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Commits
19633145
Commit
19633145
authored
Apr 21, 2022
by
Ivan Tyagov
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211bcc7a
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2 changed files
with
67 additions
and
58 deletions
+67
-58
coupler/opc-ua-server/keep_alive.h
coupler/opc-ua-server/keep_alive.h
+64
-0
coupler/opc-ua-server/server.c
coupler/opc-ua-server/server.c
+3
-58
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coupler/opc-ua-server/keep_alive.h
View file @
19633145
/*
Keep alive implementation for couplers based on OPC UA's pub/sub mechanism
*/
// global HEART BEATs of coupler$
static
unsigned
int
HEART_BEATS
=
0
;
// the heart beat interval$
static
int
HEART_BEAT_INTERVAL
=
250
;
// both publisher and subscriber should use same publisher id
const
int
PUBLISHER_ID
=
2234
;
...
...
@@ -137,3 +144,60 @@ static void addPubSubDataSetField(UA_Server *server, PublishedVariable varDetail
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
myIntegerNodeId
=
UA_NODEID_STRING
(
1
,
"heart_beat"
);
UA_UInt32
myInteger
=
HEART_BEATS
;
UA_Variant
myVar
;
UA_Variant_init
(
&
myVar
);
UA_Variant_setScalar
(
&
myVar
,
&
myInteger
,
&
UA_TYPES
[
UA_TYPES_UINT32
]);
UA_Server_writeValue
(
server
,
myIntegerNodeId
,
myVar
);
}
static
void
enablePublishHeartBeat
(
UA_Server
*
erver
,
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
;
const
PublishedVariable
publishedVariableArray
[]
=
{
// representing time in millis since start of process
{
.
name
=
"heart_beat"
,
.
description
=
"Heart beat"
,
.
pdefaultValue
=
&
defaultUInt32
,
.
type
=
UA_TYPES_UINT32
},
// representing the ID of the coupler
{
.
name
=
"id"
,
.
description
=
"ID"
,
.
pdefaultValue
=
&
couplerID
,
.
type
=
UA_TYPES_UINT32
}
};
UA_String
transportProfile
=
UA_STRING
(
"http://opcfoundation.org/UA-Profile/Transport/pubsub-udp-uadp"
);
UA_NetworkAddressUrlDataType
networkAddressUrl
=
{
UA_STRING_NULL
,
UA_STRING
(
"opc.udp://224.0.0.22:4840/"
)};
UA_ServerConfig_addPubSubTransportLayer
(
config
,
UA_PubSubTransportLayerUDPMP
());
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
View file @
19633145
...
...
@@ -25,7 +25,6 @@
#include "common.h"
#include "mod_io_i2c.h"
#include "mod_io_opc_ua.h"
#include "keep_alive.h"
#include <time.h>
#include <open62541/plugin/log_stdout.h>
#include <open62541/server.h>
...
...
@@ -37,15 +36,11 @@
// global Id of coupler
static
int
COUPLER_ID
=
0
;
// global HEART BEATs of coupler
static
unsigned
int
HEART_BEATS
=
0
;
// the heart beat interval
static
int
HEART_BEAT_INTERVAL
=
250
;
// global server
UA_Server
*
server
;
#include "keep_alive.h"
// The default port of OPC-UA server
const
int
DEFAULT_OPC_UA_PORT
=
4840
;
const
int
DEFAULT_MODE
=
0
;
...
...
@@ -131,20 +126,6 @@ static void stopHandler(int sign)
running
=
false
;
}
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
myIntegerNodeId
=
UA_NODEID_STRING
(
1
,
"heart_beat"
);
UA_UInt32
myInteger
=
HEART_BEATS
;
UA_Variant
myVar
;
UA_Variant_init
(
&
myVar
);
UA_Variant_setScalar
(
&
myVar
,
&
myInteger
,
&
UA_TYPES
[
UA_TYPES_UINT32
]);
UA_Server_writeValue
(
server
,
myIntegerNodeId
,
myVar
);
}
int
main
(
int
argc
,
char
**
argv
)
{
...
...
@@ -254,43 +235,7 @@ int main(int argc, char **argv)
#endif
// enable keep-alive
// 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
;
const
PublishedVariable
publishedVariableArray
[]
=
{
// representing time in millis since start of process
{
.
name
=
"heart_beat"
,
.
description
=
"Heart beat"
,
.
pdefaultValue
=
&
defaultUInt32
,
.
type
=
UA_TYPES_UINT32
},
// representing the ID of the coupler
{
.
name
=
"id"
,
.
description
=
"ID"
,
.
pdefaultValue
=
&
couplerID
,
.
type
=
UA_TYPES_UINT32
}
};
UA_String
transportProfile
=
UA_STRING
(
"http://opcfoundation.org/UA-Profile/Transport/pubsub-udp-uadp"
);
UA_NetworkAddressUrlDataType
networkAddressUrl
=
{
UA_STRING_NULL
,
UA_STRING
(
"opc.udp://224.0.0.22:4840/"
)};
UA_ServerConfig_addPubSubTransportLayer
(
config
,
UA_PubSubTransportLayerUDPMP
());
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
);
enablePublishHeartBeat
(
server
,
config
);
// run server
UA_StatusCode
retval
=
UA_Server_run
(
server
,
&
running
);
...
...
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