WIP: add publish part.

coupler/opc-ua-server/keep_alive.h

+#include <open62541/plugin/log_stdout.h>
+#include <open62541/plugin/pubsub_ethernet.h>
+#include <open62541/plugin/pubsub_udp.h>
+#include <open62541/server.h>
+#include <open62541/server_config_default.h>
+#include <signal.h>
+
+
+UA_NodeId connectionIdent, publishedDataSetIdent, writerGroupIdent;
+
+static void addPubSubConnection(UA_Server *server, UA_String *transportProfile,
+                    UA_NetworkAddressUrlDataType *networkAddressUrl){
+    /* Details about the connection configuration and handling are located
+     * in the pubsub connection tutorial */
+    UA_PubSubConnectionConfig connectionConfig;
+    memset(&connectionConfig, 0, sizeof(connectionConfig));
+    connectionConfig.name = UA_STRING("UADP Connection 1");
+    connectionConfig.transportProfileUri = *transportProfile;
+    connectionConfig.enabled = UA_TRUE;
+    UA_Variant_setScalar(&connectionConfig.address, networkAddressUrl,
+                         &UA_TYPES[UA_TYPES_NETWORKADDRESSURLDATATYPE]);
+    /* Changed to static publisherId from random generation to identify
+     * the publisher on Subscriber side */
+    connectionConfig.publisherId.numeric = 2234;
+    UA_Server_addPubSubConnection(server, &connectionConfig, &connectionIdent);
+}
+
+/**
+ * **PublishedDataSet handling**
+ *
+ * The PublishedDataSet (PDS) and PubSubConnection are the toplevel entities and
+ * can exist alone. The PDS contains the collection of the published fields. All
+ * other PubSub elements are directly or indirectly linked with the PDS or
+ * connection. */
+static void addPublishedDataSet(UA_Server *server) {
+    /* The PublishedDataSetConfig contains all necessary public
+    * information for the creation of a new PublishedDataSet */
+    UA_PublishedDataSetConfig publishedDataSetConfig;
+    memset(&publishedDataSetConfig, 0, sizeof(UA_PublishedDataSetConfig));
+    publishedDataSetConfig.publishedDataSetType = UA_PUBSUB_DATASET_PUBLISHEDITEMS;
+    publishedDataSetConfig.name = UA_STRING("Demo PDS");
+    /* Create new PublishedDataSet based on the PublishedDataSetConfig. */
+    UA_Server_addPublishedDataSet(server, &publishedDataSetConfig, &publishedDataSetIdent);
+}
+
+/**
+ * **DataSetField handling**
+ *
+ * The DataSetField (DSF) is part of the PDS and describes exactly one published
+ * field. */
+static void addDataSetField(UA_Server *server) {
+    /* Add a field to the previous created PublishedDataSet */
+    UA_NodeId dataSetFieldIdent;
+    UA_DataSetFieldConfig dataSetFieldConfig;
+    memset(&dataSetFieldConfig, 0, sizeof(UA_DataSetFieldConfig));
+    dataSetFieldConfig.dataSetFieldType = UA_PUBSUB_DATASETFIELD_VARIABLE;
+    dataSetFieldConfig.field.variable.fieldNameAlias = UA_STRING("Server localtime");
+    dataSetFieldConfig.field.variable.promotedField = UA_FALSE;
+    dataSetFieldConfig.field.variable.publishParameters.publishedVariable =
+    UA_NODEID_NUMERIC(0, UA_NS0ID_SERVER_SERVERSTATUS_CURRENTTIME);
+    dataSetFieldConfig.field.variable.publishParameters.attributeId = UA_ATTRIBUTEID_VALUE;
+    UA_Server_addDataSetField(server, publishedDataSetIdent,
+                              &dataSetFieldConfig, &dataSetFieldIdent);
+}
+
+/**
+ * **WriterGroup handling**
+ *
+ * The WriterGroup (WG) is part of the connection and contains the primary
+ * configuration parameters for the message creation. */
+static void addWriterGroup(UA_Server *server) {
+    /* Now we create a new WriterGroupConfig and add the group to the existing
+     * PubSubConnection. */
+    UA_WriterGroupConfig writerGroupConfig;
+    memset(&writerGroupConfig, 0, sizeof(UA_WriterGroupConfig));
+    writerGroupConfig.name = UA_STRING("Demo WriterGroup");
+    writerGroupConfig.publishingInterval = 100;
+    writerGroupConfig.enabled = UA_FALSE;
+    writerGroupConfig.writerGroupId = 100;
+    writerGroupConfig.encodingMimeType = UA_PUBSUB_ENCODING_UADP;
+    writerGroupConfig.messageSettings.encoding             = UA_EXTENSIONOBJECT_DECODED;
+    writerGroupConfig.messageSettings.content.decoded.type = &UA_TYPES[UA_TYPES_UADPWRITERGROUPMESSAGEDATATYPE];
+    /* The configuration flags for the messages are encapsulated inside the
+     * message- and transport settings extension objects. These extension
+     * objects are defined by the standard. e.g.
+     * UadpWriterGroupMessageDataType */
+    UA_UadpWriterGroupMessageDataType *writerGroupMessage  = UA_UadpWriterGroupMessageDataType_new();
+    /* Change message settings of writerGroup to send PublisherId,
+     * WriterGroupId in GroupHeader and DataSetWriterId in PayloadHeader
+     * of NetworkMessage */
+    writerGroupMessage->networkMessageContentMask          = (UA_UadpNetworkMessageContentMask)(UA_UADPNETWORKMESSAGECONTENTMASK_PUBLISHERID |
+                                                              (UA_UadpNetworkMessageContentMask)UA_UADPNETWORKMESSAGECONTENTMASK_GROUPHEADER |
+                                                              (UA_UadpNetworkMessageContentMask)UA_UADPNETWORKMESSAGECONTENTMASK_WRITERGROUPID |
+                                                              (UA_UadpNetworkMessageContentMask)UA_UADPNETWORKMESSAGECONTENTMASK_PAYLOADHEADER);
+    writerGroupConfig.messageSettings.content.decoded.data = writerGroupMessage;
+    UA_Server_addWriterGroup(server, connectionIdent, &writerGroupConfig, &writerGroupIdent);
+    UA_Server_setWriterGroupOperational(server, writerGroupIdent);
+    UA_UadpWriterGroupMessageDataType_delete(writerGroupMessage);
+}
+
+/**
+ * **DataSetWriter handling**
+ *
+ * A DataSetWriter (DSW) is the glue between the WG and the PDS. The DSW is
+ * linked to exactly one PDS and contains additional information for the
+ * message generation. */
+static void addDataSetWriter(UA_Server *server) {
+    /* We need now a DataSetWriter within the WriterGroup. This means we must
+     * create a new DataSetWriterConfig and add call the addWriterGroup function. */
+    UA_NodeId dataSetWriterIdent;
+    UA_DataSetWriterConfig dataSetWriterConfig;
+    memset(&dataSetWriterConfig, 0, sizeof(UA_DataSetWriterConfig));
+    dataSetWriterConfig.name = UA_STRING("Demo DataSetWriter");
+    dataSetWriterConfig.dataSetWriterId = 62541;
+    dataSetWriterConfig.keyFrameCount = 10;
+    UA_Server_addDataSetWriter(server, writerGroupIdent, publishedDataSetIdent,
+                               &dataSetWriterConfig, &dataSetWriterIdent);
+}
+
+/**
+ * That's it! You're now publishing the selected fields. Open a packet
+ * inspection tool of trust e.g. wireshark and take a look on the outgoing
+ * packages. The following graphic figures out the packages created by this
+ * tutorial.
+ *
+ * .. figure:: ua-wireshark-pubsub.png
+ *     :figwidth: 100 %
+ *     :alt: OPC UA PubSub communication in wireshark
+ *
+ * The open62541 subscriber API will be released later. If you want to process
+ * the the datagrams, take a look on the ``ua_network_pubsub_networkmessage.c``
+ * which already contains the decoding code for UADP messages.
+ *
+ * It follows the main server code, making use of the above definitions. */
+
+/*
+static int run(UA_String *transportProfile,
+               UA_NetworkAddressUrlDataType *networkAddressUrl) {
+    signal(SIGINT, stopHandler);
+    signal(SIGTERM, stopHandler);
+
+    UA_Server *server = UA_Server_new();
+    UA_ServerConfig *config = UA_Server_getConfig(server);
+    UA_ServerConfig_setDefault(config);
+/*
+    /* Details about the connection configuration and handling are located in
+     * the pubsub connection tutorial */
+/*
+    UA_ServerConfig_addPubSubTransportLayer(config, UA_PubSubTransportLayerUDPMP());
+#ifdef UA_ENABLE_PUBSUB_ETH_UADP
+    UA_ServerConfig_addPubSubTransportLayer(config, UA_PubSubTransportLayerEthernet());
+#endif
+
+    addPubSubConnection(server, transportProfile, networkAddressUrl);
+    addPublishedDataSet(server);
+    addDataSetField(server);
+    addWriterGroup(server);
+    addDataSetWriter(server);
+
+    UA_StatusCode retval = UA_Server_run(server, &running);
+
+    UA_Server_delete(server);
+    return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE;
+}
+*/

coupler/opc-ua-server/server.c

@@ -25,6 +25,7 @@
 #include "common.h"
 #include "mod_io_i2c.h"
 #include "mod_io_opc_ua.h"
+#include "keep_alive.h"
 #include <time.h>
 #include <open62541/plugin/log_stdout.h>
 #include <open62541/server.h>