本文主要讲述如何在OPC UA Server中添加自定义的变量类型,变量类型属于VariableType
一 自定义2D空间坐标类型
自定义一个2D空间的坐标类型,即{x, y}这样,由2个double值组成一个坐标。该类型会被添加到OPC UA Server的变量类型层次结构上,并使用该变量类型创建变量。
// server.c
/* 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 <signal.h>
#include <stdlib.h>
#include "open62541.h"
UA_Boolean running = true;
static void stopHandler(int sign) {
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "received ctrl-c");
running = false;
}
static UA_NodeId pointTypeId;
static void addVariableType2DPoint(UA_Server *server)
{
UA_VariableTypeAttributes vtAttr = UA_VariableTypeAttributes_default;
vtAttr.dataType = UA_TYPES[UA_TYPES_DOUBLE].typeId;
vtAttr.valueRank = UA_VALUERANK_ONE_DIMENSION;
// -------- 设置为1维数组,数组里包含2个元素 ---------
vtAttr.arrayDimensionsSize = 1; // 表示1维数组
UA_UInt32 arrayDims[1] = {2}; // 数组里元素个数
vtAttr.arrayDimensions = arrayDims;
// -------------------------------------------------
vtAttr.displayName = UA_LOCALIZEDTEXT("en-US", "2DPoint Type");
/* a matching default value is required */
UA_Double zero[2] = {0.0, 0.0};
UA_Variant_setArray(&vtAttr.value, zero, 2, &UA_TYPES[UA_TYPES_DOUBLE]);
UA_Server_addVariableTypeNode(server, UA_NODEID_NULL,
UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
UA_QUALIFIEDNAME(1, "2DPoint Type"), UA_NODEID_NULL,
vtAttr, NULL, &pointTypeId);
}
static UA_NodeId pointVariableId;
static void createVariable(UA_Server *server)
{
/* Prepare the node attributes */
UA_VariableAttributes vAttr = UA_VariableAttributes_default;
vAttr.dataType = UA_TYPES[UA_TYPES_DOUBLE].typeId;
vAttr.valueRank = UA_VALUERANK_ONE_DIMENSION;
UA_UInt32 arrayDims[1] = {2};
vAttr.arrayDimensions = arrayDims;
vAttr.arrayDimensionsSize = 1;
vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "2DPoint Variable");
vAttr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
/* vAttr.value is left empty, the server instantiates with the default value */
/* Add the node */
UA_Server_addVariableNode(server, UA_NODEID_NULL,
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "2DPoint Type"), pointTypeId,
vAttr, NULL, &pointVariableId);
}
int main(void)
{
signal(SIGINT, stopHandler);
signal(SIGTERM, stopHandler);
UA_Server *server = UA_Server_new();
UA_ServerConfig_setDefault(UA_Server_getConfig(server));
addVariableType2DPoint(server);
createVariable(server);
UA_StatusCode retval = UA_Server_run(server, &running);
UA_Server_delete(server);
return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE;
}
解析:
- addVariableType2DPoint()中先定义变量类型的属性,然后调用UA_Server_addVariableTypeNode()把这个变量类型节点添加到OPC UA Server的BaseDataVariableType下,它们的关系是HasComponent
- createVariable()调用UA_Server_addVariableNode()创建2D空间坐标变量
编译成功后,使用UaExpert去连接,显示如下,
其属性如下,可以看出和代码里定义的是一致的,
最后看下变量类型节点的位置,
可以看出自定义的2D坐标类型已经添加到OPC UA Server的类型层次结构里了。
二 错误例子
变量类型会约定该类型变量的数据类型,取值范围和数组维度,下面就来看下错误使用的例子。
下面这个函数把变量的取值范围设置为UA_VALUERANK_SCALAR,并把变量值设置为string,这个和2D坐标类型是不相符的,所以添加变量节点就会失败。
static void addVariableFail(UA_Server *server)
{
/* Prepare the node attributes */
UA_VariableAttributes vAttr = UA_VariableAttributes_default;
vAttr.dataType = UA_TYPES[UA_TYPES_DOUBLE].typeId;
vAttr.valueRank = UA_VALUERANK_SCALAR; /* a scalar. this is not allowed per the variable type */
vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "2DPoint Variable (fail)");
UA_String s = UA_STRING("2dpoint?");
UA_Variant_setScalar(&vAttr.value, &s, &UA_TYPES[UA_TYPES_STRING]);
/* Add the node will return UA_STATUSCODE_BADTYPEMISMATCH*/
UA_Server_addVariableNode(server, UA_NODEID_NULL,
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "2DPoint Type (fail)"), pointTypeId,
vAttr, NULL, NULL);
}
下面这个函数修改变量类型的valueRank,也是不允许的,
static void writeVariableValueRank(UA_Server *server)
{
UA_StatusCode retval = UA_Server_writeValueRank(server, pointVariableId, UA_VALUERANK_ONE_OR_MORE_DIMENSIONS);
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"Setting the Value Rank failed with Status Code %s",
UA_StatusCode_name(retval));
}
整体错误代码如下,
// server.c
/* 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 <signal.h>
#include <stdlib.h>
#include "open62541.h"
UA_Boolean running = true;
static void stopHandler(int sign) {
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "received ctrl-c");
running = false;
}
static UA_NodeId pointTypeId;
static void addVariableType2DPoint(UA_Server *server)
{
UA_VariableTypeAttributes vtAttr = UA_VariableTypeAttributes_default;
vtAttr.dataType = UA_TYPES[UA_TYPES_DOUBLE].typeId;
vtAttr.valueRank = UA_VALUERANK_ONE_DIMENSION;
UA_UInt32 arrayDims[1] = {2};
vtAttr.arrayDimensions = arrayDims;
vtAttr.arrayDimensionsSize = 1;
vtAttr.displayName = UA_LOCALIZEDTEXT("en-US", "2DPoint Type");
/* a matching default value is required */
UA_Double zero[2] = {0.0, 0.0};
UA_Variant_setArray(&vtAttr.value, zero, 2, &UA_TYPES[UA_TYPES_DOUBLE]);
UA_Server_addVariableTypeNode(server, UA_NODEID_NULL,
UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
UA_QUALIFIEDNAME(1, "2DPoint Type"), UA_NODEID_NULL,
vtAttr, NULL, &pointTypeId);
}
static UA_NodeId pointVariableId;
static void addVariable(UA_Server *server)
{
/* Prepare the node attributes */
UA_VariableAttributes vAttr = UA_VariableAttributes_default;
vAttr.dataType = UA_TYPES[UA_TYPES_DOUBLE].typeId;
vAttr.valueRank = UA_VALUERANK_ONE_DIMENSION;
UA_UInt32 arrayDims[1] = {2};
vAttr.arrayDimensions = arrayDims;
vAttr.arrayDimensionsSize = 1;
vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "2DPoint Variable");
vAttr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
/* vAttr.value is left empty, the server instantiates with the default value */
/* Add the node */
UA_Server_addVariableNode(server, UA_NODEID_NULL,
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "2DPoint Type"), pointTypeId,
vAttr, NULL, &pointVariableId);
}
static void addVariableFail(UA_Server *server)
{
/* Prepare the node attributes */
UA_VariableAttributes vAttr = UA_VariableAttributes_default;
vAttr.dataType = UA_TYPES[UA_TYPES_DOUBLE].typeId;
vAttr.valueRank = UA_VALUERANK_SCALAR; /* a scalar. this is not allowed per the variable type */
vAttr.displayName = UA_LOCALIZEDTEXT("en-US", "2DPoint Variable (fail)");
UA_String s = UA_STRING("2dpoint?");
UA_Variant_setScalar(&vAttr.value, &s, &UA_TYPES[UA_TYPES_STRING]);
/* Add the node will return UA_STATUSCODE_BADTYPEMISMATCH*/
UA_Server_addVariableNode(server, UA_NODEID_NULL,
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, "2DPoint Type (fail)"), pointTypeId,
vAttr, NULL, NULL);
}
static void writeVariableValueRank(UA_Server *server)
{
UA_StatusCode retval = UA_Server_writeValueRank(server, pointVariableId, UA_VALUERANK_ONE_OR_MORE_DIMENSIONS);
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"Setting the Value Rank failed with Status Code %s",
UA_StatusCode_name(retval));
}
int main(void)
{
signal(SIGINT, stopHandler);
signal(SIGTERM, stopHandler);
UA_Server *server = UA_Server_new();
UA_ServerConfig_setDefault(UA_Server_getConfig(server));
addVariableType2DPoint(server);
addVariable(server);
addVariableFail(server);
writeVariableValueRank(server);
UA_StatusCode retval = UA_Server_run(server, &running);
UA_Server_delete(server);
return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE;
}
编译成功后运行,可以看到错误信息,
三 总结
本文主要讲述如何自定义变量并加入到OPC UA Server的变量类型层次结构中,然后使用该类型去添加变量节点。
如果有写的不对的地方,希望能留言指正,谢谢阅读。