393 lines
14 KiB
C
393 lines
14 KiB
C
#include <string.h>
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#include "UA_PLC.h"
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// UA_Client *client;
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// u32 Connect(long *ConnectionHdl){
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// UA_Client *c = UA_Client_new();
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// UA_StatusCode flag = UA_ClientConfig_setDefault(UA_Client_getConfig(c));
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// UA_ClientConfig *config=UA_Client_getConfig(c);
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// if (flag == UA_STATUSCODE_GOOD) {
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// flag=UA_Client_connect(c, "opc.tcp://localhost:4840");
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// }else
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// {
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// UA_Client_delete(c);
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// //memset(c,0,100);
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// return flag;
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// }
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// client = c;
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// *ConnectionHdl = (long *)c;
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// printf("ConnectionHdl %lld \n",*ConnectionHdl);
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// return flag;
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// }
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u32 UA_NodeGetHandleList(long ConnectionHdl,u16 NodeIDCount,UANodeID *NodeIDs,long *NodeHdls,u32 ErrorIDs[]){
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int i;
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u32 retval=0;
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UA_NodeId *NodeID=malloc(sizeof(UA_NodeId)*NodeIDCount);
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if(NodeIDCount>MAX_ELEMENTS_NODELIST){
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retval=0xA0000002;
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return retval;
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}
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for(i=0;i<NodeIDCount;i++){
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printf("\nNdeIDs[i].IdentifierType=%d,NodeIDs[i].NamespaceIndex=%d,NodeIDs[i].Identifier.length=%d, NodeIDs[i].Identifier.data=%s\n",
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NodeIDs[i].IdentifierType, NodeIDs[i].NamespaceIndex, NodeIDs[i].Identifier.length ,NodeIDs[i].Identifier.data );
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if(NodeIDs[i].IdentifierType>=0&&NodeIDs[i].IdentifierType<4){
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switch(NodeIDs[i].IdentifierType){
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case 0:NodeID[i]=UA_NODEID_NUMERIC(NodeIDs[i].NamespaceIndex,NodeIDs[i].Identifier.data);break;
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case 1:NodeID[i]=UA_NODEID_STRING(NodeIDs[i].NamespaceIndex,NodeIDs[i].Identifier.data);break;
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case 2:NodeID[i].identifierType=4;
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NodeID[i].identifier.string.data=NodeIDs[i].Identifier.data;
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NodeID[i].identifier.string.length=NodeIDs[i].Identifier.length;
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NodeID[i].namespaceIndex=NodeIDs[i].NamespaceIndex;break;
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case 3:NodeID[i]=UA_NODEID_BYTESTRING(NodeIDs[i].NamespaceIndex,NodeIDs[i].Identifier.data);break;
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}
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ErrorIDs[i]=0;
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}else{
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ErrorIDs[i]=0xA0000301;
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retval=ErrorIDs[i];
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}
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// NodeID[i].identifier.string.data=NodeIDs[i].Identifier.data;
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// NodeID[i].identifier.string.length=NodeIDs[i].Identifier.length;
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// NodeID[i].namespaceIndex=NodeIDs[i].NamespaceIndex;
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NodeHdls[i]=&NodeID[i];
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//UA_NodeId *NodeID1=malloc(sizeof(UA_NodeId)*NodeIDCount);
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//UA_NodeId_delete(&NodeID[i]);
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}
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return retval;
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}
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u32 UA_ReadList(long ConnectionHdl,u16 NodeHdlCount,long *NodeHdls,UANodeAdditionalInfo *NodeAddInfos,UA_Value *variables,u32 ErrorIDs[]){
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UA_Client *c = (UA_Client*)ConnectionHdl;
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int i;
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u32 retval;
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UA_ReadValueId item[NodeHdlCount];
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if(NodeHdlCount>MAX_ELEMENTS_NODELIST){
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retval=0xA0000002;
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}
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else
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{
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for(i=0;i<NodeHdlCount;i++){
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UA_ReadValueId_init(&item[i]);
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item[i].nodeId = *(UA_NodeId*)NodeHdls[i];
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//item[i].nodeId.identifier.numeric = NodeHdls[i];//zjy 20240910
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item[i].attributeId = NodeAddInfos[i].AttributeID;
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//item[i].nodeId.namespaceIndex = 1;
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printf("------------#2------NodeHdls[i] = %ld ,item[i].nodeId = %d,item[i].attributeId=%d,item[i].nodeId.namespaceIndex=%d-\n",
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NodeHdls[i],item[i].nodeId.identifier.string.length,item[i].attributeId,item[i].nodeId.namespaceIndex);
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}
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UA_ReadRequest request;
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UA_ReadRequest_init(&request);
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request.nodesToRead = &item[0];
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request.nodesToReadSize = 1;
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UA_ReadResponse response = UA_Client_Service_read(c, request);
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retval = response.responseHeader.serviceResult;
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if(retval == UA_STATUSCODE_GOOD)
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{
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printf("------------#3---------------\n");
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if(response.resultsSize==NodeHdlCount)
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{
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printf("------------#4---------------\n");
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for (i = 0; i < NodeHdlCount; i++)
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{
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ErrorIDs[i]=response.results[i].status;
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}
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retval = 0 ;
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for(i=0;i<NodeHdlCount;i++)
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{
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if(ErrorIDs[i]==UA_STATUSCODE_GOOD)
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{
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printf("------------#5---------------\n");
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UA_DataValue res = response.results[i];
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if(!res.hasValue)
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{
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printf("------------#6---------------\n");
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UA_ReadResponse_clear(&response);
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retval = UA_STATUSCODE_BADUNEXPECTEDERROR;
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}
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else
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{
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if(NodeAddInfos[i].AttributeID == UA_ATTRIBUTEID_VALUE)
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{
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//UA_Variant *out=malloc(sizeof(UA_Variant));
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UA_Variant out;
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//memcpy(&out, &res.value, sizeof(UA_Variant));
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//UA_Variant_init(&res.value);
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//variables[i].data =res.value.data;
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long temp ;
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memcpy(&temp,res.value.data,8);
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variables[i].data = (void *)temp;
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variables[i].type=res.value.type->typeId.identifier.numeric;
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}
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else if(NodeAddInfos[i].AttributeID == UA_ATTRIBUTEID_NODECLASS)
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{
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//UA_NodeClass *out1;
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//memcpy(out1, (UA_NodeClass*)res.value.data, sizeof(UA_NodeClass));
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memcpy(variables[i].data,res.value.data,8);
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variables[i].type=UA_TYPES_NODECLASS;
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}
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else if(UA_Variant_isScalar(&res.value))
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{
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//memcpy(&variables[i].data, &res.value.data, res.value.type->memSize);
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//UA_free(res.value.data);
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//res.value.data = 0;
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variables[i].type=res.value.type->typeId.identifier.numeric;
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}
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else
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{
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retval = UA_STATUSCODE_BADUNEXPECTEDERROR;
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}
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}
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UA_free(res.value.data); //????? need or not
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}
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} //end for
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}
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else
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{
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retval = UA_STATUSCODE_BADUNEXPECTEDERROR;
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}
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}//end if(retval == UA_STATUSCODE_GOOD)
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// printf("------------#f8 --------------\n");
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// UA_ReadResponse_clear(&response);
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}
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return retval;
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}
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u32 UA_WriteList(long ConnectionHdl,u16 NodeHdlCount,long *NodeHdls,UANodeAdditionalInfo *NodeAddInfos,UA_Value *variables,u32 ErrorIDs[]){
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UA_Client *c = (UA_Client*)ConnectionHdl;
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int i;
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UA_StatusCode retval=0;
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if(NodeHdlCount>MAX_ELEMENTS_NODELIST){
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retval=0xA0000002;
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return retval;
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}
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//UA_NodeId NODEid= UA_NODEID_STRING(1, "A1.the anwser2");
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//UA_Client_writeValueAttribute(c,NODEid,&in);
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UA_WriteValue wValue[NodeHdlCount];
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for(i=0;i<NodeHdlCount;i++){
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UA_WriteValue_init(&wValue[i]);
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wValue[i].nodeId = *(UA_NodeId*)NodeHdls[i];
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//wValue[i].nodeId = NODEid;
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wValue[i].attributeId = NodeAddInfos[i].AttributeID;
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if(NodeAddInfos[i].AttributeID == UA_ATTRIBUTEID_VALUE){
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UA_Variant in;
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UA_Variant_init(&in);
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UA_Variant_setScalar(&in,variables[i].data,&UA_TYPES[variables[i].type-1]);
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wValue[i].value.value = in;
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wValue[i].value.hasValue = true;
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}
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else{
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UA_Variant_setScalar(&wValue[i].value.value, (void*)(uintptr_t)variables[i].data, &UA_TYPES[variables[i].type-1]);
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}
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}
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UA_WriteRequest wReq;
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UA_WriteRequest_init(&wReq);
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wReq.nodesToWrite = &wValue[0];
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wReq.nodesToWriteSize = NodeHdlCount;
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UA_WriteResponse wResp = UA_Client_Service_write(c, wReq);
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retval = wResp.responseHeader.serviceResult;
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if(retval==UA_STATUSCODE_GOOD){
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if(wResp.resultsSize==NodeHdlCount){
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for(i=0;i<NodeHdlCount;i++){
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ErrorIDs[i]=wResp.results[i];
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}
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}else{
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retval=UA_STATUSCODE_BADUNEXPECTEDERROR;
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}
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}
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UA_WriteRequest_clear(&wResp);
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return retval;
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}
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void readTest(long ConnectionHdl,u16 NodeHdlCount,long *NodeHdls,UA_Value *variables,u32 ErrorIDs[])
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{
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UA_Client *c = (UA_Client*)ConnectionHdl;
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int i;
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u32 retval;
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UA_ReadValueId item[NodeHdlCount];
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if(NodeHdlCount>MAX_ELEMENTS_NODELIST){
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retval=0xA0000002;
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}
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else
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{
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for(i=0;i<NodeHdlCount;i++){
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UA_ReadValueId_init(&item[i]);
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item[i].nodeId = *(UA_NodeId*)NodeHdls[i];
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//item[i].nodeId.identifier.numeric = NodeHdls[i];//zjy 20240910
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item[i].attributeId = 1;
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//item[i].nodeId.namespaceIndex = 1;
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printf("------------#2------NodeHdls[i] = %ld ,item[i].nodeId = %d,item[i].attributeId=%d,item[i].nodeId.namespaceIndex=%d-\n",
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NodeHdls[i],item[i].nodeId.identifier.string.length,item[i].attributeId,item[i].nodeId.namespaceIndex);
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}
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UA_ReadRequest request;
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UA_ReadRequest_init(&request);
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request.nodesToRead = &item[0];
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request.nodesToReadSize = 1;
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UA_ReadResponse response = UA_Client_Service_read(c, request);
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retval = response.responseHeader.serviceResult;
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if(retval == UA_STATUSCODE_GOOD)
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{
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printf("------------#3---------------\n");
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printf("%d\n",response.resultsSize);
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if(response.resultsSize==NodeHdlCount)
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{
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printf("------------#4---------------\n");
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for (i = 0; i < NodeHdlCount; i++)
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{
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ErrorIDs[i]=response.results[i].status;
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}
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retval = 0 ;
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for(i=0;i<NodeHdlCount;i++)
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{
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if(ErrorIDs[i]==UA_STATUSCODE_GOOD)
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{
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printf("------------#5---------------\n");
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UA_DataValue res = response.results[i];
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if(!res.hasValue)
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{
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printf("------------#6---------------\n");
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UA_ReadResponse_clear(&response);
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retval = UA_STATUSCODE_BADUNEXPECTEDERROR;
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}
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else
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{
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memcpy(variables[i].data,res.value.data,8);
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variables[i].type=UA_TYPES_NODECLASS;
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}
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UA_free(res.value.data); //????? need or not
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}
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} //end for
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}
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else
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{
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retval = UA_STATUSCODE_BADUNEXPECTEDERROR;
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}
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}
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}
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}
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void writeTest(long ConnectionHdl,u16 NodeHdlCount,long *NodeHdls,UA_Value *variables,u32 ErrorIDs[]){
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UA_Client *c = (UA_Client*)ConnectionHdl;
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int i;
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UA_StatusCode retval=0;
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if(NodeHdlCount>MAX_ELEMENTS_NODELIST){
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retval=0xA0000002;
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return retval;
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}
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//UA_NodeId NODEid= UA_NODEID_STRING(1, "A1.the anwser2");
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//UA_Client_writeValueAttribute(c,NODEid,&in);
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UA_WriteValue wValue[NodeHdlCount];
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for(i=0;i<NodeHdlCount;i++){
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UA_WriteValue_init(&wValue[i]);
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wValue[i].nodeId = *(UA_NodeId*)NodeHdls[i];
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//wValue[i].nodeId = NODEid;
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wValue[i].attributeId = 1;
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UA_Variant_setScalar(&wValue[i].value.value, (void*)(uintptr_t)variables[i].data, &UA_TYPES[variables[i].type-1]);
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}
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UA_WriteRequest wReq;
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UA_WriteRequest_init(&wReq);
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wReq.nodesToWrite = &wValue[0];
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wReq.nodesToWriteSize = NodeHdlCount;
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UA_WriteResponse wResp = UA_Client_Service_write(c, wReq);
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retval = wResp.responseHeader.serviceResult;
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if(retval==UA_STATUSCODE_GOOD){
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if(wResp.resultsSize==NodeHdlCount){
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for(i=0;i<NodeHdlCount;i++){
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ErrorIDs[i]=wResp.results[i];
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}
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}else{
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retval=UA_STATUSCODE_BADUNEXPECTEDERROR;
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}
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}
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UA_WriteRequest_clear(&wResp);
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return retval;
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}
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int main(int argc, char *argv[]) {
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// long connecthdl;
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// Connect(&connecthdl);
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UA_Client *client = UA_Client_new();
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UA_ClientConfig_setDefault(UA_Client_getConfig(client));
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UA_StatusCode retval = UA_Client_connect(client, "opc.tcp://localhost:4840");
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if(retval != UA_STATUSCODE_GOOD) {
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UA_Client_delete(client);
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return (int)retval;
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}
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long hdl = (long)client;
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UANodeID nodes[4];
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long nodeHdls[4] = {0};
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u32 errors[4];
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printf("Browsing nodes in objects folder:\n");
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UA_BrowseRequest bReq;
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UA_BrowseRequest_init(&bReq);
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bReq.requestedMaxReferencesPerNode = 0;
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bReq.nodesToBrowse = UA_BrowseDescription_new();
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bReq.nodesToBrowseSize = 1;
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bReq.nodesToBrowse[0].nodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER); /* browse objects folder */
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bReq.nodesToBrowse[0].resultMask = UA_BROWSERESULTMASK_ALL; /* return everything */
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UA_BrowseResponse bResp = UA_Client_Service_browse(client, bReq);
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printf("\n\n 0x%08x \n\n",bResp.responseHeader.serviceResult);
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printf("%-9s %-16s %-16s %-16s\n", "NAMESPACE", "NODEID", "BROWSE NAME", "DISPLAY NAME");
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for(size_t i = 0; i < bResp.resultsSize; ++i) {
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for(size_t j = 0; j < bResp.results[i].referencesSize; ++j) {
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UA_ReferenceDescription *ref = &(bResp.results[i].references[j]);
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if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_NUMERIC) {
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printf("%-9u %-16u %-16.*s %-16.*s\n", ref->nodeId.nodeId.namespaceIndex,
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ref->nodeId.nodeId.identifier.numeric, (int)ref->browseName.name.length,
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ref->browseName.name.data, (int)ref->displayName.text.length,
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ref->displayName.text.data);
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} else if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_STRING) {
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printf("%-9u %-16.*s %-16.*s %-16.*s\n", ref->nodeId.nodeId.namespaceIndex,
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(int)ref->nodeId.nodeId.identifier.string.length,
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ref->nodeId.nodeId.identifier.string.data,
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(int)ref->browseName.name.length, ref->browseName.name.data,
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(int)ref->displayName.text.length, ref->displayName.text.data);
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}
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printf("\n%lld\n\n",ref->nodeId.nodeId.identifier.numeric);
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nodes[j].Identifier.length = ref->nodeId.nodeId.identifier.string.length;
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if(nodes[j].Identifier.length > 0) {
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nodes[j].Identifier.data = (u8*)malloc(nodes[j].Identifier.length);
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snprintf(nodes[j].Identifier.data, 64, "%lld", (long long)ref->nodeId.nodeId.identifier.numeric);
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}
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nodes[j].IdentifierType = ref->nodeId.nodeId.identifierType;
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nodes[j].NamespaceIndex = ref->nodeId.nodeId.namespaceIndex;
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/* TODO: distinguish further types */
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}
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}
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UA_BrowseRequest_clear(&bReq);
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UA_BrowseResponse_clear(&bResp);
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UA_NodeGetHandleList(hdl,4,nodes,nodeHdls,errors);
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UA_Value *variables = (UA_Value*)malloc(4 * sizeof(UA_Value));
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readTest(hdl,4,nodeHdls,variables,errors);
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for (int i = 0; i < 4; i++)
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{
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printf("%d\n",variables[i].type);
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}
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/* Clean up */
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UA_Client_disconnect(client);
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UA_Client_delete(client);
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} |