PubSub在OPC UA应用程序中分为Publishers(发布者)和Subscribers(订阅者)。发布者是数据的来源,订阅者使用这些数据。PubSub中的通信是基于消息的,Publishers将消息发送给面向消息的中间件,PubSub支持两种不同的消息中间件变体,broker-less和broker-based两种形式。broker-less面向消息的中间件是能够路由基于数据报的消息的网络基础设备,Publishers和Subscribers使用数据报协议,如UDP;broker-based面向消息的中间件是一个消息代理,Publishers和Subscribers使用标准的消息传递协议,如AMQP或MQTT代理。
编译open62541
CMake中勾选对应的UA_ENABLE_ALALGAMATION和UA_ENABLE_PUBSUB选项,如图所示
编译生成的工程后能够得到对应的.h和.c文件
将其添加进我们工程中能正常使用了。本例程用的是没有勾选UA_ENABLE_AMALGAMATION选项,即使用.h和.lib的方式去进行使用的。
Publish端
这里以tutorial_pubsub_publish.c中内容来讲述如何进行发布,代码如下,有部分修改。
#include
#include
#include
#include
#include
UA_NodeId connectionIdent, publishedDataSetIdent, writerGroupIdent;
UA_NodeId connectionIdentEx, publishedDataSetIdentEx, writerGroupIdentEx;
UA_NodeId myIntegerNodeId, myIntegerNodeIdEx;
static void
addPubSubConnection(UA_Server *server, UA_String *transportProfile,
UA_NetworkAddressUrlDataType *networkAddressUrl){
/* Details about the connection configuration and handling are located
* in the pubsub connection tutorial */
UA_PubSubConnectionConfig connectionConfig;
memset(&connectionConfig, 0, sizeof(connectionConfig));
connectionConfig.name = UA_STRING("UADP Connection 1");
connectionConfig.transportProfileUri = *transportProfile;
connectionConfig.enabled = UA_TRUE;
UA_Variant_setScalar(&connectionConfig.address, networkAddressUrl,
&UA_TYPES[UA_TYPES_NETWORKADDRESSURLDATATYPE]);
/* Changed to static publisherId from random generation to identify
* the publisher on Subscriber side */
connectionConfig.publisherId.numeric = 2234;
UA_Server_addPubSubConnection(server, &connectionConfig, &connectionIdent);
}
static void
addPubSubConnectionEx(UA_Server *server, UA_String *transportProfile,
UA_NetworkAddressUrlDataType *networkAddressUrl){
/* Details about the connection configuration and handling are located
* in the pubsub connection tutorial */
UA_PubSubConnectionConfig connectionConfig;
memset(&connectionConfig, 0, sizeof(connectionConfig));
connectionConfig.name = UA_STRING("UADP Connection 2");
connectionConfig.transportProfileUri = *transportProfile;
connectionConfig.enabled = UA_TRUE;
UA_Variant_setScalar(&connectionConfig.address, networkAddressUrl,
&UA_TYPES[UA_TYPES_NETWORKADDRESSURLDATATYPE]);
/* Changed to static publisherId from random generation to identify
* the publisher on Subscriber side */
connectionConfig.publisherId.numeric = 2234;
UA_Server_addPubSubConnection(server, &connectionConfig, &connectionIdentEx);
}
static void
addPublishedDataSet(UA_Server *server) {
/* The PublishedDataSetConfig contains all necessary public
* information for the creation of a new PublishedDataSet */
UA_PublishedDataSetConfig publishedDataSetConfig;
memset(&publishedDataSetConfig, 0, sizeof(UA_PublishedDataSetConfig));
publishedDataSetConfig.publishedDataSetType = UA_PUBSUB_DATASET_PUBLISHEDITEMS;
publishedDataSetConfig.name = UA_STRING("Demo PDS");
/* Create new PublishedDataSet based on the PublishedDataSetConfig. */
UA_Server_addPublishedDataSet(server, &publishedDataSetConfig, &publishedDataSetIdent);
}
static void
addPublishedDataSetEx(UA_Server *server) {
/* The PublishedDataSetConfig contains all necessary public
* information for the creation of a new PublishedDataSet */
UA_PublishedDataSetConfig publishedDataSetConfig;
memset(&publishedDataSetConfig, 0, sizeof(UA_PublishedDataSetConfig));
publishedDataSetConfig.publishedDataSetType = UA_PUBSUB_DATASET_PUBLISHEDITEMS;
publishedDataSetConfig.name = UA_STRING("Demo PDS Ex");
/* Create new PublishedDataSet based on the PublishedDataSetConfig. */
UA_Server_addPublishedDataSet(server, &publishedDataSetConfig, &publishedDataSetIdentEx);
}
static void
addDataSetField(UA_Server *server) {
/* Add a field to the previous created PublishedDataSet */
UA_NodeId dataSetFieldIdent;
UA_DataSetFieldConfig dataSetFieldConfig;
memset(&dataSetFieldConfig, 0, sizeof(UA_DataSetFieldConfig));
dataSetFieldConfig.dataSetFieldType = UA_PUBSUB_DATASETFIELD_VARIABLE;
dataSetFieldConfig.field.variable.fieldNameAlias = UA_STRING("Server localtime");
dataSetFieldConfig.field.variable.promotedField = UA_FALSE;
dataSetFieldConfig.field.variable.publishParameters.publishedVariable =
UA_NODEID_NUMERIC(0, UA_NS0ID_SERVER_SERVERSTATUS_CURRENTTIME);
dataSetFieldConfig.field.variable.publishParameters.attributeId = UA_ATTRIBUTEID_VALUE;
UA_Server_addDataSetField(server, publishedDataSetIdent,
&dataSetFieldConfig, &dataSetFieldIdent);
}
static void
addDataSetFieldEx(UA_Server *server) {
/* Add a field to the previous created PublishedDataSet */
UA_NodeId dataSetFieldIdent;
UA_DataSetFieldConfig dataSetFieldConfig;
memset(&dataSetFieldConfig, 0, sizeof(UA_DataSetFieldConfig));
dataSetFieldConfig.dataSetFieldType = UA_PUBSUB_DATASETFIELD_VARIABLE;
dataSetFieldConfig.field.variable.fieldNameAlias = UA_STRING("Server localtime");
dataSetFieldConfig.field.variable.promotedField = UA_FALSE;
dataSetFieldConfig.field.variable.publishParameters.publishedVariable =
UA_NODEID_NUMERIC(0, UA_NS0ID_SERVER_SERVERSTATUS_CURRENTTIME);
dataSetFieldConfig.field.variable.publishParameters.attributeId = UA_ATTRIBUTEID_VALUE;
UA_Server_addDataSetField(server, publishedDataSetIdentEx,
&dataSetFieldConfig, &dataSetFieldIdent);
/***********添加节点****************/
UA_NodeId myFieldIdent;
UA_DataSetFieldConfig myFieldConfig;
memset(&myFieldConfig, 0, sizeof(UA_DataSetFieldConfig));
myFieldConfig.dataSetFieldType = UA_PUBSUB_DATASETFIELD_VARIABLE;
myFieldConfig.field.variable.fieldNameAlias = UA_STRING("Myself node");
myFieldConfig.field.variable.promotedField = UA_FALSE;
myFieldConfig.field.variable.publishParameters.publishedVariable = myIntegerNodeId;
myFieldConfig.field.variable.publishParameters.attributeId = UA_ATTRIBUTEID_VALUE;
UA_Server_addDataSetField(server, publishedDataSetIdentEx,
&myFieldConfig, &myFieldIdent);
UA_NodeId myFieldIdentEx;
UA_DataSetFieldConfig myFieldConfigEx;
memset(&myFieldConfigEx, 0, sizeof(UA_DataSetFieldConfig));
myFieldConfigEx.dataSetFieldType = UA_PUBSUB_DATASETFIELD_VARIABLE;
myFieldConfigEx.field.variable.fieldNameAlias = UA_STRING("Myself node Ex");
myFieldConfigEx.field.variable.promotedField = UA_FALSE;
myFieldConfigEx.field.variable.publishParameters.publishedVariable = myIntegerNodeIdEx;
myFieldConfigEx.field.variable.publishParameters.attributeId = UA_ATTRIBUTEID_VALUE;
UA_Server_addDataSetField(server, publishedDataSetIdentEx,
&myFieldConfigEx, &myFieldIdentEx);
}
static void
addWriterGroup(UA_Server *server) {
/* Now we create a new WriterGroupConfig and add the group to the existing
* PubSubConnection. */
UA_WriterGroupConfig writerGroupConfig;
memset(&writerGroupConfig, 0, sizeof(UA_WriterGroupConfig));
writerGroupConfig.name = UA_STRING("Demo WriterGroup");
writerGroupConfig.publishingInterval = 100;
writerGroupConfig.enabled = UA_TRUE;
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];
/* The configuration flags for the messages are encapsulated inside the
* message- and transport settings extension objects. These extension
* objects are defined by the standard. e.g.
* UadpWriterGroupMessageDataType */
UA_UadpWriterGroupMessageDataType *writerGroupMessage = UA_UadpWriterGroupMessageDataType_new();
/* Change message settings of writerGroup to send PublisherId,
* WriterGroupId in GroupHeader and DataSetWriterId in PayloadHeader
* of NetworkMessage */
writerGroupMessage->networkMessageContentMask = (UA_UadpNetworkMessageContentMask)(UA_UADPNETWORKMESSAGECONTENTMASK_PUBLISHERID |
(UA_UadpNetworkMessageContentMask)UA_UADPNETWORKMESSAGECONTENTMASK_GROUPHEADER |
(UA_UadpNetworkMessageContentMask)UA_UADPNETWORKMESSAGECONTENTMASK_WRITERGROUPID |
(UA_UadpNetworkMessageContentMask)UA_UADPNETWORKMESSAGECONTENTMASK_PAYLOADHEADER);
writerGroupConfig.messageSettings.content.decoded.data = writerGroupMessage;
UA_Server_addWriterGroup(server, connectionIdent, &writerGroupConfig, &writerGroupIdent);
UA_Server_setWriterGroupOperational(server, writerGroupIdent);
UA_UadpWriterGroupMessageDataType_delete(writerGroupMessage);
}
static void
addWriterGroupEx(UA_Server *server) {
/* Now we create a new WriterGroupConfig and add the group to the existing
* PubSubConnection. */
UA_WriterGroupConfig writerGroupConfig;
memset(&writerGroupConfig, 0, sizeof(UA_WriterGroupConfig));
writerGroupConfig.name = UA_STRING("Demo WriterGroup1");
writerGroupConfig.publishingInterval = 100;
writerGroupConfig.enabled = UA_TRUE;
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];
/* The configuration flags for the messages are encapsulated inside the
* message- and transport settings extension objects. These extension
* objects are defined by the standard. e.g.
* UadpWriterGroupMessageDataType */
UA_UadpWriterGroupMessageDataType *writerGroupMessage = UA_UadpWriterGroupMessageDataType_new();
/* Change message settings of writerGroup to send PublisherId,
* WriterGroupId in GroupHeader and DataSetWriterId in PayloadHeader
* of NetworkMessage */
writerGroupMessage->networkMessageContentMask = (UA_UadpNetworkMessageContentMask)(UA_UADPNETWORKMESSAGECONTENTMASK_PUBLISHERID |
(UA_UadpNetworkMessageContentMask)UA_UADPNETWORKMESSAGECONTENTMASK_GROUPHEADER |
(UA_UadpNetworkMessageContentMask)UA_UADPNETWORKMESSAGECONTENTMASK_WRITERGROUPID |
(UA_UadpNetworkMessageContentMask)UA_UADPNETWORKMESSAGECONTENTMASK_PAYLOADHEADER);
writerGroupConfig.messageSettings.content.decoded.data = writerGroupMessage;
UA_Server_addWriterGroup(server, connectionIdentEx, &writerGroupConfig, &writerGroupIdentEx);
UA_Server_setWriterGroupOperational(server, writerGroupIdentEx);
UA_UadpWriterGroupMessageDataType_delete(writerGroupMessage);
}
static void
addDataSetWriter(UA_Server *server) {
/* We need now a DataSetWriter within the WriterGroup. This means we must
* create a new DataSetWriterConfig and add call the addWriterGroup function. */
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_Server_addDataSetWriter(server, writerGroupIdent, publishedDataSetIdent,
&dataSetWriterConfig, &dataSetWriterIdent);
}
static void
addDataSetWriterEx(UA_Server *server) {
/* We need now a DataSetWriter within the WriterGroup. This means we must
* create a new DataSetWriterConfig and add call the addWriterGroup function. */
UA_NodeId dataSetWriterIdent;
UA_DataSetWriterConfig dataSetWriterConfig;
memset(&dataSetWriterConfig, 0, sizeof(UA_DataSetWriterConfig));
dataSetWriterConfig.name = UA_STRING("Demo DataSetWriter1");
dataSetWriterConfig.dataSetWriterId = 62541;
dataSetWriterConfig.keyFrameCount = 10;
UA_Server_addDataSetWriter(server, writerGroupIdentEx, publishedDataSetIdentEx,
&dataSetWriterConfig, &dataSetWriterIdent);
}
UA_Boolean running = true;
static void
addVariable(UA_Server *server) {
/* Define the attribute of the myInteger variable node */
UA_VariableAttributes attr = UA_VariableAttributes_default;
UA_Int32 myInteger = 42;
UA_Variant_setScalar(&attr.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
attr.description = UA_LOCALIZEDTEXT("en-US", "the answer");
attr.displayName = UA_LOCALIZEDTEXT("en-US", "the answer");
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_QualifiedName myIntegerName = UA_QUALIFIEDNAME(1, "the answer");
UA_NodeId parentNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
UA_NodeId parentReferenceNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
UA_Server_addVariableNode(server, UA_NODEID_NULL, parentNodeId,
parentReferenceNodeId, myIntegerName,
UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE), attr, NULL, &myIntegerNodeId);
/* Define the attribute of the myInteger variable node */
myInteger = 99;
UA_Variant_setScalar(&attr.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
attr.description = UA_LOCALIZEDTEXT("en-US", "the answer Ex");
attr.displayName = UA_LOCALIZEDTEXT("en-US", "the answer Ex");
attr.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
attr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
/* Add the variable node to the information model */
myIntegerName = UA_QUALIFIEDNAME(1, "the answer Ex");
parentNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
parentReferenceNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
UA_Server_addVariableNode(server, UA_NODEID_NULL, parentNodeId,
parentReferenceNodeId, myIntegerName,
UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE), attr, NULL, &myIntegerNodeIdEx);
}
static int run(UA_String *transportProfile,
UA_NetworkAddressUrlDataType *networkAddressUrl) {
UA_Server *server = UA_Server_new();
UA_ServerConfig *config = UA_Server_getConfig(server);
UA_ServerConfig_setMinimal(config, 4888, NULL);
/* Details about the connection configuration and handling are located in
* the pubsub connection tutorial */
UA_ServerConfig_addPubSubTransportLayer(config, UA_PubSubTransportLayerUDPMP());
#ifdef UA_ENABLE_PUBSUB_ETH_UADP
UA_ServerConfig_addPubSubTransportLayer(config, UA_PubSubTransportLayerEthernet());
#endif
//添加自己定义的两个节点
addVariable(server);
#if 1
addPubSubConnection(server, transportProfile, networkAddressUrl);
addPublishedDataSet(server);
addDataSetField(server);
addWriterGroup(server);
addDataSetWriter(server);
#endif
//向不同地址发布信息
UA_String transportProfileEx =
UA_STRING("http://opcfoundation.org/UA-Profile/Transport/pubsub-udp-uadp");
UA_NetworkAddressUrlDataType networkAddressUrlEx =
{ UA_STRING_NULL, UA_STRING("opc.udp://224.0.0.23:4843/") };
#if 1
addPubSubConnectionEx(server, &transportProfileEx, &networkAddressUrlEx);
addPublishedDataSetEx(server);
addDataSetFieldEx(server);
addWriterGroupEx(server);
addDataSetWriterEx(server);
#endif
UA_StatusCode retval = UA_Server_run(server, &running);
UA_Server_delete(server);
return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE;
}
int main(int argc, char **argv) {
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/")};
return run(&transportProfile, &networkAddressUrl);
}
这里相比原.c中内容的话添加了两个Int32类型的node,以及添加了一个地址用于发布内容。运行后输出信息如下
可以看到一个PubSub连接对应应该PubSub通道,在一个server中我们可以向多个地址发布不同的信息,彼此之间不受影响。同样,在同一个地址中我们可以创建多个组和数据集,在sub端根据对应设定的Id号便可以访问到对应发布的数据。
大致流程如下:
connect:建立连接,设定一个发布id,根据UDP地址创建并打开安全通道
add DataSet:添加数据集,获取一个数据集id,用来绑定需要发布的数据
add DataSet field:添加数据集字段,即要发布的数据,与数据集id进行绑定
add Group:添加组,获取一个组id,用于创建writer
add Writer:添加Writer,绑定组与数据集
sub端通过发布id,组id,和写者id进行绑定需要订阅的对应变量
#include
#include
#include
#include
#include
#if defined (UA_ENABLE_PUBSUB_ETH_UADP)
#include
#endif
UA_NodeId connectionIdentifier;
UA_NodeId readerGroupIdentifier;
UA_NodeId readerIdentifier;
UA_DataSetReaderConfig readerConfig;
static void fillTestDataSetMetaData(UA_DataSetMetaDataType *pMetaData);
/* Add new connection to the server */
static UA_StatusCode
addPubSubConnection(UA_Server *server, UA_String *transportProfile,
UA_NetworkAddressUrlDataType *networkAddressUrl) {
if((server == NULL) || (transportProfile == NULL) ||
(networkAddressUrl == NULL)) {
return UA_STATUSCODE_BADINTERNALERROR;
}
UA_StatusCode retval = UA_STATUSCODE_GOOD;
/* Configuration creation for the connection */
UA_PubSubConnectionConfig connectionConfig;
memset (&connectionConfig, 0, sizeof(UA_PubSubConnectionConfig));
connectionConfig.name = UA_STRING("UDPMC Connection 1");
connectionConfig.transportProfileUri = *transportProfile;
connectionConfig.enabled = UA_TRUE;
UA_Variant_setScalar(&connectionConfig.address, networkAddressUrl,
&UA_TYPES[UA_TYPES_NETWORKADDRESSURLDATATYPE]);
connectionConfig.publisherId.numeric = UA_UInt32_random();
retval |= UA_Server_addPubSubConnection (server, &connectionConfig, &connectionIdentifier);
if (retval != UA_STATUSCODE_GOOD) {
return retval;
}
return retval;
}
/**
* **ReaderGroup**
*
* ReaderGroup is used to group a list of DataSetReaders. All ReaderGroups are
* created within a PubSubConnection and automatically deleted if the connection
* is removed. All network message related filters are only available in the DataSetReader. */
/* Add ReaderGroup to the created connection */
static UA_StatusCode
addReaderGroup(UA_Server *server) {
if(server == NULL) {
return UA_STATUSCODE_BADINTERNALERROR;
}
UA_StatusCode retval = UA_STATUSCODE_GOOD;
UA_ReaderGroupConfig readerGroupConfig;
memset (&readerGroupConfig, 0, sizeof(UA_ReaderGroupConfig));
readerGroupConfig.name = UA_STRING("ReaderGroup1");
retval |= UA_Server_addReaderGroup(server, connectionIdentifier, &readerGroupConfig,
&readerGroupIdentifier);
UA_Server_setReaderGroupOperational(server, readerGroupIdentifier);
return retval;
}
/**
* **DataSetReader**
*
* DataSetReader can receive NetworkMessages with the DataSetMessage
* of interest sent by the Publisher. DataSetReader provides
* the configuration necessary to receive and process DataSetMessages
* on the Subscriber side. DataSetReader must be linked with a
* SubscribedDataSet and be contained within a ReaderGroup. */
/* Add DataSetReader to the ReaderGroup */
static UA_StatusCode
addDataSetReader(UA_Server *server) {
if(server == NULL) {
return UA_STATUSCODE_BADINTERNALERROR;
}
UA_StatusCode retval = UA_STATUSCODE_GOOD;
memset (&readerConfig, 0, sizeof(UA_DataSetReaderConfig));
readerConfig.name = UA_STRING("DataSet Reader 1");
/* Parameters to filter which DataSetMessage has to be processed
* by the DataSetReader */
/* The following parameters are used to show that the data published by
* tutorial_pubsub_publish.c is being subscribed and is being updated in
* the information model */
UA_UInt16 publisherIdentifier = 2234;
readerConfig.publisherId.type = &UA_TYPES[UA_TYPES_UINT16];
readerConfig.publisherId.data = &publisherIdentifier;
readerConfig.writerGroupId = 100;
readerConfig.dataSetWriterId = 62542;
/* Setting up Meta data configuration in DataSetReader */
fillTestDataSetMetaData(&readerConfig.dataSetMetaData);
retval |= UA_Server_addDataSetReader(server, readerGroupIdentifier, &readerConfig,
&readerIdentifier);
return retval;
}
/**
* **SubscribedDataSet**
*
* Set SubscribedDataSet type to TargetVariables data type.
* Add subscribedvariables to the DataSetReader */
static UA_StatusCode
addSubscribedVariables (UA_Server *server, UA_NodeId dataSetReaderId) {
if(server == NULL)
return UA_STATUSCODE_BADINTERNALERROR;
UA_StatusCode retval = UA_STATUSCODE_GOOD;
UA_NodeId folderId;
UA_String folderName = readerConfig.dataSetMetaData.name;
UA_ObjectAttributes oAttr = UA_ObjectAttributes_default;
UA_QualifiedName folderBrowseName;
if(folderName.length > 0) {
oAttr.displayName.locale = UA_STRING ("en-US");
oAttr.displayName.text = folderName;
folderBrowseName.namespaceIndex = 1;
folderBrowseName.name = folderName;
}
else {
oAttr.displayName = UA_LOCALIZEDTEXT ("en-US", "Subscribed Variables");
folderBrowseName = UA_QUALIFIEDNAME (1, "Subscribed Variables");
}
UA_Server_addObjectNode (server, UA_NODEID_NULL,
UA_NODEID_NUMERIC (0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC (0, UA_NS0ID_ORGANIZES),
folderBrowseName, UA_NODEID_NUMERIC (0,
UA_NS0ID_BASEOBJECTTYPE), oAttr, NULL, &folderId);
/**
* **TargetVariables**
*
* The SubscribedDataSet option TargetVariables defines a list of Variable mappings between
* received DataSet fields and target Variables in the Subscriber AddressSpace.
* The values subscribed from the Publisher are updated in the value field of these variables */
/* Create the TargetVariables with respect to DataSetMetaData fields */
UA_FieldTargetVariable *targetVars = (UA_FieldTargetVariable *)
UA_calloc(readerConfig.dataSetMetaData.fieldsSize, sizeof(UA_FieldTargetVariable));
for(size_t i = 0; i < readerConfig.dataSetMetaData.fieldsSize; i++) {
/* Variable to subscribe data */
UA_VariableAttributes vAttr = UA_VariableAttributes_default;
UA_LocalizedText_copy(&readerConfig.dataSetMetaData.fields[i].description,
&vAttr.description);
vAttr.displayName.locale = UA_STRING("en-US");
vAttr.displayName.text = readerConfig.dataSetMetaData.fields[i].name;
vAttr.dataType = readerConfig.dataSetMetaData.fields[i].dataType;
UA_NodeId newNode;
retval |= UA_Server_addVariableNode(server, UA_NODEID_NUMERIC(1, (UA_UInt32)i + 50000),
folderId,
UA_NODEID_NUMERIC(0, UA_NS0ID_HASCOMPONENT),
UA_QUALIFIEDNAME(1, (char *)readerConfig.dataSetMetaData.fields[i].name.data),
UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE),
vAttr, NULL, &newNode);
/* For creating Targetvariables */
UA_FieldTargetDataType_init(&targetVars[i].targetVariable);
targetVars[i].targetVariable.attributeId = UA_ATTRIBUTEID_VALUE;
targetVars[i].targetVariable.targetNodeId = newNode;
}
retval = UA_Server_DataSetReader_createTargetVariables(server, dataSetReaderId,
readerConfig.dataSetMetaData.fieldsSize, targetVars);
for(size_t i = 0; i < readerConfig.dataSetMetaData.fieldsSize; i++)
UA_FieldTargetDataType_clear(&targetVars[i].targetVariable);
UA_free(targetVars);
UA_free(readerConfig.dataSetMetaData.fields);
return retval;
}
/**
* **DataSetMetaData**
*
* The DataSetMetaData describes the content of a DataSet. It provides the information necessary to decode
* DataSetMessages on the Subscriber side. DataSetMessages received from the Publisher are decoded into
* DataSet and each field is updated in the Subscriber based on datatype match of TargetVariable fields of Subscriber
* and PublishedDataSetFields of Publisher */
/* Define MetaData for TargetVariables */
static void fillTestDataSetMetaData(UA_DataSetMetaDataType *pMetaData) {
if(pMetaData == NULL) {
return;
}
UA_DataSetMetaDataType_init (pMetaData);
pMetaData->name = UA_STRING ("DataSet 1");
/* Static definition of number of fields size to 4 to create four different
* targetVariables of distinct datatype
* Currently the publisher sends only DateTime data type */
pMetaData->fieldsSize = 4;
pMetaData->fields = (UA_FieldMetaData*)UA_Array_new (pMetaData->fieldsSize,
&UA_TYPES[UA_TYPES_FIELDMETADATA]);
/* DateTime DataType */
UA_FieldMetaData_init (&pMetaData->fields[0]);
UA_NodeId_copy(&UA_TYPES[UA_TYPES_DATETIME].typeId,
&pMetaData->fields[0].dataType);
pMetaData->fields[0].builtInType = UA_NS0ID_DATETIME;
pMetaData->fields[0].name = UA_STRING ("DateTime");
pMetaData->fields[0].valueRank = -1; /* scalar */
/* Int32 DataType */
UA_FieldMetaData_init (&pMetaData->fields[1]);
UA_NodeId_copy(&UA_TYPES[UA_TYPES_INT32].typeId,
&pMetaData->fields[1].dataType);
pMetaData->fields[1].builtInType = UA_NS0ID_INT32;
pMetaData->fields[1].name = UA_STRING ("Int32");
pMetaData->fields[1].valueRank = -1; /* scalar */
/* Int64 DataType */
UA_FieldMetaData_init (&pMetaData->fields[2]);
UA_NodeId_copy(&UA_TYPES[UA_TYPES_INT32].typeId,
&pMetaData->fields[2].dataType);
pMetaData->fields[2].builtInType = UA_TYPES_INT32;
pMetaData->fields[2].name = UA_STRING ("Int64");
pMetaData->fields[2].valueRank = -1; /* scalar */
/* Boolean DataType */
UA_FieldMetaData_init (&pMetaData->fields[3]);
UA_NodeId_copy (&UA_TYPES[UA_TYPES_BOOLEAN].typeId,
&pMetaData->fields[3].dataType);
pMetaData->fields[3].builtInType = UA_NS0ID_BOOLEAN;
pMetaData->fields[3].name = UA_STRING ("BoolToggle");
pMetaData->fields[3].valueRank = -1; /* scalar */
}
/**
* Followed by the main server code, making use of the above definitions */
UA_Boolean running = true;
static int
run(UA_String *transportProfile, UA_NetworkAddressUrlDataType *networkAddressUrl) {
signal(SIGINT, stopHandler);
signal(SIGTERM, stopHandler);
/* Return value initialized to Status Good */
UA_StatusCode retval = UA_STATUSCODE_GOOD;
UA_Server *server = UA_Server_new();
UA_ServerConfig *config = UA_Server_getConfig(server);
UA_ServerConfig_setMinimal(config, 4899, NULL);
/* Add the PubSub network layer implementation to the server config.
* The TransportLayer is acting as factory to create new connections
* on runtime. Details about the PubSubTransportLayer can be found inside the
* tutorial_pubsub_connection */
UA_ServerConfig_addPubSubTransportLayer(config, UA_PubSubTransportLayerUDPMP());
#ifdef UA_ENABLE_PUBSUB_ETH_UADP
UA_ServerConfig_addPubSubTransportLayer(config, UA_PubSubTransportLayerEthernet());
#endif
/* API calls */
/* Add PubSubConnection */
retval |= addPubSubConnection(server, transportProfile, networkAddressUrl);
if (retval != UA_STATUSCODE_GOOD)
return EXIT_FAILURE;
/* Add ReaderGroup to the created PubSubConnection */
retval |= addReaderGroup(server);
if (retval != UA_STATUSCODE_GOOD)
return EXIT_FAILURE;
/* Add DataSetReader to the created ReaderGroup */
retval |= addDataSetReader(server);
if (retval != UA_STATUSCODE_GOOD)
return EXIT_FAILURE;
/* Add SubscribedVariables to the created DataSetReader */
retval |= addSubscribedVariables(server, readerIdentifier);
if (retval != UA_STATUSCODE_GOOD)
return EXIT_FAILURE;
retval = UA_Server_run(server, &running);
UA_Server_delete(server);
return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE;
}
int main(int argc, char **argv) {
UA_String transportProfile = UA_STRING("http://opcfoundation.org/UA-Profile/Transport/pubsub-udp-uadp");
UA_NetworkAddressUrlDataType networkAddressUrl = {UA_STRING_NULL , UA_STRING("opc.udp://224.0.0.22:4843/")};
//networkAddressUrl.url = UA_STRING("opc.udp://224.0.0.23:4845/");
return run(&transportProfile, &networkAddressUrl);
}
这里sub端订阅的是opc.udp://224.0.0.22:4843地址中的发布变量,一个服务器时间和我们自定义的两个变量。使用uaexpert去分别连接pub和sub端,改变pub端变量值,在连接sub端的uaexpert中可以看到对应的值也进行了变化。
这里进行了几个测试:
1、添加多个PubSubConnection:每个connect对应一个安全通道,互不干扰。
2、同一个PubSubConnection添加多个dataset,使用同一个writerGroup :
若DataSetWriter Id一致则使用最后绑定的dataset字段,不一致则可通过id访问不同的信息。
3、同一个PubSubConnection添加多个dataset,使用多个writerGroup :
若group Id一致则使用最后绑定的dataset字段,不一致则可通过id访问不同的信息。
4、连接同一个address,publish id不一致:所有的都是独立操作,不会影响。
注意事项
1、Publish端设定的node,subscription端对应node类型一定需要对应。个数可以不一致。
2、addPubSubConnection1多个UDP地址,对应一个通道。
将生成的open62541.h和open62541.c加入到工程后,将发布者运行起来后会如下问题
这个时候主要是由于
这句代码导致,其中addressAsChar是char*类型,我们看一下UA_inet_pton的定义
vs中我们使用了UNICODE这个宏因此使用的是InetPtonW这个接口,我们看一下这个接口定义
很明显其第二个参数是PCWSTR类型的与char *类型不符合因此导致每次这个接口识别地址失败从而返回0,这里我们需要将这里源码进行修改一下。如下,主要是做类型转换
修改完后就能正常跑起来了。