1]);
+	
+    /* Clean up */
+    UA_Client_disconnect(client);
+    UA_Client_delete(client);
+	
+}