Define pubsub variables IDs in a separate structure

include/pubsub.h

@@ -19,8 +19,6 @@
 
 typedef struct {
     UA_UInt16 id;
-    UA_UInt32 positionArrayId;
-    UA_UInt32 speedArrayId;
     UA_Double latitude;
     UA_Double longitude;
     UA_Double altitudeAbs;
@@ -30,9 +28,7 @@ typedef struct {
     UA_Float  speed;
     UA_Float  climbRate;
     char      message[MAX_STR_SIZE];
-    UA_UInt32 messageId;
     char      log[MAX_STR_SIZE];
-    UA_UInt32 logId;
 } JSDroneData;
 
 typedef struct {
@@ -42,6 +38,16 @@ typedef struct {
     UA_Int64 timestamp;
 } JSPositionData;
 
+typedef union {
+    struct {
+        UA_UInt32 message;
+        UA_UInt32 positionArray;
+        UA_UInt32 speedArray;
+        UA_UInt32 log;
+    };
+    UA_UInt32 getter[4];
+ } PubsubVariableIDs;
+
 typedef struct {
     char*       name;
     char*       typeName;
@@ -64,16 +70,12 @@ typedef struct {
     VariableData *variableArray;
 } VariableStruct;
 
-typedef struct {
-    VariableStruct variables;
-    void          (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic);
-} InstanceData;
-
 int runPubsub(const UA_Logger *logger, UA_String *transportProfile,
               UA_NetworkAddressUrlDataType *networkAddressUrl,
               VariableStruct variables, UA_UInt32 id,
-              InstanceData *readerArray, UA_UInt32 nbReader,
-              UA_UInt32 maxVariableNb, UA_Duration interval,
+              VariableStruct *pubsubVariableArray,
+              PubsubVariableIDs *pubsubIDArray,
+              UA_UInt32 nbReader, UA_Duration interval,
               UA_UInt16 (*get_reader_id)(UA_UInt32 nb),
               VariableData (*get_value)(UA_String identifier),
               void (*update)(UA_UInt32 id, const UA_DataValue*, bool print),
@@ -85,10 +87,6 @@ UA_String get_log(void);
 
 UA_UInt16 get_drone_id(UA_UInt32 nb);
 
-void init_drone_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic);
-
-void init_subscriber_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic);
-
 VariableData pubsub_get_value(UA_String identifier);
 
 DLL_PUBLIC JSModuleDef *js_init_module(JSContext *ctx, const char *module_name);

pubsub.c

@@ -260,9 +260,9 @@ dataChangeNotificationCallback(UA_Server *server, UA_UInt32 monitoredItemId,
  * Add subscribedvariables to the DataSetReader */
 static UA_StatusCode
 addSubscribedVariables(UA_Server *server, UA_NodeId dataSetReaderId,
-                       VariableData *variableArray, UA_UInt32 nb,
-                       UA_UInt32 maxVariableNb, UA_Duration samplingInterval,
-                       void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic)) {
+                       VariableData *variableArray,
+                       PubsubVariableIDs pubsubIDs, UA_UInt32 nb,
+                       UA_Duration samplingInterval) {
     if(server == NULL)
         return UA_STATUSCODE_BADINTERNALERROR;
 
@@ -310,7 +310,7 @@ addSubscribedVariables(UA_Server *server, UA_NodeId dataSetReaderId,
 
         UA_NodeId newNode;
         retval |= UA_Server_addVariableNode(server,
-                                            UA_NODEID_NUMERIC(1, (UA_UInt32)maxVariableNb*nb + i + 50000),
+                                            UA_NODEID_NUMERIC(1, pubsubIDs.getter[i]),
                                             folderId,
                                             UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
                                             UA_QUALIFIEDNAME(1, (char *)readerConfig.dataSetMetaData.fields[i].name.data),
@@ -319,7 +319,6 @@ addSubscribedVariables(UA_Server *server, UA_NodeId dataSetReaderId,
 
         /*monitor variable*/
         UA_MonitoredItemCreateRequest monRequest = UA_MonitoredItemCreateRequest_default(newNode);
-        init_node_id(newNode.identifier.numeric, nb, i);
         monRequest.requestedParameters.samplingInterval = samplingInterval;
         UA_Server_createDataChangeMonitoredItem(server, UA_TIMESTAMPSTORETURN_SOURCE,
                                                 monRequest, NULL, dataChangeNotificationCallback);
@@ -430,8 +429,9 @@ setServer(UA_String *transportProfile,
 }
 
 static UA_StatusCode
-subscribe(UA_Server *server, InstanceData *instanceArray, UA_UInt32 id,
-          UA_UInt32 nbReader, UA_UInt32 maxVariableNb, UA_Duration interval,
+subscribe(UA_Server *server, VariableStruct *pubsubVariableArray,
+          PubsubVariableIDs *pubsubIDArray, UA_UInt32 id,
+          UA_UInt32 nbReader, UA_Duration interval,
           UA_UInt16 (*get_reader_id)(UA_UInt32 nb),
           void (*update)(UA_UInt32 id, const UA_DataValue*, bool print)) {
     UA_UInt16 publisherIdent;
@@ -455,16 +455,15 @@ subscribe(UA_Server *server, InstanceData *instanceArray, UA_UInt32 id,
         readerConfig.name = UA_STRING(readerName);
         readerConfig.publisherId.data = &publisherIdent;
 
-        retval = addDataSetReader(server, instanceArray[i].variables,
+        retval = addDataSetReader(server, pubsubVariableArray[i],
                                   publisherIdent);
         if (retval != UA_STATUSCODE_GOOD)
             return EXIT_FAILURE;
 
         /* Add SubscribedVariables to the created DataSetReader */
         retval = addSubscribedVariables(server, readerIdent,
-                                        instanceArray[i].variables.variableArray,
-                                        i, maxVariableNb, interval,
-                                        instanceArray[i].init_node_id);
+                                        pubsubVariableArray[i].variableArray,
+                                        pubsubIDArray[i], i, interval);
         if (retval != UA_STATUSCODE_GOOD)
             return EXIT_FAILURE;
     }
@@ -475,8 +474,9 @@ subscribe(UA_Server *server, InstanceData *instanceArray, UA_UInt32 id,
 int runPubsub(const UA_Logger *logger, UA_String *transportProfile,
               UA_NetworkAddressUrlDataType *networkAddressUrl,
               VariableStruct variables, UA_UInt32 id,
-              InstanceData *readerArray, UA_UInt32 nbReader,
-              UA_UInt32 maxVariableNb, UA_Duration interval,
+              VariableStruct *pubsubVariableArray,
+              PubsubVariableIDs *pubsubIDArray,
+              UA_UInt32 nbReader, UA_Duration interval,
               UA_UInt16 (*get_reader_id)(UA_UInt32 nb),
               VariableData (*get_value)(UA_String identifier),
               void (*update)(UA_UInt32 id, const UA_DataValue*, bool print),
@@ -507,8 +507,8 @@ int runPubsub(const UA_Logger *logger, UA_String *transportProfile,
 
     /* Subscribing */
 
-    subscribe(server, readerArray, id, nbReader, maxVariableNb, interval,
-              get_reader_id, update);
+    subscribe(server, pubsubVariableArray, pubsubIDArray, id, nbReader,
+              interval, get_reader_id, update);
 
     retval = UA_Server_run(server, running);
     UA_Server_delete(server);

qjs_wrapper.c

@@ -30,6 +30,17 @@ UA_String initial_ua_string = {
 };
 
 VariableData droneVariableArray[] = {
+    {
+        .name = "message",
+        .description = "Message to send to the other drones",
+        .value = &initial_ua_string,
+        .type = UA_TYPES_STRING,
+        .builtInType = UA_NS0ID_STRING,
+        .valueRank = UA_VALUERANK_SCALAR,
+        .arrayDimensionsSize = 0,
+        .arrayDimensions = NULL,
+        .getter.getString = get_message,
+    },
     {
         .name = "positionArray",
         .typeName = "Position Array Type",
@@ -58,17 +69,6 @@ VariableData droneVariableArray[] = {
         .getter.getArray = (void * (*)(void))getSpeedArray,
 #endif
     },
-    {
-        .name = "message",
-        .description = "Message to send to the other drones",
-        .value = &initial_ua_string,
-        .type = UA_TYPES_STRING,
-        .builtInType = UA_NS0ID_STRING,
-        .valueRank = UA_VALUERANK_SCALAR,
-        .arrayDimensionsSize = 0,
-        .arrayDimensions = NULL,
-        .getter.getString = get_message,
-    },
     {
         .name = "log",
         .description = "Message to send to the other drones",
@@ -131,6 +131,9 @@ pthread_cond_t threadCond;
 
 bool isADrone;
 
+PubsubVariableIDs *pubsubIdsArray;
+const UA_UInt32 VARIABLE_ID_BASE = 50000;
+
 // Position class functions
 
 static void js_position_finalizer(JSRuntime *rt, JSValue val)
@@ -457,48 +460,6 @@ VariableData pubsub_get_value(UA_String identifier) {
     return varDetails;
 }
 
-static JSDroneData* getJSDroneData(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic)
-{
-    UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT,
-                "Getting field %d of peer %d for node id %d", magic, nb, id);
-    return (JSDroneData *) JS_GetOpaque(droneObjectIdList[nb], jsDroneClassId);
-}
-
-void init_drone_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic) {
-    JSDroneData *s = getJSDroneData(id, nb, magic);
-    switch(magic) {
-        case 0:
-            s->positionArrayId = id;
-            break;
-        case 1:
-            s->speedArrayId = id;
-            break;
-        case 2:
-            s->messageId = id;
-            break;
-        case 3:
-            s->logId = id;
-            break;
-        default:
-            UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
-                         "Unknown variable id");
-            break;
-    }
-}
-
-void init_subscriber_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic) {
-    JSDroneData *s = getJSDroneData(id, nb, magic);
-    switch(magic) {
-        case 0:
-            s->messageId = id;
-            break;
-        default:
-            UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
-                         "Unknown variable id");
-            break;
-    }
-}
-
 static void setDroneDataStr(void *data, char *str)
 {
     UA_String uaStr = *(UA_String*) data;
@@ -520,7 +481,7 @@ static void pubsub_update_variables(UA_UInt32 id, const UA_DataValue *var, bool
 
     for(UA_UInt32 i = 0; i < nbDrone + nbSubscriber; i++) {
         s = (JSDroneData *) JS_GetOpaque(droneObjectIdList[i], jsDroneClassId);
-        if (s->positionArrayId == id) {
+        if (pubsubIdsArray[i].positionArray == id) {
             updatedPositionArray = (UA_Int64*) var->value.data;
             s->latitude = (double)updatedPositionArray[LATITUDE] / 1e7;
             s->longitude = (double)updatedPositionArray[LONGITUDE] / 1e7;
@@ -534,7 +495,7 @@ static void pubsub_update_variables(UA_UInt32 id, const UA_DataValue *var, bool
                   s->id, s->latitude, s->longitude, s->altitudeAbs, s->altitudeRel);
             }
             return;
-        } else if (s->speedArrayId == id) {
+        } else if (pubsubIdsArray[i].speedArray == id) {
             updatedSpeedArray = (UA_Float*) var->value.data;
             s->yaw = updatedSpeedArray[YAW];
             s->speed = updatedSpeedArray[SPEED];
@@ -546,10 +507,10 @@ static void pubsub_update_variables(UA_UInt32 id, const UA_DataValue *var, bool
                   s->id, s->yaw, s->speed, s->climbRate);
             }
             return;
-        } else if (s->messageId == id) {
+        } else if (pubsubIdsArray[i].message == id) {
             setDroneDataStr(var->value.data, s->message);
             return;
-        } else if (s->logId == id) {
+        } else if (pubsubIdsArray[i].log == id) {
             if (!isADrone) {
                 setDroneDataStr(var->value.data, s->log);
             }
@@ -566,7 +527,7 @@ static void pubsub_update_variables(UA_UInt32 id, const UA_DataValue *var, bool
  * arg 2 (string): network interface used for multicast communication
  * arg 3 (int): ID of the drone
  * arg 4 (double): publication/subscription interval in ms
- * arg 5 (bool): true if there will be data to publish
+ * arg 5 (bool): true if the peer is a drone
 */
 static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
                              int argc, JSValueConst *argv) {
@@ -578,7 +539,7 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
     UA_UInt32 id;
     UA_Duration interval;
     VariableStruct variables;
-    InstanceData *instanceArray;
+    VariableStruct *pubsubVariableArray;
     UA_UInt32 nbPeer = nbDrone + nbSubscriber;
     int res;
 
@@ -604,25 +565,35 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
     isADrone = JS_ToBool(ctx, argv[5]);
     variables = isADrone ? droneVariables : subscriberVariables;
 
-    instanceArray = (InstanceData *) malloc((nbPeer) * sizeof(InstanceData));
+    pubsubVariableArray = (VariableStruct *) malloc((nbPeer) * sizeof(VariableStruct));
+    pubsubIdsArray = (PubsubVariableIDs *) malloc((nbPeer) * sizeof(PubsubVariableIDs));
     for(UA_UInt32 i = 0; i < nbDrone; i++) {
-      instanceArray[i].variables = droneVariables;
-      instanceArray[i].init_node_id = init_drone_node_id;
+      pubsubVariableArray[i] = droneVariables;
+      PubsubVariableIDs ids = {
+          .message = (UA_UInt32) DRONE_VARIABLE_NB * i + VARIABLE_ID_BASE,
+          .positionArray = (UA_UInt32) DRONE_VARIABLE_NB * i + VARIABLE_ID_BASE + 1,
+          .speedArray = (UA_UInt32) DRONE_VARIABLE_NB * i + VARIABLE_ID_BASE + 2,
+          .log = (UA_UInt32) DRONE_VARIABLE_NB * i + VARIABLE_ID_BASE + 3,
+      };
+      pubsubIdsArray[i] = ids;
     }
     for(UA_UInt32 i = nbDrone; i < nbPeer; i++) {
-      instanceArray[i].variables = subscriberVariables;
-      instanceArray[i].init_node_id = init_subscriber_node_id;
+      pubsubVariableArray[i] = subscriberVariables;
+      PubsubVariableIDs ids = {
+          .message = (UA_UInt32) DRONE_VARIABLE_NB * i + VARIABLE_ID_BASE,
+      };
+      pubsubIdsArray[i] = ids;
     }
 
     pubsubExited = false;
     res = runPubsub(UA_Log_Stdout, &transportProfile, &networkAddressUrl,
-                    variables, id, instanceArray, nbPeer,
-                    fmax(DRONE_VARIABLE_NB, SUBSCRIBER_VARIABLE_NB), interval,
-                    get_drone_id, pubsub_get_value, pubsub_update_variables,
-                    &pubsubShouldRun);
+                    variables, id, pubsubVariableArray, pubsubIdsArray, nbPeer,
+                    interval, get_drone_id, pubsub_get_value,
+                    pubsub_update_variables, &pubsubShouldRun);
     pubsubExited = true;
 
-    free(instanceArray);
+    free(pubsubVariableArray);
+    free(pubsubIdsArray);
     JS_FreeCString(ctx, ipv6);
     JS_FreeCString(ctx, port);
     free(notConstNetIface);