/* This work is licensed under a Creative Commons CCZero 1.0 Universal License. * See http://creativecommons.org/publicdomain/zero/1.0/ for more information. */ #include #include #include #include #include #include #include /* possible options: PUBSUB_CONFIG_FASTPATH_NONE, PUBSUB_CONFIG_FASTPATH_FIXED_OFFSETS, PUBSUB_CONFIG_FASTPATH_STATIC_VALUES */ #define PUBSUB_CONFIG_FASTPATH_FIXED_OFFSETS #define PUBSUB_CONFIG_PUBLISH_CYCLE_MS 100 #define PUBSUB_CONFIG_PUBLISH_CYCLES 1000000 #define PUBSUB_CONFIG_FIELD_COUNT 10 /** * The PubSub RT level example points out the configuration of different PubSub RT-levels. These levels will be * used together with an RT capable OS for deterministic message generation. The main target is to reduce the time * spread and effort during the publish cycle. Most of the RT levels are based on pre-generated and buffered * DataSetMesseges and NetworkMessages. Since changes in the PubSub-configuration will invalidate the buffered * frames, the PubSub configuration must be frozen after the configuration phase. * * This example can be configured to compare and measure the different PubSub options by the following define options: * PUBSUB_CONFIG_FASTPATH_NONE -> The published fields are added to the information model and published in the default non-RT mode * PUBSUB_CONFIG_FASTPATH_STATIC_VALUES -> The published fields are not visible in the information model. The publish cycle is improved * by prevent the value lookup within the information model. * PUBSUB_CONFIG_FASTPATH_FIXED_OFFSETS -> The published fields are not visible in the information model. After the PubSub-configuration * freeze, the NetworkMessages and DataSetMessages will be calculated and buffered. During the publish cycle these buffers will only be updated. */ UA_NodeId publishedDataSetIdent, dataSetFieldIdent, writerGroupIdent, connectionIdentifier; UA_UInt32 *valueStore[PUBSUB_CONFIG_FIELD_COUNT]; UA_Boolean running = true; static void stopHandler(int sign) { UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "received ctrl-c"); running = false; } /* The following PubSub configuration does not differ from the 'normal' configuration */ static void addMinimalPubSubConfiguration(UA_Server * server){ /* Add one PubSubConnection */ UA_PubSubConnectionConfig connectionConfig; memset(&connectionConfig, 0, sizeof(connectionConfig)); connectionConfig.name = UA_STRING("UDP-UADP Connection 1"); connectionConfig.transportProfileUri = UA_STRING("http://opcfoundation.org/UA-Profile/Transport/pubsub-udp-uadp"); connectionConfig.enabled = UA_TRUE; UA_NetworkAddressUrlDataType networkAddressUrl = {UA_STRING_NULL , UA_STRING("opc.udp://224.0.0.22:4840/")}; UA_Variant_setScalar(&connectionConfig.address, &networkAddressUrl, &UA_TYPES[UA_TYPES_NETWORKADDRESSURLDATATYPE]); connectionConfig.publisherId.numeric = 2234; UA_Server_addPubSubConnection(server, &connectionConfig, &connectionIdentifier); /* Add one PublishedDataSet */ UA_PublishedDataSetConfig publishedDataSetConfig; memset(&publishedDataSetConfig, 0, sizeof(UA_PublishedDataSetConfig)); publishedDataSetConfig.publishedDataSetType = UA_PUBSUB_DATASET_PUBLISHEDITEMS; publishedDataSetConfig.name = UA_STRING("Demo PDS"); /* Add one DataSetField to the PDS */ UA_Server_addPublishedDataSet(server, &publishedDataSetConfig, &publishedDataSetIdent); } static void valueUpdateCallback(UA_Server *server, void *data) { #if defined PUBSUB_CONFIG_FASTPATH_FIXED_OFFSETS || defined PUBSUB_CONFIG_FASTPATH_STATIC_VALUES for (int i = 0; i < PUBSUB_CONFIG_FIELD_COUNT; ++i) *valueStore[i] = *valueStore[i] + 1; if(*valueStore[0] > PUBSUB_CONFIG_PUBLISH_CYCLES) running = false; #endif #if defined PUBSUB_CONFIG_FASTPATH_NONE for(size_t i = 0; i < PUBSUB_CONFIG_FIELD_COUNT; i++){ UA_Variant value; UA_Variant_init(&value); if(UA_Server_readValue(server, UA_NODEID_NUMERIC(1, 1000 + (UA_UInt32) i), &value) != UA_STATUSCODE_GOOD) { UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Failed to read publish value. Node number: %zu", i); continue; } UA_UInt32 *intValue = (UA_UInt32 *) value.data; *intValue = *intValue + 1; if(UA_Server_writeValue(server, UA_NODEID_NUMERIC(1, 1000 + (UA_UInt32) i), value) != UA_STATUSCODE_GOOD){ UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Failed to update publish value. Node number: %zu", i); continue; } if(i == 0 && *intValue > PUBSUB_CONFIG_PUBLISH_CYCLES) running = false; UA_Variant_clear(&value); } #endif } int main(void) { signal(SIGINT, stopHandler); signal(SIGTERM, stopHandler); UA_Server *server = UA_Server_new(); UA_ServerConfig *config = UA_Server_getConfig(server); UA_ServerConfig_setDefault(config); UA_ServerConfig_addPubSubTransportLayer(config, UA_PubSubTransportLayerUDPMP()); /*Add standard PubSub configuration (no difference to the std. configuration)*/ addMinimalPubSubConfiguration(server); UA_WriterGroupConfig writerGroupConfig; memset(&writerGroupConfig, 0, sizeof(UA_WriterGroupConfig)); writerGroupConfig.name = UA_STRING("Demo WriterGroup"); writerGroupConfig.publishingInterval = PUBSUB_CONFIG_PUBLISH_CYCLE_MS; 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]; UA_UadpWriterGroupMessageDataType writerGroupMessage; UA_UadpWriterGroupMessageDataType_init(&writerGroupMessage); /* Change message settings of writerGroup to send PublisherId, * WriterGroupId in GroupHeader and DataSetWriterId in PayloadHeader * of NetworkMessage */ writerGroupMessage.networkMessageContentMask = (UA_UadpNetworkMessageContentMask) ((UA_UadpNetworkMessageContentMask) UA_UADPNETWORKMESSAGECONTENTMASK_PUBLISHERID | (UA_UadpNetworkMessageContentMask) UA_UADPNETWORKMESSAGECONTENTMASK_GROUPHEADER | (UA_UadpNetworkMessageContentMask) UA_UADPNETWORKMESSAGECONTENTMASK_WRITERGROUPID | (UA_UadpNetworkMessageContentMask) UA_UADPNETWORKMESSAGECONTENTMASK_SEQUENCENUMBER | (UA_UadpNetworkMessageContentMask) UA_UADPNETWORKMESSAGECONTENTMASK_PAYLOADHEADER); writerGroupConfig.messageSettings.content.decoded.data = &writerGroupMessage; #ifdef PUBSUB_CONFIG_FASTPATH_FIXED_OFFSETS writerGroupConfig.rtLevel = UA_PUBSUB_RT_FIXED_SIZE; #elif defined PUBSUB_CONFIG_FASTPATH_STATIC_VALUES writerGroupConfig.rtLevel = UA_PUBSUB_RT_DIRECT_VALUE_ACCESS; #endif UA_Server_addWriterGroup(server, connectionIdentifier, &writerGroupConfig, &writerGroupIdent); /* Add one DataSetWriter */ 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_UadpDataSetWriterMessageDataType uadpDataSetWriterMessageDataType; UA_UadpDataSetWriterMessageDataType_init(&uadpDataSetWriterMessageDataType); uadpDataSetWriterMessageDataType.dataSetMessageContentMask = (UA_UadpDataSetMessageContentMask) UA_UADPDATASETMESSAGECONTENTMASK_SEQUENCENUMBER; dataSetWriterConfig.messageSettings.encoding = UA_EXTENSIONOBJECT_DECODED; dataSetWriterConfig.messageSettings.content.decoded.type = &UA_TYPES[UA_TYPES_UADPDATASETWRITERMESSAGEDATATYPE]; dataSetWriterConfig.messageSettings.content.decoded.data = &uadpDataSetWriterMessageDataType; /* Encode fields as RAW-Encoded */ dataSetWriterConfig.dataSetFieldContentMask = UA_DATASETFIELDCONTENTMASK_RAWDATA; UA_Server_addDataSetWriter(server, writerGroupIdent, publishedDataSetIdent, &dataSetWriterConfig, &dataSetWriterIdent); #if defined PUBSUB_CONFIG_FASTPATH_FIXED_OFFSETS || defined PUBSUB_CONFIG_FASTPATH_STATIC_VALUES /* Add one DataSetField with static value source to PDS */ UA_DataValue *staticValueSource = UA_DataValue_new(); UA_DataSetFieldConfig dsfConfig; for(size_t i = 0; i < PUBSUB_CONFIG_FIELD_COUNT; i++){ memset(&dsfConfig, 0, sizeof(UA_DataSetFieldConfig)); /* Create Variant and configure as DataSetField source */ UA_UInt32 *intValue = UA_UInt32_new(); *intValue = (UA_UInt32) i * 1000; valueStore[i] = intValue; UA_Variant_setScalar(&staticValueSource->value, intValue, &UA_TYPES[UA_TYPES_UINT32]); dsfConfig.field.variable.rtValueSource.rtFieldSourceEnabled = UA_TRUE; dsfConfig.field.variable.rtValueSource.staticValueSource = &staticValueSource; UA_Server_addDataSetField(server, publishedDataSetIdent, &dsfConfig, &dataSetFieldIdent); } #endif #if defined PUBSUB_CONFIG_FASTPATH_NONE UA_DataSetFieldConfig dsfConfig; memset(&dsfConfig, 0, sizeof(UA_DataSetFieldConfig)); for(size_t i = 0; i < PUBSUB_CONFIG_FIELD_COUNT; i++){ UA_VariableAttributes attributes = UA_VariableAttributes_default; UA_Variant value; UA_Variant_init(&value); UA_UInt32 intValue = (UA_UInt32) i * 1000; UA_Variant_setScalar(&value, &intValue, &UA_TYPES[UA_TYPES_UINT32]); attributes.value = value; if(UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, 1000 + (UA_UInt32) i), UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER), UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES), UA_QUALIFIEDNAME(1, "variable"), UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE), attributes, NULL, NULL) != UA_STATUSCODE_GOOD){ UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Failed to add Publish-Node to the server. Node number: %zu", i); continue; } dsfConfig.field.variable.publishParameters.publishedVariable = UA_NODEID_NUMERIC(1, 1000 + (UA_UInt32) i); dsfConfig.field.variable.publishParameters.attributeId = UA_ATTRIBUTEID_VALUE; UA_Server_addDataSetField(server, publishedDataSetIdent, &dsfConfig, &dataSetFieldIdent); } #endif /* The PubSub configuration is currently editable and the publish callback is not running */ writerGroupConfig.publishingInterval = PUBSUB_CONFIG_PUBLISH_CYCLE_MS; UA_Server_updateWriterGroupConfig(server, writerGroupIdent, &writerGroupConfig); /* Freeze the PubSub configuration (and start implicitly the publish callback) */ UA_Server_freezeWriterGroupConfiguration(server, writerGroupIdent); UA_Server_setWriterGroupOperational(server, writerGroupIdent); UA_UInt64 callbackId; UA_Server_addRepeatedCallback(server, valueUpdateCallback, NULL, PUBSUB_CONFIG_PUBLISH_CYCLE_MS, &callbackId); UA_StatusCode retval = UA_STATUSCODE_GOOD; retval |= UA_Server_run(server, &running); UA_Server_delete(server); /* Remove the source after deleting the server. * It might be accessed during shutdown. */ #if defined PUBSUB_CONFIG_FASTPATH_FIXED_OFFSETS || defined PUBSUB_CONFIG_FASTPATH_STATIC_VALUES UA_DataValue_delete(staticValueSource); #endif return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE; }