193 lines
7.9 KiB
C
193 lines
7.9 KiB
C
#include "open62541.h"
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#include <stdio.h>
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#include <signal.h>
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#include <stdbool.h>
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#include <stdlib.h>
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static volatile UA_Boolean running = true;
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static void stopHandler(int sig) {
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UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Received Ctrl-C");
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running = false;
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}
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static UA_StatusCode
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helloMethodCallback(UA_Server *server,
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const UA_NodeId *sessionId, void *sessionContext,
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const UA_NodeId *methodId, void *methodContext,
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const UA_NodeId *objectId, void *objectContext,
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size_t inputSize, const UA_Variant *input,
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size_t outputSize, UA_Variant *output)
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{
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UA_String *inputStr = (UA_String*)input[0].data;
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const char *helloPrefix = "Hello ";
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size_t helloLen = strlen(helloPrefix);
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// 分配内存用于存储输出字符串（前缀 + 输入字符串）
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size_t resultLen = helloLen + inputStr->length;
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UA_Byte *result = (UA_Byte*)UA_malloc(resultLen);
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if (!result) {
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return UA_STATUSCODE_BADOUTOFMEMORY;
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}
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// 将 "Hello " 和输入字符串复制到结果中
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memcpy(result, helloPrefix, helloLen);
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memcpy(result + helloLen, inputStr->data, inputStr->length);
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// 将输出 variant 设置为结果字符串
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UA_String resultStr;
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resultStr.data = result;
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resultStr.length = resultLen;
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UA_Variant_setScalarCopy(output, &resultStr, &UA_TYPES[UA_TYPES_STRING]);
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// 清理结果缓冲区
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UA_String_clear(&resultStr);
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return UA_STATUSCODE_GOOD;
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}
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static void manuallyDefinePump(UA_Server *server)
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{
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//Add NameSpace
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const char *namespaceUri = "http://example.com/MyNamespace";
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UA_UInt16 namespaceIndex = UA_Server_addNamespace(server, namespaceUri);
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// 声明并获取服务器分配的节点 ID
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UA_NodeId pumpId;
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// 定义对象属性并设置显示名称
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UA_ObjectAttributes oAttr = UA_ObjectAttributes_default;
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oAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Pump (Manual)");
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// 添加泵对象节点
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UA_Server_addObjectNode(server,
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UA_NODEID_NUMERIC(namespaceIndex, 1),
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UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
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UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
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UA_QUALIFIEDNAME(1, "Pump (Manual)"),
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UA_NODEID_NUMERIC(0, UA_NS0ID_BASEOBJECTTYPE),
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oAttr, NULL, &pumpId);
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// 定义变量属性并添加“ManufacturerName”变量节点
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UA_VariableAttributes mnAttr = UA_VariableAttributes_default;
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UA_String manufacturerName = UA_STRING("Pump King Ltd.");
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UA_Variant_setScalar(&mnAttr.value, &manufacturerName, &UA_TYPES[UA_TYPES_STRING]);
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mnAttr.displayName = UA_LOCALIZEDTEXT("en-US", "ManufacturerName");
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UA_Server_addVariableNode(server,
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UA_NODEID_NULL,
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pumpId,
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
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UA_QUALIFIEDNAME(1, "ManufacturerName"),
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UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
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mnAttr, NULL, NULL);
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// 定义变量属性并添加“ModelName”变量节点
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UA_VariableAttributes modelAttr = UA_VariableAttributes_default;
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UA_String modelName = UA_STRING("Mega Pump 3000");
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UA_Variant_setScalar(&modelAttr.value, &modelName, &UA_TYPES[UA_TYPES_STRING]);
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modelAttr.displayName = UA_LOCALIZEDTEXT("en-US", "ModelName");
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UA_Server_addVariableNode(server,
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UA_NODEID_NULL,
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pumpId,
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
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UA_QUALIFIEDNAME(1, "ModelName"),
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UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
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modelAttr, NULL, NULL);
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// 定义变量属性并添加“Status”变量节点
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UA_VariableAttributes statusAttr = UA_VariableAttributes_default;
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UA_Boolean status = true;
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UA_Variant_setScalar(&statusAttr.value, &status, &UA_TYPES[UA_TYPES_BOOLEAN]);
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statusAttr.displayName = UA_LOCALIZEDTEXT("en-US", "Status");
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UA_Server_addVariableNode(server,
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UA_NODEID_NULL,
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pumpId,
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
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UA_QUALIFIEDNAME(1, "Status"),
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UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
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statusAttr, NULL, NULL);
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// 定义变量属性并添加“MotorRPM”变量节点
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UA_VariableAttributes rpmAttr = UA_VariableAttributes_default;
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UA_Double rpm = 50.0;
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UA_Variant_setScalar(&rpmAttr.value, &rpm, &UA_TYPES[UA_TYPES_DOUBLE]);
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rpmAttr.displayName = UA_LOCALIZEDTEXT("en-US", "MotorRPM");
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UA_Server_addVariableNode(server,
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UA_NODEID_NULL,
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pumpId,
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
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UA_QUALIFIEDNAME(1, "MotorRPM"),
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UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
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rpmAttr, NULL, NULL);
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UA_ObjectAttributes ptAttr = UA_ObjectAttributes_default;
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ptAttr.displayName = UA_LOCALIZEDTEXT("en-US", "PumpType");
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UA_NodeId pumpTypeId;
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UA_Server_addObjectNode(server, UA_NODEID_NULL,
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pumpId, UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
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UA_QUALIFIEDNAME(1, "PumpType"),
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UA_NODEID_NUMERIC(0, UA_NS0ID_BASEOBJECTTYPE),
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ptAttr,
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NULL, &pumpTypeId);
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UA_Argument inputArgument;
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UA_Argument_init(&inputArgument);
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inputArgument.description = UA_LOCALIZEDTEXT("zh-CN", "输入字符串");
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inputArgument.name = UA_STRING("InputString");
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inputArgument.dataType = UA_TYPES[UA_TYPES_STRING].typeId; // 字符串类型
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inputArgument.valueRank = UA_VALUERANK_SCALAR; // 标量
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// 定义方法的输出参数
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UA_Argument outputArgument;
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UA_Argument_init(&outputArgument);
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outputArgument.description = UA_LOCALIZEDTEXT("zh-CN", "输出字符串");
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outputArgument.name = UA_STRING("OutputString");
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outputArgument.dataType = UA_TYPES[UA_TYPES_STRING].typeId; // 字符串类型
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outputArgument.valueRank = UA_VALUERANK_SCALAR; // 标量
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// 添加方法节点
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UA_MethodAttributes helloAttr = UA_MethodAttributes_default;
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helloAttr.description = UA_LOCALIZEDTEXT("zh-CN", "添加Hello前缀");
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helloAttr.displayName = UA_LOCALIZEDTEXT("zh-CN", "HelloMethod");
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helloAttr.executable = true;
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helloAttr.userExecutable = true;
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UA_NodeId helloMethodNodeId;
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UA_Server_addMethodNode(server,
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UA_NODEID_NULL, // NodeId (自动生成)
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UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER), // 父节点为 ObjectsFolder
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UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT), // 引用类型
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UA_QUALIFIEDNAME(1, "HelloMethod"), // 浏览名称
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helloAttr, // 属性
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&helloMethodCallback, // 回调函数
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1, &inputArgument, // 输入参数的数量和描述
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1, &outputArgument, // 输出参数的数量和描述
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NULL,NULL);
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}
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int main(void) {
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signal(SIGINT, stopHandler);
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signal(SIGTERM, stopHandler);
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UA_Server *server = UA_Server_new();
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UA_ServerConfig_setDefault(UA_Server_getConfig(server));
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manuallyDefinePump(server);
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UA_StatusCode retval = UA_Server_run(server, &running);
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UA_Server_delete(server);
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return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE;
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}
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