Supports registration with a discovery server.
Emits spectra once per second updating the ilist and spectrum index.
Xlist is updated for the first spectrum only.
Cross platform for Windows and Linux.
--- /dev/null
+root = true
+
+[*]
+indent_style = space
+trim_trailing_whitespace = true
+
+[*.{c,h,cpp,json}]
+indent_size = 4
+
+[CMakeLists.txt]
+indent_size = 4
+
+[{Makefile, makefile,*.mk}]
+indent_style = tab
build/
-open62541/
.vscode/
"cStandard": "c17",
"cppStandard": "c++14",
"intelliSenseMode": "linux-clang-x64"
+ },
+ {
+ "name": "Win32",
+ "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+ "includePath": [
+ "open62541/include",
+ "open62541/arch",
+ "open62541/deps",
+ "open62541/plugins/include",
+ "build/open62541/src_generated",
+ "wdf-linux/wdflib"
+ ],
+ "defines": ["WIN32", "STRICT", "WIN32_LEAN_AND_MEAN"],
+ "cStandard": "c11",
+ "intelliSenseMode": "${default}",
+ "compileCommandsInCppPropertiesJson": "${workspaceFolder}/build/compile_commands.json",
+ "cppStandard": "c++11",
+ "mergeConfigurations": false,
+ "browse": {
+ "path": [
+ "open62541/include",
+ "open62541/arch",
+ "open62541/deps",
+ "open62541/plugins/include",
+ "build/open62541/src_generated",
+ "wdf-linux/wdflib",
+ "${workspaceFolder}"
+ ],
+ "limitSymbolsToIncludedHeaders": true
+ }
}
],
"version": 4
+# Copyright (c) 2023 Renishaw plc. All rights reserved.
+#
+# Either use open62541 as a submodule or we can use it via vcpkg to build the open62541 port.
+#
+# For vcpkg use:
+# (start a Visual Studio x64 shell)
+# vcpkg install open62541
+# vcpkg list
+#
+# For an alternate architecture (default is windows-x86) use:
+# vcpkg install open62541:x64-windows
+#
+# To use this in a Visual Studio project - make this available
+# vcpkg integrate install
+# For CMake, add this to the cmake command:
+# -DCMAKE_TOOLCHAIN_FILE=e:\Code\vcpkg\scripts\buildsystems\vcpkg.cmake
+#
+# TLDR:
+# cmake -DAPP_USE_OPEN62541_SUBMODULE=OFF \
+# -DCMAKE_TOOLCHAIN_FILE=e:\Code\vcpkg\scripts\buildsystems\vcpkg.cmake .. -A x64
+# cmake --build . --config Release
+
cmake_minimum_required(VERSION 3.12)
project(opc_server
)
set (TARGET ${PROJECT_NAME})
+set (SOURCES server.c opc_util.c opc_app.h wdf_utils.c wdf_utils.h)
add_subdirectory(wdf-linux/wdflib wdflib)
-option (MY_INTERNAL_OPEN62541 "Use internal open62541 library" ON)
-if (MY_INTERNAL_OPEN62541)
+option (APP_USE_OPEN62541_SUBMODULE "Use the open62541 submodule" ON)
+if (APP_USE_OPEN62541_SUBMODULE)
+ set (UA_ENABLE_DISCOVERY ON CACHE BOOL "Enable UA Discovery")
+ set (UA_ENABLE_PUBSUB ON CACHE BOOL "Enable PubSub protocol support")
add_subdirectory(open62541) # target open62541::open62541
else()
set (CMAKE_FIND_PACKAGE_PREFER_CONFIG ON) # prefer open62541's own config file
- find_package(open62541 REQUIRED
- COMPONENTS Events FullNamespace
- PATHS /opt/open62541
- )
+ find_package(open62541 CONFIG REQUIRED COMPONENTS Events PATHS /opt/open62541)
endif()
-add_executable(${TARGET} server.c)
+add_executable(${TARGET} ${SOURCES})
target_compile_features(${TARGET} PUBLIC c_std_11)
target_include_directories(${TARGET} PUBLIC open62541::open62541 ${wdflib_SOURCE_DIR})
target_link_libraries(${TARGET} PUBLIC open62541::open62541 wdflib)
+
+if (MSVC)
+ set_property(TARGET ${TARGET}
+ PROPERTY MSVC_RUNTIME_LIBRARY "MultiThreadedDLL$<$<CONFIG:Debug>:Debug>")
+ target_compile_definitions(${TARGET} PUBLIC
+ STRICT WIN32_LEAN_AND_MEAN
+ _CRT_DECLARE_NONSTDC_NAMES _CRT_NONSTDC_NO_WARNINGS _CRT_SECURE_NO_WARNINGS)
+endif()
--- /dev/null
+
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
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+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
--- /dev/null
+# WDF OPC server demo
+
+Provides an OPC server that reads a wdf data file and continuously emits
+the data one specrum at a time.
+
+Used for testing OPC clients.
+
+Depends on the open65241 library which can be provided as a submodule or
+a pre-installed package (eg using vcpkg on Windows)
--- /dev/null
+// Copyright (c) 2023 Renishaw plc. All rights reserved.
+//
+
+#ifndef _opc_app_h_INCLUDE
+#define _opc_app_h_INCLUDE
+
+#include <open62541/server.h>
+#include <open62541/client.h>
+#include <wdf.h>
+
+typedef struct {
+ UA_Server *server;
+ UA_Client *regClient;
+ UA_Int64 regId;
+ UA_Int16 ns;
+ const char *regUri;
+ int filehandle;
+ WdfHeader hdr;
+ uint64_t spectrumIndex;
+ float *xlist;
+ float *ilist;
+} App;
+
+UA_StatusCode add_float(App *app, UA_NodeId parentNode,
+ const char *name, const char *displayName, UA_Float value);
+UA_StatusCode add_int32(App *app, UA_NodeId parentNode,
+ const char *name, const char *displayName, UA_Int32 value);
+UA_StatusCode add_int64(App *app, UA_NodeId parentNode,
+ const char *name, const char *displayName, UA_Int64 value);
+UA_StatusCode add_float_vector(App *app, UA_NodeId parentNode,
+ const char *name, const char *displayName, size_t len, UA_Float *value);
+UA_StatusCode add_object_node(App *app, UA_NodeId parentNode,
+ const char *name, const char *displayName,
+ UA_NodeId *newNodeId);
+UA_StatusCode update_scalar(App *app, UA_NodeId nodeId, void *valuePtr, const UA_DataType *typePtr);
+UA_StatusCode update_float_vector(App *app, UA_NodeId nodeId, size_t len, const float *vector);
+UA_StatusCode update_xlist(App *app);
+UA_StatusCode update_ilist(App *app);
+
+#endif // _opc_app_h_INCLUDE
--- /dev/null
+// Copyright (c) 2023 Renishaw plc. All rights reserved.
+//
+
+#include "opc_app.h"
+#include "wdf_utils.h"
+
+UA_StatusCode add_float(App *app, UA_NodeId parentNode, const char *name, const char *displayName, UA_Float value)
+{
+ UA_VariableAttributes attr = UA_VariableAttributes_default;
+ if (displayName != NULL)
+ attr.displayName = UA_LOCALIZEDTEXT_ALLOC("en-US", displayName);
+ UA_Variant_setScalar(&attr.value, &value, &UA_TYPES[UA_TYPES_FLOAT]);
+
+ char id[64] = {0};
+ strcat(id, "renishaw.spd.");
+ strcat(id, name);
+
+ UA_NodeId nodeId = UA_NODEID_STRING(app->ns, id);
+ UA_NodeId parentRefId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
+ UA_NodeId varType = UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE);
+ UA_QualifiedName browseName = UA_QUALIFIEDNAME_ALLOC(app->ns, name);
+
+ return UA_Server_addVariableNode(
+ app->server, nodeId, parentNode, parentRefId, browseName,
+ varType, attr, NULL, NULL);
+}
+
+UA_StatusCode add_int32(App *app, UA_NodeId parentNode, const char *name, const char *displayName, UA_Int32 value)
+{
+ UA_VariableAttributes attr = UA_VariableAttributes_default;
+ if (displayName != NULL)
+ attr.displayName = UA_LOCALIZEDTEXT_ALLOC("en-US", displayName);
+ UA_Variant_setScalar(&attr.value, &value, &UA_TYPES[UA_TYPES_INT32]);
+
+ char id[64] = {0};
+ strcat(id, "renishaw.spd.");
+ strcat(id, name);
+
+ UA_NodeId nodeId = UA_NODEID_STRING_ALLOC(app->ns, id);
+ UA_NodeId parentRefId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
+ UA_NodeId varType = UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE);
+ UA_QualifiedName browseName = UA_QUALIFIEDNAME_ALLOC(app->ns, name);
+
+ return UA_Server_addVariableNode(
+ app->server, nodeId, parentNode, parentRefId, browseName,
+ varType, attr, NULL, NULL);
+}
+
+UA_StatusCode add_int64(App *app, UA_NodeId parentNode, const char *name, const char *displayName, UA_Int64 value)
+{
+ UA_VariableAttributes attr = UA_VariableAttributes_default;
+ if (displayName != NULL)
+ attr.displayName = UA_LOCALIZEDTEXT_ALLOC("en-US", displayName);
+ UA_Variant_setScalar(&attr.value, &value, &UA_TYPES[UA_TYPES_INT64]);
+
+ char id[64] = {0};
+ strcat(id, "renishaw.spd.");
+ strcat(id, name);
+
+ UA_NodeId nodeId = UA_NODEID_STRING_ALLOC(app->ns, id);
+ UA_NodeId parentRefId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
+ UA_NodeId varType = UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE);
+ UA_QualifiedName browseName = UA_QUALIFIEDNAME_ALLOC(app->ns, name);
+
+ return UA_Server_addVariableNode(
+ app->server, nodeId, parentNode, parentRefId, browseName,
+ varType, attr, NULL, NULL);
+}
+
+UA_StatusCode add_object_node(App *app,
+ UA_NodeId parentNode,
+ const char *name, const char *displayName,
+ UA_NodeId *newNodeId)
+{
+ UA_ObjectAttributes attr = UA_ObjectAttributes_default;
+ return UA_Server_addObjectNode(app->server,
+ UA_NODEID_STRING_ALLOC(app->ns, name),
+ parentNode,
+ UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
+ UA_QUALIFIEDNAME_ALLOC(app->ns, displayName),
+ UA_NODEID_NUMERIC(0, UA_NS0ID_BASEOBJECTTYPE),
+ attr, NULL, newNodeId);
+}
+
+UA_StatusCode add_float_vector(App *app, UA_NodeId parentNode, const char *name, const char *displayName, size_t len, UA_Float *value)
+{
+ UA_Int32 dims = (UA_Int32)len;
+ UA_VariableAttributes attr = UA_VariableAttributes_default;
+ attr.valueRank = UA_VALUERANK_ONE_DIMENSION;
+ attr.arrayDimensions = &dims;
+ attr.arrayDimensionsSize = 1;
+ if (displayName != NULL)
+ attr.displayName = UA_LOCALIZEDTEXT_ALLOC("en-US", displayName);
+ UA_Variant_setArray(&attr.value, value, len, &UA_TYPES[UA_TYPES_FLOAT]);
+
+ char id[64] = {0};
+ strcat(id, "renishaw.spd.");
+ strcat(id, name);
+
+ UA_NodeId nodeId = UA_NODEID_STRING_ALLOC(app->ns, id);
+ UA_NodeId parentRefId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
+ UA_NodeId varType = UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE);
+ UA_QualifiedName browseName = UA_QUALIFIEDNAME_ALLOC(app->ns, name);
+
+ return UA_Server_addVariableNode(
+ app->server, nodeId, parentNode, parentRefId, browseName,
+ varType, attr, NULL, NULL);
+}
+
+UA_StatusCode update_float_vector(App *app, UA_NodeId nodeId, size_t len, const float *vector)
+{
+ UA_Variant value;
+ UA_Variant_setArray(&value, (void *)vector, len, &UA_TYPES[UA_TYPES_FLOAT]);
+ return UA_Server_writeValue(app->server, nodeId, value);
+}
+
+UA_StatusCode update_scalar(App *app, UA_NodeId nodeId, void *valuePtr, const UA_DataType *typePtr)
+{
+ UA_Variant value;
+ UA_Variant_setScalar(&value, valuePtr, typePtr);
+ return UA_Server_writeValue(app->server, nodeId, value);
+}
+
+UA_StatusCode update_xlist(App *app)
+{
+ UA_StatusCode status = UA_STATUSCODE_BADNOTFOUND;
+ WdfBlock section = {0};
+ uint64_t pos = wdf_find_section(app->filehandle, WDF_BLOCKID_XLIST, WDF_BLOCKID_ANY, §ion);
+ if (pos != (uint64_t)-1)
+ {
+ ssize_t count = wdf_read_xlist(app->filehandle, app->hdr.npoints, app->xlist);
+ if (count > 0)
+ {
+ UA_NodeId node = UA_NODEID_STRING_ALLOC(app->ns, "renishaw.spd.xlist");
+ status = update_float_vector(app, node, app->hdr.npoints, app->xlist);
+ }
+ }
+ return status;
+}
+
+UA_StatusCode update_ilist(App *app)
+{
+ WdfBlock section = {0};
+ uint64_t pos = wdf_find_section(app->filehandle, WDF_BLOCKID_DATA, WDF_BLOCKID_ANY, §ion);
+ wdf_read_spectrum(app->filehandle, pos, app->hdr.npoints, app->spectrumIndex, app->ilist);
+ UA_NodeId node = UA_NODEID_STRING_ALLOC(app->ns, "renishaw.spd.ilist");
+ return update_float_vector(app, node, app->hdr.npoints, app->ilist);
+}
+
+// Copyright (c) 2023 Renishaw plc. All rights reserved.
+//
+
#include <open62541/plugin/log_stdout.h>
#include <open62541/server.h>
#include <open62541/server_config_default.h>
-#include <stdlib.h>
+#include <open62541/client_config_default.h>
+#ifdef WIN32
+#include <windows.h>
+#else
#include <signal.h>
+#endif
+#include <stdlib.h>
#include <wdf.h>
+#include "opc_app.h"
+#include "wdf_utils.h"
-typedef struct {
- UA_Server *server;
- UA_Int16 ns;
- UA_NodeId renishawNode;
-} App;
+#define DISCOVERY_SERVER_ENDPOINT "opc.tcp://localhost:4840"
static volatile UA_Boolean is_running = true;
+#ifdef WIN32
+BOOL WINAPI on_interrupt(DWORD ctrlType)
+{
+ UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "received ctrl-c");
+ is_running = false;
+ return TRUE;
+}
+#else
static void on_interrupt(int signo)
{
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "received ctrl-c");
is_running = false;
}
+#endif
static int usage(int exitCode)
{
- fprintf(stderr, "usage: opc_server ?-port NUM? FILENAME\n");
+ fprintf(stderr, "usage: opc_server ?-port NUM? ?-register? FILENAME\n");
exit(exitCode);
}
-static UA_StatusCode add_float(App *app, const char *name, const char *displayName, UA_Float value)
+// Register the server with LDS
+// periodic server register after 10 Minutes, delay first register for 500ms
+UA_StatusCode registerServer(App *app)
{
- UA_VariableAttributes attr = UA_VariableAttributes_default;
- if (displayName != NULL)
- attr.displayName = UA_LOCALIZEDTEXT_ALLOC("en-US", displayName);
- UA_Variant_setScalar(&attr.value, &value, &UA_TYPES[UA_TYPES_FLOAT]);
-
- char id[64] = {0};
- strcat(id, "renishaw.spd.");
- strcat(id, name);
-
- UA_NodeId nodeId = UA_NODEID_STRING(app->ns, id);
- UA_NodeId parentId = app->renishawNode;
- UA_NodeId parentRefId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
- UA_NodeId varType = UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE);
- UA_QualifiedName browseName = UA_QUALIFIEDNAME_ALLOC(app->ns, name);
-
- return UA_Server_addVariableNode(
- app->server, nodeId, parentId, parentRefId, browseName,
- varType, attr, NULL, NULL);
+ app->regClient = UA_Client_new();
+ UA_StatusCode status = UA_ClientConfig_setDefault(UA_Client_getConfig(app->regClient));
+ if (UA_StatusCode_isGood(status))
+ {
+ status = UA_Server_addPeriodicServerRegisterCallback(app->server,
+ app->regClient, app->regUri, 10 * 60 * 1000, 500, &app->regId);
+ }
+ return status;
}
-static UA_StatusCode add_int32(App *app, const char *name, const char *displayName, UA_Int32 value)
+static void getSpectrumCallback(UA_Server *server, void *clientData)
{
- UA_VariableAttributes attr = UA_VariableAttributes_default;
- if (displayName != NULL)
- attr.displayName = UA_LOCALIZEDTEXT_ALLOC("en-US", displayName);
- UA_Variant_setScalar(&attr.value, &value, &UA_TYPES[UA_TYPES_INT32]);
-
- char id[64] = {0};
- strcat(id, "renishaw.spd.");
- strcat(id, name);
-
- UA_NodeId nodeId = UA_NODEID_STRING_ALLOC(app->ns, id);
- UA_NodeId parentId = app->renishawNode;
- UA_NodeId parentRefId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
- UA_NodeId varType = UA_NODEID_NUMERIC(0, UA_NS0ID_BASEDATAVARIABLETYPE);
- UA_QualifiedName browseName = UA_QUALIFIEDNAME_ALLOC(app->ns, name);
-
- return UA_Server_addVariableNode(
- app->server, nodeId, parentId, parentRefId, browseName,
- varType, attr, NULL, NULL);
+ App *app = (App *)clientData;
+
+ if (app->spectrumIndex == 0)
+ update_xlist(app);
+ update_ilist(app);
+
+ UA_NodeId node = UA_NODEID_STRING_ALLOC(app->ns, "renishaw.spd.index");
+ update_scalar(app, node, &app->spectrumIndex, &UA_TYPES[UA_TYPES_INT64]);
+
+ ++app->spectrumIndex;
+ if (app->spectrumIndex > app->hdr.ncollected)
+ app->spectrumIndex = 0;
}
-int main(int argc, char *argv[])
+int main(int argc, char** argv)
{
+ App application = {0};
+ App *app = &application;
unsigned short port = 4840;
const char *filename = argv[argc - 1];
- if (argc == 4 && strcmp("-port", argv[1]) == 0)
- port = (unsigned short)strtoul(argv[2], NULL, 0);
- else if (argc != 2)
- usage(1);
- if (filename[0] == '-')
- usage(1);
-
+ {
+ int n = 1;
+ for (; n < argc; ++n)
+ {
+ if (strncmp("-port", argv[n], 5) == 0)
+ {
+ port = (unsigned short)strtoul(argv[n+1], NULL, 0);
+ ++n;
+ }
+ else if (strncmp("-register", argv[n], 8) == 0)
+ {
+ app->regUri = DISCOVERY_SERVER_ENDPOINT;
+ }
+ else
+ break;
+ }
+ if (argc - n != 1)
+ usage(1);
+ if (filename[0] == '-')
+ usage(2);
+ }
+
+#ifdef WIN32
+ SetConsoleCtrlHandler(on_interrupt, TRUE);
+#else
signal(SIGINT, on_interrupt);
signal(SIGTERM, on_interrupt);
+#endif
- App application = {0};
- App *app = &application;
-
- WdfHeader wdf = {0};
- FILE *fp = fopen(filename, "rb");
- if (fp != NULL)
- fread(&wdf, sizeof(WdfHeader), 1, fp);
- else
+ memset(&app->hdr, 0, sizeof(WdfHeader));
+ app->filehandle = wdf_open(filename, &app->hdr);
+ if (app->filehandle < 0)
+ {
fprintf(stderr, "failed to read wdf file\n");
- fclose(fp);
+ exit(1);
+ }
+
+ size_t len = sizeof(float) * app->hdr.npoints;
+ app->xlist = (float *)UA_malloc(len);
+ memset(app->xlist, 0, len);
+ app->ilist = (float *)UA_malloc(len);
+ memset(app->ilist, 0, len);
+ app->spectrumIndex = 0;
app->server = UA_Server_new();
UA_ServerConfig *config = UA_Server_getConfig(app->server);
UA_StatusCode status = UA_ServerConfig_setMinimal(config, port, NULL);
- app->ns = UA_Server_addNamespace(app->server, "renishaw.spd");
+ app->ns = UA_Server_addNamespace(app->server, "urn:renishaw.spd");
- // Add new object node for our data as Renishaw
- UA_ObjectAttributes rAttr = UA_ObjectAttributes_default;
- status = UA_Server_addObjectNode(app->server, UA_NODEID_STRING(app->ns, "renishaw"),
- UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
- UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
- UA_QUALIFIEDNAME(app->ns, "Renishaw"),
- UA_NODEID_NUMERIC(0, UA_NS0ID_BASEOBJECTTYPE),
- rAttr, NULL, &app->renishawNode);
+ UA_String_clear(&config->applicationDescription.applicationUri);
+ config->applicationDescription.applicationUri =
+ UA_String_fromChars("urn:renishaw.spd.demo");
+#ifdef UA_ENABLE_DISCOVERY_MULTICAST
+ config->mdnsConfig.mdnsServerName = UA_String_fromChars("Renishaw Demo");
+#endif
+ // Add new object node for our data as Renishaw
+ UA_NodeId mainNode, spdNode;
+ if (UA_StatusCode_isGood(status))
+ status = add_object_node(app, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER), "renishaw", "Renishaw", &mainNode);
if (UA_StatusCode_isGood(status))
- status = add_int32(app, "nspectra", "Capacity", wdf.nspectra);
+ status = add_object_node(app, mainNode, "renishaw.spd", "SPD", &spdNode);
if (UA_StatusCode_isGood(status))
- status = add_int32(app, "ncollected", "Count", wdf.ncollected);
+ status = add_int32(app, spdNode, "nspectra", "Capacity", (int32_t)app->hdr.nspectra);
if (UA_StatusCode_isGood(status))
- status = add_int32(app, "npoints", "Points", wdf.npoints);
+ status = add_int32(app, spdNode, "ncollected", "Count", (int32_t)app->hdr.ncollected);
if (UA_StatusCode_isGood(status))
- status = add_float(app, "laserwavenum", "Laser Wavenumber", wdf.laserwavenum);
-
+ status = add_int32(app, spdNode, "npoints", "Points", app->hdr.npoints);
+ if (UA_StatusCode_isGood(status))
+ status = add_float(app, spdNode, "laserwavenum", "Laser Wavenumber", app->hdr.laserwavenum);
+ if (UA_StatusCode_isGood(status))
+ {
+ UA_NodeId spectrumNode;
+ status = add_object_node(app, spdNode, "renishaw.spd.spectrum", "Spectrum", &spectrumNode);
+ if (UA_StatusCode_isGood(status))
+ status = add_int64(app, spectrumNode, "index", "Index", app->spectrumIndex);
+ if (UA_StatusCode_isGood(status))
+ status = add_float_vector(app, spectrumNode, "xlist", "XList", app->hdr.npoints, app->xlist);
+ if (UA_StatusCode_isGood(status))
+ status = add_float_vector(app, spectrumNode, "ilist", "IList", app->hdr.npoints, app->ilist);
+ }
+ if (UA_StatusCode_isGood(status))
+ {
+ if (app->regUri != NULL)
+ {
+ UA_StatusCode regStatus = registerServer(app);
+ if (UA_StatusCode_isBad(regStatus))
+ {
+ UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER,
+ "Could not create periodic job for server register. StatusCode %s",
+ UA_StatusCode_name(regStatus));
+ UA_Client_disconnect(app->regClient);
+ UA_Client_delete(app->regClient);
+ }
+ }
+ }
+
+ /* Add a repeated callback to the server */
+ if (UA_StatusCode_isGood(status))
+ status = UA_Server_addRepeatedCallback(app->server, getSpectrumCallback, app, 1000, NULL);
+
if (UA_StatusCode_isGood(status))
status = UA_Server_run(app->server, &is_running);
-
+ else
+ {
+ UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "failed with status code %s", UA_StatusCode_name(status));
+ }
+
+ if (app->filehandle > 0)
+ wdf_close(app->filehandle);
+ UA_free(app->xlist);
+ UA_free(app->ilist);
UA_Server_delete(app->server);
return UA_StatusCode_isGood(status) ? EXIT_SUCCESS : EXIT_FAILURE;
-}
\ No newline at end of file
+}
--- /dev/null
+// Copyright (c) 2023 Renishaw plc. All rights reserved.
+//
+
+#ifdef WIN32
+# ifndef _CRT_SECURE_NO_WARNINGS
+# define _CRT_SECURE_NO_WARNINGS
+# endif
+# include <io.h>
+#else
+# define _LARGEFILE64_SOURCE
+# include <unistd.h>
+# define _lseeki64 lseek64
+# define _open open
+# define _close close
+# define _read read
+# define _O_RDONLY O_RDONLY
+# define _O_BINARY 0
+# define _S_IREAD S_IREAD
+# define _S_IWRITE S_IWRITE
+#endif
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include "opc_app.h"
+
+int wdf_open(const char *filename, WdfHeader *wdfPtr)
+{
+ int fd = _open(filename, _O_RDONLY | _O_BINARY, _S_IREAD | _S_IWRITE);
+ if (fd != -1) {
+ int cb = _read(fd, wdfPtr, sizeof(WdfHeader));
+ if (wdfPtr->signature != WDF_BLOCKID_FILE) {
+ fprintf(stderr, "error: invalid file format\n");
+ close(fd);
+ fd = -1;
+ }
+ }
+ return fd;
+}
+
+int wdf_close(int fd)
+{
+ return _close(fd);
+}
+
+uint64_t wdf_find_section(int fd, uint32_t id, uint32_t uid, WdfBlock *blockPtr)
+{
+ WdfBlock block = {0};
+ uint64_t offset = 0, size = 0;
+
+ size = _lseeki64(fd, 0, SEEK_END);
+ while (offset < size)
+ {
+ int cb = 0;
+ if (_lseeki64(fd, offset, SEEK_SET) < 0)
+ break;
+ if ((cb = _read(fd, &block, sizeof(block))) != sizeof(block)) break;
+ if (id == block.id)
+ {
+ if (uid == WDF_BLOCKID_ANY || uid == block.uid)
+ {
+ if (blockPtr != NULL)
+ memcpy(blockPtr, &block, sizeof(WdfBlock));
+ return offset;
+ }
+ }
+ offset += block.size;
+ }
+ return (uint64_t)-1;
+}
+
+/// @brief read the spectral xlist data
+/// @param[in] fd - the C library file handle for the open file
+/// @param[in] length - number of elements to be read
+/// @param[out] xlist - pointer to array to be filled
+/// @return -1 on error or the number of bytes read into the spectrum
+ssize_t wdf_read_xlist(int fd, uint32_t length, float *xlist)
+{
+ ssize_t r = -1;
+ WdfBlock section = {0};
+ WdfDataType dataType = WdfDataType_Arbitrary;
+ WdfDataUnits dataUnits = WdfDataUnits_Arbitrary;
+ uint64_t base = wdf_find_section(fd, WDF_BLOCKID_XLIST, WDF_BLOCKID_ANY, §ion);
+ if (base != (uint64_t)-1)
+ {
+ _lseeki64(fd, base, SEEK_SET);
+ r = _read(fd, §ion, sizeof(WdfBlock));
+ if (r > 0)
+ r = _read(fd, &dataType, sizeof(WdfDataType));
+ if (r > 0)
+ r = _read(fd, &dataUnits, sizeof(WdfDataUnits));
+ if (r > 0)
+ r = _read(fd, xlist, sizeof(float) * length);
+ }
+ return r;
+}
+
+int wdf_read_spectrum(int fd, uint64_t base, uint32_t length, uint64_t spectrum, float *ilist)
+{
+ int r = -1;
+ if (_lseeki64(fd, base + 16 + (sizeof(float) * length * spectrum), SEEK_SET) != -1)
+ r = _read(fd, ilist, sizeof(float)*length);
+ return r;
+}
--- /dev/null
+// Copyright (c) 2023 Renishaw plc. All rights reserved.
+//
+
+#ifndef _wdf_utils_h_INCLUDE
+#define _wdf_utils_h_INCLUDE
+
+#include <wdf.h>
+
+int wdf_open(const char *filename, WdfHeader *wdfPtr);
+int wdf_close(int fd);
+uint64_t wdf_find_section(int fd, uint32_t id, uint32_t uid, WdfBlock *blockPtr);
+ssize_t wdf_read_xlist(int fd, uint32_t length, float *xlist);
+int wdf_read_spectrum(int fd, uint64_t base, uint32_t length, uint64_t spectrum, float *ilist);
+
+#endif // _wdf_utils_h_INCLUDE
projects / spd / wdf_opc_demo.git / commitdiff