WINDOWS：OPEN62541服务器编程

WINDOWS：OPEN62541服务器编程

创建工程

编译环境 windows 10 + Visual Studio 2019 Community

新建工程，将cmake编译生成的open62541.h/.c加载进入工程

添加必要的库

OPEN62541需要额外加载两个库：wsock32.lib ws2_32.lib，在程序开头添加：

#pragma comment(lib, “wsock32.lib”)
#pragma comment(lib, “ws2_32.lib”)

或者在工程属性中添加相应的库

代码

int main(void) {
	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;



	HANDLE handle1;
	handle1 = CreateThread(NULL, 0, MyThreadProc1, server, 0, NULL);
	printf("in Function %s line %d\n", __FUNCTION__, __LINE__);
	UA_StatusCode retval = UA_Server_run(server, &running);

	UA_Server_delete(server);

	return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE;
}

{
	UA_Server* server = (UA_Server*)lpParameter;
	int32_t i32data;
	string  idName,actionName;
	printf("MyThreadProc1 begin\n");
	while (running) {
		cin >> actionName >> idName >> i32data;
		if (actionName == "addi") {
			cout << "addVariable " << idName << i32data << endl;
			addVariable(server, (char *)idName.data(), i32data);
			writeWrongVariable(server, (char*)idName.data());
		}
		else if (actionName == "writei") {
			cout << "writeVariable " << idName << i32data << endl;
			writeVariable(server, (char*)idName.data(), i32data);
		}
		else if (actionName == "addm") {
			cout << "addMatrixVariable " << idName << i32data << endl;
			addMatrixVariable(server);
		}
	}
	printf("MyThreadProc1 end\n");
	
	return 0;
}

DWORD WINAPI MyThreadProc1(LPVOID lpParameter);
static volatile UA_Boolean running = true;
static void stopHandler(int sig) {
	UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "received ctrl-c");
	running = false;
}

static void addVariable(UA_Server* server, char* name, int32_t data) {
	/* Define the attribute of the myInteger variable node */
	UA_VariableAttributes attr = UA_VariableAttributes_default;
	UA_Int32 myInteger = data;
	UA_Variant_setScalar(&attr.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
	attr.description = UA_LOCALIZEDTEXT("en-US", name);
	attr.displayName = UA_LOCALIZEDTEXT("en-US", name);
	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, name);
	UA_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, name);
	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 writeVariable(UA_Server* server, char* name, int32_t data) {
	UA_NodeId myIntegerNodeId = UA_NODEID_STRING(1, name);
	/* Write a different integer value */
	UA_Int32 myInteger = data;
	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);
}

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);
}



static void writeWrongVariable(UA_Server* server, char* name) {
	UA_NodeId myIntegerNodeId = UA_NODEID_STRING(1, name);
	/* 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));
}

使用Unified Automation UaExpert进行数据观察

第一，运行上述server程序

第二，打开UaExpert,连接server

第三，在控制台输入指令，添加node

第四，观察UaExpert数据变化