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Martin Manchev
osie
Commits
e59409b5
Commit
e59409b5
authored
Oct 04, 2021
by
Ivan Tyagov
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Expose variables over OPC-UA.
parent
57c14e10
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193 additions
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62 deletions
+193
-62
coupler/opc-ua-server/ic2_set_relays_example.c
coupler/opc-ua-server/ic2_set_relays_example.c
+0
-56
coupler/opc-ua-server/server.c
coupler/opc-ua-server/server.c
+193
-6
No files found.
coupler/opc-ua-server/ic2_set_relays_example.c
deleted
100644 → 0
View file @
57c14e10
/*
Example controling MOD-IO's relays' state
Based on https://www.kernel.org/doc/Documentation/i2c/dev-interface
To compile:
root@olimex-rt:~/osie/coupler/opc-ua-server# gcc ic2_set_relays_example.c -o ic2_set_relays_example
root@olimex-rt:~/osie/coupler/opc-ua-server# ./ic2_set_relays_example
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <linux/i2c-dev.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <unistd.h>
int
main
()
{
int
file
;
int
adapter_nr
=
1
;
/* probably dynamically determined */
int
addr
=
0x58
;
/* The I2C slave's address */
char
filename
[
20
];
// step 1: open device
snprintf
(
filename
,
19
,
"/dev/i2c-%d"
,
adapter_nr
);
file
=
open
(
filename
,
O_RDWR
);
if
(
file
<
0
)
{
/* ERROR HANDLING; you can check errno to see what went wrong */
printf
(
"Error openind i2c device."
);
exit
(
1
);
}
// step 2: address the slave by its address
if
(
ioctl
(
file
,
I2C_SLAVE
,
addr
)
<
0
)
{
/* ERROR HANDLING; you can check errno to see what went wrong */
printf
(
"Error addressing i2c slave."
);
exit
(
1
);
}
// step 3: write command over I2c
__u8
reg
=
0x10
;
/* Device register to access */
__s32
res
;
char
buf
[
10
];
buf
[
0
]
=
reg
;
buf
[
1
]
=
0x07
;
// the most right bits represent 4 relays' state: for example 00001111 - means all ON
// send as a hexadecimal number
buf
[
2
]
=
0x65
;
// seems irrelevant the value
if
(
write
(
file
,
buf
,
3
)
!=
3
)
{
/* ERROR HANDLING: i2c transaction failed */
printf
(
"Error writing to i2c slave."
);
}
printf
(
"OK
\n
"
);
return
0
;
}
coupler/opc-ua-server/server.c
View file @
e59409b5
/*
* POC OPC-UA server based on https://github.com/open62541
/* This work is licensed under a Creative Commons CCZero 1.0 Universal License.
* See http://creativecommons.org/publicdomain/zero/1.0/ for more information. */
/**
* Adding Variables to a Server
* ----------------------------
*
* This tutorial shows how to work with data types and how to add variable nodes
* to a server. First, we add a new variable to the server. Take a look at the
* definition of the ``UA_VariableAttributes`` structure to see the list of all
* attributes defined for VariableNodes.
*
* Note that the default settings have the AccessLevel of the variable value as
* read only. See below for making the variable writable.
*/
// Example controling MOD-IO's relays' state
// Based on https://www.kernel.org/doc/Documentation/i2c/dev-interface
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <linux/i2c-dev.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <signal.h>
#include <open62541/plugin/log_stdout.h>
#include <open62541/server.h>
#include <open62541/server_config_default.h>
#include <signal.h>
#include <stdlib.h>
// relays
static
int
setRelayState
(
int
command
)
{
// Set relays' state over I2C
int
file
;
int
adapter_nr
=
1
;
/* probably dynamically determined */
char
filename
[
20
];
// step 1: open device
snprintf
(
filename
,
19
,
"/dev/i2c-%d"
,
adapter_nr
);
file
=
open
(
filename
,
O_RDWR
);
if
(
file
<
0
)
{
/* ERROR HANDLING; you can check errno to see what went wrong */
printf
(
"Error openind i2c device."
);
exit
(
1
);
}
// step 2: address the slave by its address
int
addr
=
0x58
;
/* The I2C address */
if
(
ioctl
(
file
,
I2C_SLAVE
,
addr
)
<
0
)
{
/* ERROR HANDLING; you can check errno to see what went wrong */
printf
(
"Error addressing i2c slave."
);
exit
(
1
);
}
// step 3: write command over I2c
__u8
reg
=
0x10
;
/* Device register to access */
__s32
res
;
char
buf
[
10
];
buf
[
0
]
=
reg
;
buf
[
1
]
=
command
;
//0x00 -all off, 0x0F - all 4 on
buf
[
2
]
=
0x65
;
// seems irrelevant the value
if
(
write
(
file
,
buf
,
3
)
!=
3
)
{
/* ERROR HANDLING: i2c transaction failed */
printf
(
"Error writing to i2c slave."
);
}
}
static
void
addVariable
(
UA_Server
*
server
)
{
/* Define the attribute of the myInteger variable node */
UA_VariableAttributes
attr
=
UA_VariableAttributes_default
;
UA_Int32
myInteger
=
42
;
UA_Variant_setScalar
(
&
attr
.
value
,
&
myInteger
,
&
UA_TYPES
[
UA_TYPES_INT32
]);
attr
.
description
=
UA_LOCALIZEDTEXT
(
"en-US"
,
"the answer"
);
attr
.
displayName
=
UA_LOCALIZEDTEXT
(
"en-US"
,
"the answer"
);
attr
.
dataType
=
UA_TYPES
[
UA_TYPES_INT32
].
typeId
;
attr
.
accessLevel
=
UA_ACCESSLEVELMASK_READ
|
UA_ACCESSLEVELMASK_WRITE
;
/* Add the variable node to the information model */
UA_NodeId
myIntegerNodeId
=
UA_NODEID_STRING
(
1
,
"the.answer"
);
UA_QualifiedName
myIntegerName
=
UA_QUALIFIEDNAME
(
1
,
"the answer"
);
UA_NodeId
parentNodeId
=
UA_NODEID_NUMERIC
(
0
,
UA_NS0ID_OBJECTSFOLDER
);
UA_NodeId
parentReferenceNodeId
=
UA_NODEID_NUMERIC
(
0
,
UA_NS0ID_ORGANIZES
);
UA_Server_addVariableNode
(
server
,
myIntegerNodeId
,
parentNodeId
,
parentReferenceNodeId
,
myIntegerName
,
UA_NODEID_NUMERIC
(
0
,
UA_NS0ID_BASEDATAVARIABLETYPE
),
attr
,
NULL
,
NULL
);
}
static
void
addMatrixVariable
(
UA_Server
*
server
)
{
UA_VariableAttributes
attr
=
UA_VariableAttributes_default
;
attr
.
displayName
=
UA_LOCALIZEDTEXT
(
"en-US"
,
"Double Matrix"
);
attr
.
accessLevel
=
UA_ACCESSLEVELMASK_READ
|
UA_ACCESSLEVELMASK_WRITE
;
/* Set the variable value constraints */
attr
.
dataType
=
UA_TYPES
[
UA_TYPES_DOUBLE
].
typeId
;
attr
.
valueRank
=
UA_VALUERANK_TWO_DIMENSIONS
;
UA_UInt32
arrayDims
[
2
]
=
{
2
,
2
};
attr
.
arrayDimensions
=
arrayDims
;
attr
.
arrayDimensionsSize
=
2
;
/* Set the value. The array dimensions need to be the same for the value. */
UA_Double
zero
[
4
]
=
{
0
.
0
,
0
.
0
,
0
.
0
,
0
.
0
};
UA_Variant_setArray
(
&
attr
.
value
,
zero
,
4
,
&
UA_TYPES
[
UA_TYPES_DOUBLE
]);
attr
.
value
.
arrayDimensions
=
arrayDims
;
attr
.
value
.
arrayDimensionsSize
=
2
;
UA_NodeId
myIntegerNodeId
=
UA_NODEID_STRING
(
1
,
"double.matrix"
);
UA_QualifiedName
myIntegerName
=
UA_QUALIFIEDNAME
(
1
,
"double matrix"
);
UA_NodeId
parentNodeId
=
UA_NODEID_NUMERIC
(
0
,
UA_NS0ID_OBJECTSFOLDER
);
UA_NodeId
parentReferenceNodeId
=
UA_NODEID_NUMERIC
(
0
,
UA_NS0ID_ORGANIZES
);
UA_Server_addVariableNode
(
server
,
myIntegerNodeId
,
parentNodeId
,
parentReferenceNodeId
,
myIntegerName
,
UA_NODEID_NUMERIC
(
0
,
UA_NS0ID_BASEDATAVARIABLETYPE
),
attr
,
NULL
,
NULL
);
}
/**
* Now we change the value with the write service. This uses the same service
* implementation that can also be reached over the network by an OPC UA client.
*/
static
void
writeVariable
(
UA_Server
*
server
)
{
UA_NodeId
myIntegerNodeId
=
UA_NODEID_STRING
(
1
,
"the.answer"
);
/* Write a different integer value */
UA_Int32
myInteger
=
43
;
UA_Variant
myVar
;
UA_Variant_init
(
&
myVar
);
UA_Variant_setScalar
(
&
myVar
,
&
myInteger
,
&
UA_TYPES
[
UA_TYPES_INT32
]);
UA_Server_writeValue
(
server
,
myIntegerNodeId
,
myVar
);
/* Set the status code of the value to an error code. The function
* UA_Server_write provides access to the raw service. The above
* UA_Server_writeValue is syntactic sugar for writing a specific node
* attribute with the write service. */
UA_WriteValue
wv
;
UA_WriteValue_init
(
&
wv
);
wv
.
nodeId
=
myIntegerNodeId
;
wv
.
attributeId
=
UA_ATTRIBUTEID_VALUE
;
wv
.
value
.
status
=
UA_STATUSCODE_BADNOTCONNECTED
;
wv
.
value
.
hasStatus
=
true
;
UA_Server_write
(
server
,
&
wv
);
/* Reset the variable to a good statuscode with a value */
wv
.
value
.
hasStatus
=
false
;
wv
.
value
.
value
=
myVar
;
wv
.
value
.
hasValue
=
true
;
UA_Server_write
(
server
,
&
wv
);
}
/**
* Note how we initially set the DataType attribute of the variable node to the
* NodeId of the Int32 data type. This forbids writing values that are not an
* Int32. The following code shows how this consistency check is performed for
* every write.
*/
static
void
writeWrongVariable
(
UA_Server
*
server
)
{
UA_NodeId
myIntegerNodeId
=
UA_NODEID_STRING
(
1
,
"the.answer"
);
/* Write a string */
UA_String
myString
=
UA_STRING
(
"test"
);
UA_Variant
myVar
;
UA_Variant_init
(
&
myVar
);
UA_Variant_setScalar
(
&
myVar
,
&
myString
,
&
UA_TYPES
[
UA_TYPES_STRING
]);
UA_StatusCode
retval
=
UA_Server_writeValue
(
server
,
myIntegerNodeId
,
myVar
);
printf
(
"Writing a string returned statuscode %s
\n
"
,
UA_StatusCode_name
(
retval
));
}
/** It follows the main server code, making use of the above definitions. */
static
volatile
UA_Boolean
running
=
true
;
static
void
stopHandler
(
int
sig
)
{
UA_LOG_INFO
(
UA_Log_Stdout
,
UA_LOGCATEGORY_
USERLAND
,
"received ctrl-c"
);
static
void
stopHandler
(
int
sig
n
)
{
UA_LOG_INFO
(
UA_Log_Stdout
,
UA_LOGCATEGORY_
SERVER
,
"received ctrl-c"
);
running
=
false
;
}
int
main
(
void
)
{
// switch on all relays
setRelayState
(
0x0F
);
printf
(
"Relays ON.
\n
"
);
// wait 1s
sleep
(
1
);
// switch off all relays
setRelayState
(
0x00
);
printf
(
"Relays OFF.
\n
"
);
signal
(
SIGINT
,
stopHandler
);
signal
(
SIGTERM
,
stopHandler
);
UA_Server
*
server
=
UA_Server_new
();
UA_ServerConfig_setDefault
(
UA_Server_getConfig
(
server
));
UA_ServerConfig
*
config
=
UA_Server_getConfig
(
server
);
config
->
verifyRequestTimestamp
=
UA_RULEHANDLING_ACCEPT
;
#ifdef UA_ENABLE_WEBSOCKET_SERVER
UA_ServerConfig_addNetworkLayerWS
(
UA_Server_getConfig
(
server
),
7681
,
0
,
0
,
NULL
,
NULL
);
#endif
addVariable
(
server
);
addMatrixVariable
(
server
);
writeVariable
(
server
);
writeWrongVariable
(
server
);
UA_StatusCode
retval
=
UA_Server_run
(
server
,
&
running
);
...
...
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