Keep alive

See merge request nexedi/osie!15

coupler/opc-ua-server/build.sh

+#!/bin/bash
+rm -f server
+
+# build OPC UA server which publishes msgs
+gcc  -o server -I /usr/local/include/ -std=c99 server.c -l:libopen62541.so -L/usr/local/lib -lmbedcrypto  -lmbedx509 -I ~/open62541/src/pubsub/  -I ~/open62541/deps/
+

coupler/opc-ua-server/common.h

 /* This work is licensed under a Creative Commons CCZero 1.0 Universal License.
  * See http://creativecommons.org/publicdomain/zero/1.0/for more information. */
+#define countof(a) (sizeof(a)/sizeof(*(a)))
+
+#include <sys/time.h>
+#include <stdio.h>
 
 #include <open62541/server.h>
 
+
+int getMicroSeconds() {
+  struct timeval current_time;
+  gettimeofday(&current_time, NULL);
+  long int ms = current_time.tv_sec * 1000 + current_time.tv_usec / 1000;
+  return ms;
+}
+
 /* loadFile parses the certificate file.
  *
  * @param  path               specifies the file name given in argv[]
@@ -51,3 +63,82 @@ char *randomString(size_t length)
     }
     return randomString;
 }
+
+char *convertInt2Str(int my_int){
+  /* Convert integer to string */
+  int length = snprintf( NULL, 0, "%d", my_int);
+  char *my_str = malloc(length + 1);
+  snprintf(my_str, length + 1, "%d", my_int);
+  return my_str;
+}
+
+char *convertLongInt2Str(long int my_int){
+  /* Convert integer to string */
+  int length = snprintf( NULL, 0, "%ld", my_int);
+  char *my_str = malloc(length + 1);
+  snprintf(my_str, length + 1, "%ld", my_int);
+  return my_str;
+}
+
+
+
+// XXX: dictionary implementation based on https://gist.github.com/kylef/86784/fe97567ec9baf5c0dce3c7fcbec948e21dfcce09
+
+typedef struct dict_t_struct {
+    char  *key;
+    void  *value;
+    struct dict_t_struct *next;
+} dict_t;
+
+dict_t **dictAlloc(void) {
+    return malloc(sizeof(dict_t));
+}
+
+void dictDealloc(dict_t **dict) {
+    free(dict);
+}
+
+void *getItem(dict_t *dict, char *key) {
+    dict_t *ptr;
+    for (ptr = dict; ptr != NULL; ptr = ptr->next) {
+        if (strcmp(ptr->key, key) == 0) {
+            return ptr->value;
+        }
+    }
+
+    return NULL;
+}
+
+void delItem(dict_t **dict, char *key) {
+    dict_t *ptr, *prev;
+    for (ptr = *dict, prev = NULL; ptr != NULL; prev = ptr, ptr = ptr->next) {
+        if (strcmp(ptr->key, key) == 0) {
+            if (ptr->next != NULL) {
+                if (prev == NULL) {
+                    *dict = ptr->next;
+                } else {
+                    prev->next = ptr->next;
+                }
+            } else if (prev != NULL) {
+                prev->next = NULL;
+            } else {
+                *dict = NULL;
+            }
+
+            free(ptr->key);
+            free(ptr);
+
+            return;
+        }
+    }
+}
+
+void addItem(dict_t **dict, char *key, void *value) {
+    delItem(dict, key); /* If we already have a item with this key, delete it. */
+    dict_t *d = malloc(sizeof(struct dict_t_struct));
+    d->key = malloc(strlen(key)+1);
+    strcpy(d->key, key);
+    d->value = value;
+    d->next = *dict;
+    *dict = d;
+}

coupler/opc-ua-server/coupler1.sh

+#!/bin/bash
+./server -m 1 -b 1 -i 1 -l 2,3 -t 500

coupler/opc-ua-server/coupler2.sh

+#!/bin/bash
+./server -p 4841 -m 1 -b 1 -i 2 -l 1,3 -t 500

coupler/opc-ua-server/coupler3.sh

+#!/bin/bash
+./server -p 4842 -m 1 -b 1 -i 3 -l 1,2 -t 500

coupler/opc-ua-server/keep_alive.h

+// global HEART BEATs of coupler
+static unsigned int HEART_BEATS = 0;
+
+// the heart beat interval$$
+const int DEFAULT_HEART_BEAT_INTERVAL = 250;
+static int HEART_BEAT_INTERVAL = DEFAULT_HEART_BEAT_INTERVAL;
+
+// the list of couplers onto which we depend for properly running$
+unsigned int HEART_BEAT_ID_LIST[] = {0, 0, 0, 0, 0, 0, 0, 0};
+
+// the interval for publishing messages$
+const int PUBLISHING_INTERVAL = 100;
+
+// a hard coded writer group, data set and publisher ID$
+// (should be same for publisher / subscriber)$
+const int WRITER_GROUP_ID = 100;
+const int DATASET_WRITER_ID = 62541;
+const int PUBLISHER_ID = 2234;
+

coupler/opc-ua-server/keep_alive_publisher.h

+/*
+Keep alive implementation for couplers based on OPC UA's pub/sub mechanism
+*/
+
+#include "keep_alive.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 = PUBLISHER_ID;
+    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);
+}
+
+/**
+ * **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 = PUBLISHING_INTERVAL;
+    writerGroupConfig.enabled = UA_FALSE;
+    writerGroupConfig.writerGroupId = WRITER_GROUP_ID;
+    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 = DATASET_WRITER_ID;
+    dataSetWriterConfig.keyFrameCount = 10;
+    UA_Server_addDataSetWriter(server, writerGroupIdent, publishedDataSetIdent,
+                               &dataSetWriterConfig, &dataSetWriterIdent);
+}
+
+typedef struct PublishedVariable {
+    char *name;
+    char *description;
+    void * UA_RESTRICT pdefaultValue;
+    int type;
+} PublishedVariable;
+
+static void addPubSubVariable(UA_Server *server, PublishedVariable varDetails) {
+    UA_VariableAttributes attr = UA_VariableAttributes_default;
+    UA_Variant_setScalar(&attr.value, varDetails.pdefaultValue, &UA_TYPES[varDetails.type]);
+    attr.description = UA_LOCALIZEDTEXT("en-US", varDetails.description);
+    attr.displayName = UA_LOCALIZEDTEXT("en-US", varDetails.description);
+    attr.dataType = UA_TYPES[varDetails.type].typeId;
+    attr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
+
+    UA_Server_addVariableNode(server, UA_NODEID_STRING(1, varDetails.name),
+                                      UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
+                                      UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
+                                      UA_QUALIFIEDNAME(1, varDetails.description),
+                                      UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
+                                      attr, NULL, NULL);
+}
+
+static void addPubSubDataSetField(UA_Server *server, PublishedVariable varDetails) {
+    UA_NodeId dataSetFieldIdent;
+    UA_DataSetFieldConfig dataSetFieldConfig;
+    memset(&dataSetFieldConfig, 0, sizeof(UA_DataSetFieldConfig));
+    dataSetFieldConfig.dataSetFieldType = UA_PUBSUB_DATASETFIELD_VARIABLE;
+    dataSetFieldConfig.field.variable.fieldNameAlias = UA_STRING(varDetails.description);
+    dataSetFieldConfig.field.variable.promotedField = UA_FALSE;
+    dataSetFieldConfig.field.variable.publishParameters.publishedVariable =
+    UA_NODEID_STRING(1, varDetails.name);
+    dataSetFieldConfig.field.variable.publishParameters.attributeId = UA_ATTRIBUTEID_VALUE;
+    UA_Server_addDataSetField(server, publishedDataSetIdent,
+                              &dataSetFieldConfig, &dataSetFieldIdent);
+}
+
+
+void callbackTicHeartBeat()
+{
+    /* Increase periodically heart beats of the server */
+    HEART_BEATS += 1;
+    //UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "heart_beat %d", HEART_BEATS);
+
+    // set OPC UA's heat_beat node value
+    UA_NodeId myFloatNodeId = UA_NODEID_STRING(1, "heart_beat");
+    UA_Float myFloat = HEART_BEATS;
+    UA_Variant myVar;
+    UA_Variant_init(&myVar);
+    UA_Variant_setScalar(&myVar, &myFloat, &UA_TYPES[UA_TYPES_FLOAT]);
+    UA_Server_writeValue(server, myFloatNodeId, myVar);
+}
+
+
+static void enablePublishHeartBeat(UA_Server *server, UA_ServerConfig *config){
+    int i;
+    // add a callback which will increment heart beat tics
+    UA_UInt64 callbackId = 1;
+    UA_Server_addRepeatedCallback(server, callbackTicHeartBeat, NULL, HEART_BEAT_INTERVAL, &callbackId);
+
+    UA_UInt32  defaultUInt32 = 0;
+    UA_UInt32  couplerID = COUPLER_ID;
+    UA_Float   defaultFloat = 0.0;
+    const PublishedVariable publishedVariableArray[] = {
+        // representing time in millis since start of process
+        {
+            .name = "heart_beat",
+            .description = "Heart beat",
+            .pdefaultValue = &defaultFloat,
+            .type = UA_TYPES_FLOAT
+        },
+        // representing the ID of the coupler
+        {
+            .name = "id",
+            .description = "ID",
+            .pdefaultValue = &couplerID,
+            .type = UA_TYPES_UINT32
+        }
+    };
+
+    UA_String transportProfile = UA_STRING(DEFAULT_TRANSPORT_PROFILE);
+    UA_NetworkAddressUrlDataType networkAddressUrl =
+        {UA_STRING_NULL , UA_STRING(DEFAULT_NETWORK_ADDRESS_URL)};
+    addPubSubConnection(server, &transportProfile, &networkAddressUrl);
+    addPublishedDataSet(server);
+    for(i = 0; i < countof(publishedVariableArray); i++) {
+        addPubSubVariable(server, publishedVariableArray[i]);
+        addPubSubDataSetField(server, publishedVariableArray[i]);
+    }
+    addWriterGroup(server);
+    addDataSetWriter(server);
+}

coupler/opc-ua-server/server.c

@@ -33,9 +33,26 @@
 #include <open62541/plugin/pubsub_ethernet.h>
 #include <open62541/plugin/pubsub_udp.h>
 
+// global Id of coupler
+static int COUPLER_ID = 0;
+
+// global server
+UA_Server *server;
+
+// global dictionary of subscribers
+dict_t *SUBSCRIBER_DICT;
+
 // The default port of OPC-UA server
 const int DEFAULT_OPC_UA_PORT = 4840;
 const int DEFAULT_MODE = 0;
+const int DEFAULT_ID = 0;
+
+// OPC UA's Pub/Sub profile
+char *DEFAULT_TRANSPORT_PROFILE = "http://opcfoundation.org/UA-Profile/Transport/pubsub-udp-uadp";
+char *DEFAULT_NETWORK_ADDRESS_URL = "opc.udp://224.0.0.22:4840/";
+
+#include "keep_alive_publisher.h"
+#include "keep_alive_subscriber.h"
 
 // CLI arguments handling
 const char *argp_program_version = "OSIE OPC-UA coupler 0.0.1";
@@ -47,12 +64,16 @@ static struct argp_option options[] = {
   {"device",      'd', "/dev/i2c-1", 0, "Linux block device path."},
   {"slave-address-list", 's', "0x58", 0, "Comma separated list of slave I2C addresses."},
   {"mode",        'm', "0", 0, "Set different modes of operation of coupler. Default (0) is set attached \
-	                  I2C's state state. Virtual (1) which does NOT set any I2C slaves' state."},
+                  I2C's state state. Virtual (1) which does NOT set any I2C slaves' state."},
   {"username",    'u', "", 0, "Username."},
   {"password",    'w', "", 0, "Password."},
   {"key",         'k', "", 0, "x509 key."},
   {"certificate", 'c', "", 0, "X509 certificate."},
-  {"uuid",        'i', "", 0, "UUID of coupler"},
+  {"id",          'i', "0", 0, "ID of coupler."},
+  {"heart-beat",  'b', "0", 0, "Publish heart beat to other couplers."},
+  {"heart-beat-interval",  't', "500", 0, "Heart beat interval in ms."},
+  {"heart-beat-id-list",  'l', "", 0, "Comma separated list of IDs of couplers to watch for heart beats. \
+If heart beat is missing coupler goes to safe mode."},
   {0}
 };
 
@@ -66,7 +87,10 @@ struct arguments
     char *password;
     char *key;
     char *certificate;
-    char *uuid;
+    int id;
+    bool heart_beat;
+    int heart_beat_interval;
+    char *heart_beat_id_list;
 };
 
 static error_t parse_opt(int key, char *arg, struct argp_state *state)
@@ -74,36 +98,45 @@ static error_t parse_opt(int key, char *arg, struct argp_state *state)
     struct arguments *arguments = state->input;
     switch (key) {
     case 'p':
-	    arguments->port = arg ? atoi (arg) : DEFAULT_OPC_UA_PORT;
-	    break;
+      arguments->port = arg ? atoi (arg) : DEFAULT_OPC_UA_PORT;
+      break;
     case 'd':
-	    arguments->device = arg;
-	    break;
+      arguments->device = arg;
+      break;
     case 's':
-	    arguments->slave_address_list = arg;
-	    break;
+      arguments->slave_address_list = arg;
+      break;
     case 'm':
-	    arguments->mode = arg ? atoi (arg) : DEFAULT_MODE;
-	    break;
+      arguments->mode = arg ? atoi (arg) : DEFAULT_MODE;
+      break;
     case 'u':
-	    arguments->username = arg;
-	    break;
+      arguments->username = arg;
+      break;
     case 'w':
-	    arguments->password = arg;
-	    break;
+      arguments->password = arg;
+      break;
     case 'c':
-	    arguments->certificate = arg;
-	    break;
+      arguments->certificate = arg;
+      break;
     case 'k':
-	    arguments->key = arg;
-	    break;
+      arguments->key = arg;
+      break;
     case 'i':
-	    arguments->uuid = arg;
-	    break;
+      arguments->id = arg ? atoi (arg) : DEFAULT_ID;
+      break;
+    case 'b':
+      arguments->heart_beat = atoi (arg);
+      break;
+    case 't':
+      arguments->heart_beat_interval = arg ? atoi (arg) : DEFAULT_HEART_BEAT_INTERVAL;
+      break;
+    case 'l':
+      arguments->heart_beat_id_list = arg;
+      break;
     case ARGP_KEY_ARG:
-	    return 0;
+      return 0;
     default: 
-	    return ARGP_ERR_UNKNOWN;
+      return ARGP_ERR_UNKNOWN;
     }
     return 0;
 }
@@ -118,6 +151,7 @@ static void stopHandler(int sign)
     running = false;
 }
 
+
 int main(int argc, char **argv)
 {
     int i;
@@ -125,6 +159,11 @@ int main(int argc, char **argv)
     long result;
     char *eptr;
 
+    // init dictionary only once$
+    if (SUBSCRIBER_DICT==NULL){
+      SUBSCRIBER_DICT = *dictAlloc();
+    }
+
     // handle command line arguments
     struct arguments arguments;
     arguments.port = DEFAULT_OPC_UA_PORT;
@@ -135,7 +174,8 @@ int main(int argc, char **argv)
     arguments.password = "";
     arguments.key = "";
     arguments.certificate = "";
-    arguments.uuid = "";
+    arguments.id = DEFAULT_ID;
+    arguments.heart_beat_interval = DEFAULT_HEART_BEAT_INTERVAL;
     argp_parse(&argp, argc, argv, 0, 0, &arguments);
 
     printf("Mode=%d\n", arguments.mode);
@@ -144,12 +184,16 @@ int main(int argc, char **argv)
     printf("Slave address list=%s\n", arguments.slave_address_list);
     printf("Key=%s\n", arguments.key);
     printf("Certificate=%s\n", arguments.certificate);
-    printf("UUID=%s\n", arguments.uuid);
-
+    printf("ID=%d\n", arguments.id);
+    printf("Heart beat=%d\n", arguments.heart_beat);
+    printf("Heart beat interval=%d ms\n", arguments.heart_beat_interval);
+    printf("Heart beat ID list=%s\n", arguments.heart_beat_id_list);
 
     // transfer to global variables (CLI input)
+    COUPLER_ID = arguments.id;
     I2C_VIRTUAL_MODE = arguments.mode;
     I2C_BLOCK_DEVICE_NAME = arguments.device;
+    HEART_BEAT_INTERVAL = arguments.heart_beat_interval;
 
     // convert arguments.slave_address_list -> I2C_SLAVE_ADDR_LIST
     i = 0;
@@ -162,6 +206,17 @@ int main(int argc, char **argv)
         token = strtok(NULL, ",");
     }
 
+    // convert arguments.heart_beat_id_list -> HEART_BEAT_ID_LIST
+    i = 0;
+    char *tk= strtok(arguments.heart_beat_id_list, ",");
+    while (tk != NULL)
+    {
+        // from CLI we get a  comma separated list on INTs representing coupler' ID
+        result = strtol(tk, &eptr, 16);
+        HEART_BEAT_ID_LIST[i++] = result;
+        tk = strtok(NULL, ",");
+    }
+
     // always start attached slaves from a know safe shutdown state
     safeShutdownI2CSlaveList();
 
@@ -171,12 +226,13 @@ int main(int argc, char **argv)
     bool addx509 = strlen(arguments.key) > 0 && strlen(arguments.certificate);
     bool addUserNamePasswordAuthentication = strlen(arguments.username) > 0 && strlen(arguments.password) > 0;
 
-    UA_Server *server = UA_Server_new();
+    //UA_Server *server = UA_Server_new();
+    server = UA_Server_new();
     UA_ServerConfig_setMinimal(UA_Server_getConfig(server), arguments.port, NULL);
     UA_ServerConfig *config = UA_Server_getConfig(server);
     config->verifyRequestTimestamp = UA_RULEHANDLING_ACCEPT;
 
-    // add variables representing physical relarys / inputs, etc
+    // add variables representing physical relaray / inputs, etc
     addVariable(server);
     addValueCallbackToCurrentTimeVariable(server);
 
@@ -224,6 +280,17 @@ int main(int argc, char **argv)
     }
     #endif
 
+    // enable protocol for Pub/Sub
+    UA_ServerConfig_addPubSubTransportLayer(config, UA_PubSubTransportLayerUDPMP());
+ 
+    // enable publish keep-alive messages
+    if (arguments.heart_beat) {
+      enablePublishHeartBeat(server, config);
+    }
+
+    // enable subscribe to keep-alive messages
+    enableSubscribeToHeartBeat(server, config);
+
     // run server
     UA_StatusCode retval = UA_Server_run(server, &running);
     UA_Server_delete(server);

slapos/software/osie-coupler/software-opc-ua.cfg

@@ -42,6 +42,7 @@ configure-options =
   -DUA_NAMESPACE_ZERO=REDUCED
   -DUA_ENABLE_ENCRYPTION=MBEDTLS
   -DUA_ENABLE_ENCRYPTION_MBEDTLS=ON
+  -DUA_ENABLE_PUBSUB_INFORMATIONMODEL=ON
 
 [osie-repository]
 recipe  = slapos.recipe.build:gitclone