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// Copyright (C) 2018 basysKom GmbH, opensource@basyskom.com
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR BSD-3-Clause
#include "simulationserver.h"
#include <qopen62541utils.h>
#include <qopen62541valueconverter.h>
#include <QtOpcUa/qopcuatype.h>
#include <QtCore/QDebug>
#include <QtCore/QLoggingCategory>
#include <QtCore/QUuid>
#include <cstring>
QT_BEGIN_NAMESPACE
// Node ID conversion is included from the open62541 plugin but warnings from there should be logged
// using qt.opcua.testserver instead of qt.opcua.plugins.open62541 for usage in the test server
Q_LOGGING_CATEGORY(QT_OPCUA_PLUGINS_OPEN62541, "qt.opcua.demoserver")
DemoServer::DemoServer(QObject *parent)
: QObject(parent)
, m_state(DemoServer::MachineState::Idle)
, m_percentFilledTank1(100)
, m_percentFilledTank2(0)
{
m_timer.setInterval(0);
m_timer.setSingleShot(false);
m_machineTimer.setInterval(200);
connect(&m_timer, &QTimer::timeout, this, &DemoServer::processServerEvents);
}
DemoServer::~DemoServer()
{
shutdown();
UA_Server_delete(m_server);
UA_NodeId_deleteMembers(&m_percentFilledTank1Node);
UA_NodeId_deleteMembers(&m_percentFilledTank2Node);
UA_NodeId_deleteMembers(&m_tank2TargetPercentNode);
UA_NodeId_deleteMembers(&m_tank2ValveStateNode);
UA_NodeId_deleteMembers(&m_machineStateNode);
}
bool DemoServer::init()
{
m_server = UA_Server_new();
if (!m_server)
return false;
UA_StatusCode result = UA_ServerConfig_setMinimal(UA_Server_getConfig(m_server), 43344, nullptr);
if (result != UA_STATUSCODE_GOOD)
return false;
return true;
}
void DemoServer::processServerEvents()
{
if (m_running)
UA_Server_run_iterate(m_server, true);
}
void DemoServer::shutdown()
{
if (m_running) {
UA_Server_run_shutdown(m_server);
m_running = false;
}
}
UA_NodeId DemoServer::addObject(const QString &parent, const QString &nodeString, const QString &browseName,
const QString &displayName, const QString &description, quint32 referenceType)
{
UA_NodeId resultNode;
UA_ObjectAttributes oAttr = UA_ObjectAttributes_default;
oAttr.displayName = UA_LOCALIZEDTEXT_ALLOC("en-US", displayName.toUtf8().constData());
if (description.size())
oAttr.description = UA_LOCALIZEDTEXT_ALLOC("en-US", description.toUtf8().constData());
UA_StatusCode result;
UA_NodeId requestedNodeId = Open62541Utils::nodeIdFromQString(nodeString);
UA_NodeId parentNodeId = Open62541Utils::nodeIdFromQString(parent);
UA_QualifiedName nodeBrowseName = UA_QUALIFIEDNAME_ALLOC(requestedNodeId.namespaceIndex, browseName.toUtf8().constData());
result = UA_Server_addObjectNode(m_server,
requestedNodeId,
parentNodeId,
UA_NODEID_NUMERIC(0, referenceType),
nodeBrowseName,
UA_NODEID_NULL,
oAttr,
nullptr,
&resultNode);
UA_QualifiedName_deleteMembers(&nodeBrowseName);
UA_NodeId_deleteMembers(&requestedNodeId);
UA_NodeId_deleteMembers(&parentNodeId);
UA_ObjectAttributes_deleteMembers(&oAttr);
if (result != UA_STATUSCODE_GOOD) {
qWarning() << "Could not add folder:" << nodeString << " :" << result;
return UA_NODEID_NULL;
}
return resultNode;
}
UA_NodeId DemoServer::addVariable(const UA_NodeId &folder, const QString &variableNode, const QString &browseName,
const QString &displayName, const QVariant &value, QOpcUa::Types type,
quint32 referenceType)
{
UA_NodeId variableNodeId = Open62541Utils::nodeIdFromQString(variableNode);
UA_VariableAttributes attr = UA_VariableAttributes_default;
attr.value = QOpen62541ValueConverter::toOpen62541Variant(value, type);
attr.displayName = UA_LOCALIZEDTEXT_ALLOC("en-US", displayName.toUtf8().constData());
attr.dataType = attr.value.type ? attr.value.type->typeId : UA_TYPES[UA_TYPES_BOOLEAN].typeId;
attr.accessLevel = UA_ACCESSLEVELMASK_READ | UA_ACCESSLEVELMASK_WRITE;
UA_QualifiedName variableName = UA_QUALIFIEDNAME_ALLOC(variableNodeId.namespaceIndex, browseName.toUtf8().constData());
UA_NodeId resultId;
UA_StatusCode result = UA_Server_addVariableNode(m_server,
variableNodeId,
folder,
UA_NODEID_NUMERIC(0, referenceType),
variableName,
UA_NODEID_NULL,
attr,
nullptr,
&resultId);
UA_NodeId_deleteMembers(&variableNodeId);
UA_VariableAttributes_deleteMembers(&attr);
UA_QualifiedName_deleteMembers(&variableName);
if (result != UA_STATUSCODE_GOOD) {
qWarning() << "Could not add variable:" << result;
return UA_NODEID_NULL;
}
return resultId;
}
UA_StatusCode DemoServer::startPumpMethod(UA_Server *server, const UA_NodeId *sessionId, void *sessionHandle, const UA_NodeId *methodId, void *methodContext, const UA_NodeId *objectId, void *objectContext, size_t inputSize, const UA_Variant *input, size_t outputSize, UA_Variant *output)
{
Q_UNUSED(server);
Q_UNUSED(sessionId);
Q_UNUSED(sessionHandle);
Q_UNUSED(methodId);
Q_UNUSED(objectId);
Q_UNUSED(objectContext);
Q_UNUSED(inputSize);
Q_UNUSED(input);
Q_UNUSED(outputSize);
Q_UNUSED(output);
DemoServer *data = static_cast<DemoServer *>(methodContext);
double targetValue = data->readTank2TargetValue();
if (data->m_state == MachineState::Idle && data->m_percentFilledTank1 > 0 && data->m_percentFilledTank2 < targetValue) {
qDebug() << "Start pumping";
data->setState(MachineState::Pumping);
data->m_machineTimer.start();
return UA_STATUSCODE_GOOD;
}
else {
qDebug() << "Machine already running";
return UA_STATUSCODE_BADUSERACCESSDENIED;
}
}
UA_StatusCode DemoServer::stopPumpMethod(UA_Server *server, const UA_NodeId *sessionId, void *sessionHandle, const UA_NodeId *methodId, void *methodContext, const UA_NodeId *objectId, void *objectContext, size_t inputSize, const UA_Variant *input, size_t outputSize, UA_Variant *output)
{
Q_UNUSED(server);
Q_UNUSED(sessionId);
Q_UNUSED(sessionHandle);
Q_UNUSED(methodId);
Q_UNUSED(objectId);
Q_UNUSED(objectContext);
Q_UNUSED(inputSize);
Q_UNUSED(input);
Q_UNUSED(outputSize);
Q_UNUSED(output);
DemoServer *data = static_cast<DemoServer *>(methodContext);
if (data->m_state == MachineState::Pumping) {
qDebug() << "Stopping";
data->m_machineTimer.stop();
data->setState(MachineState::Idle);
return UA_STATUSCODE_GOOD;
} else {
qDebug() << "Nothing to stop";
return UA_STATUSCODE_BADUSERACCESSDENIED;
}
}
UA_StatusCode DemoServer::flushTank2Method(UA_Server *server, const UA_NodeId *sessionId, void *sessionHandle, const UA_NodeId *methodId, void *methodContext, const UA_NodeId *objectId, void *objectContext, size_t inputSize, const UA_Variant *input, size_t outputSize, UA_Variant *output)
{
Q_UNUSED(server);
Q_UNUSED(sessionId);
Q_UNUSED(sessionHandle);
Q_UNUSED(methodId);
Q_UNUSED(objectId);
Q_UNUSED(objectContext);
Q_UNUSED(inputSize);
Q_UNUSED(input);
Q_UNUSED(outputSize);
Q_UNUSED(output);
DemoServer *data = static_cast<DemoServer *>(methodContext);
double targetValue = data->readTank2TargetValue();
if (data->m_state == MachineState::Idle && data->m_percentFilledTank2 > targetValue) {
data->setState(MachineState::Flushing);
qDebug() << "Flushing tank 2";
data->setTank2ValveState(true);
data->m_machineTimer.start();
return UA_STATUSCODE_GOOD;
}
else {
qDebug() << "Unable to comply";
return UA_STATUSCODE_BADUSERACCESSDENIED;
}
}
UA_StatusCode DemoServer::resetMethod(UA_Server *server, const UA_NodeId *sessionId, void *sessionHandle, const UA_NodeId *methodId, void *methodContext, const UA_NodeId *objectId, void *objectContext, size_t inputSize, const UA_Variant *input, size_t outputSize, UA_Variant *output)
{
Q_UNUSED(server);
Q_UNUSED(sessionId);
Q_UNUSED(sessionHandle);
Q_UNUSED(methodId);
Q_UNUSED(objectId);
Q_UNUSED(objectContext);
Q_UNUSED(inputSize);
Q_UNUSED(input);
Q_UNUSED(outputSize);
Q_UNUSED(output);
DemoServer *data = static_cast<DemoServer *>(methodContext);
qDebug() << "Reset simulation";
data->setState(MachineState::Idle);
data->m_machineTimer.stop();
data->setTank2ValveState(false);
data->setPercentFillTank1(100);
data->setPercentFillTank2(0);
return UA_STATUSCODE_GOOD;
}
void DemoServer::setState(DemoServer::MachineState state)
{
UA_Variant val;
m_state = state;
UA_Variant_setScalarCopy(&val, &state, &UA_TYPES[UA_TYPES_UINT32]);
UA_Server_writeValue(m_server, m_machineStateNode, val);
}
void DemoServer::setPercentFillTank1(double fill)
{
UA_Variant val;
m_percentFilledTank1 = fill;
UA_Variant_setScalarCopy(&val, &fill, &UA_TYPES[UA_TYPES_DOUBLE]);
UA_Server_writeValue(this->m_server, this->m_percentFilledTank1Node, val);
}
void DemoServer::setPercentFillTank2(double fill)
{
UA_Variant val;
m_percentFilledTank2 = fill;
UA_Variant_setScalarCopy(&val, &fill, &UA_TYPES[UA_TYPES_DOUBLE]);
UA_Server_writeValue(this->m_server, this->m_percentFilledTank2Node, val);
}
void DemoServer::setTank2ValveState(bool state)
{
UA_Variant val;
UA_Variant_setScalarCopy(&val, &state, &UA_TYPES[UA_TYPES_BOOLEAN]);
UA_Server_writeValue(this->m_server, this->m_tank2ValveStateNode, val);
}
double DemoServer::readTank2TargetValue()
{
UA_Variant var;
UA_Server_readValue(m_server, m_tank2TargetPercentNode, &var);
return static_cast<double *>(var.data)[0];
}
UA_NodeId DemoServer::addMethod(const UA_NodeId &folder, const QString &variableNode, const QString &description,
const QString &browseName, const QString &displayName, UA_MethodCallback cb,
quint32 referenceType)
{
UA_NodeId methodNodeId = Open62541Utils::nodeIdFromQString(variableNode);
UA_MethodAttributes attr = UA_MethodAttributes_default;
attr.description = UA_LOCALIZEDTEXT_ALLOC("en-US", description.toUtf8().constData());
attr.displayName = UA_LOCALIZEDTEXT_ALLOC("en-US", displayName.toUtf8().constData());
attr.executable = true;
UA_QualifiedName methodBrowseName = UA_QUALIFIEDNAME_ALLOC(methodNodeId.namespaceIndex, browseName.toUtf8().constData());
UA_NodeId resultId;
UA_StatusCode result = UA_Server_addMethodNode(m_server, methodNodeId, folder,
UA_NODEID_NUMERIC(0, referenceType),
methodBrowseName,
attr, cb,
0, nullptr,
0, nullptr,
this, &resultId);
UA_NodeId_deleteMembers(&methodNodeId);
UA_MethodAttributes_deleteMembers(&attr);
UA_QualifiedName_deleteMembers(&methodBrowseName);
if (result != UA_STATUSCODE_GOOD) {
qWarning() << "Could not add Method:" << result;
return UA_NODEID_NULL;
}
return resultId;
}
void DemoServer::launch()
{
UA_StatusCode s = UA_Server_run_startup(m_server);
if (s != UA_STATUSCODE_GOOD)
qFatal("Could not launch server");
m_running = true;
m_timer.start();
int ns1 = UA_Server_addNamespace(m_server, "Demo Namespace");
if (ns1 != 2) {
qFatal("Unexpected namespace index for Demo namespace");
}
UA_NodeId machineObject = addObject(QOpcUa::namespace0Id(QOpcUa::NodeIds::Namespace0::ObjectsFolder), "ns=2;s=Machine",
"Machine", "Machine", "The machine simulator", UA_NS0ID_ORGANIZES);
UA_NodeId tank1Object = addObject("ns=2;s=Machine", "ns=2;s=Machine.Tank1", "Tank1", "Tank 1");
UA_NodeId tank2Object = addObject("ns=2;s=Machine", "ns=2;s=Machine.Tank2", "Tank2", "Tank 2");
m_percentFilledTank1Node = addVariable(tank1Object, "ns=2;s=Machine.Tank1.PercentFilled", "PercentFilled", "Tank 1 Fill Level", 100.0, QOpcUa::Types::Double);
m_percentFilledTank2Node = addVariable(tank2Object, "ns=2;s=Machine.Tank2.PercentFilled", "PercentFilled", "Tank 2 Fill Level", 0.0, QOpcUa::Types::Double);
m_tank2TargetPercentNode = addVariable(tank2Object, "ns=2;s=Machine.Tank2.TargetPercent", "TargetPercent", "Tank 2 Target Level", 0.0, QOpcUa::Types::Double);
m_tank2ValveStateNode = addVariable(tank2Object, "ns=2;s=Machine.Tank2.ValveState", "ValveState", "Tank 2 Valve State", false, QOpcUa::Types::Boolean);
m_machineStateNode = addVariable(machineObject, "ns=2;s=Machine.State", "State", "Machine State", static_cast<quint32>(MachineState::Idle), QOpcUa::Types::UInt32);
UA_NodeId tempId;
tempId = addVariable(machineObject, "ns=2;s=Machine.Designation", "Designation", "Machine Designation", "TankExample", QOpcUa::Types::String);
UA_NodeId_deleteMembers(&tempId);
tempId = addMethod(machineObject, "ns=2;s=Machine.Start", "Starts the pump", "Start", "Start Pump", &startPumpMethod);
UA_NodeId_deleteMembers(&tempId);
tempId = addMethod(machineObject, "ns=2;s=Machine.Stop", "Stops the pump", "Stop", "Stop Pump", &stopPumpMethod);
UA_NodeId_deleteMembers(&tempId);
tempId = addMethod(machineObject, "ns=2;s=Machine.FlushTank2", "Flushes tank 2", "FlushTank2", "Flush Tank 2", &flushTank2Method);
UA_NodeId_deleteMembers(&tempId);
tempId = addMethod(machineObject, "ns=2;s=Machine.Reset", "Resets the simulation", "Reset", "Reset Simulation", &resetMethod);
UA_NodeId_deleteMembers(&tempId);
UA_NodeId_deleteMembers(&machineObject);
UA_NodeId_deleteMembers(&tank1Object);
UA_NodeId_deleteMembers(&tank2Object);
QObject::connect(&m_machineTimer, &QTimer::timeout, [this]() {
double targetValue = readTank2TargetValue();
if (m_state == MachineState::Pumping && m_percentFilledTank1 > 0 && m_percentFilledTank2 < targetValue) {
setPercentFillTank1(m_percentFilledTank1 - 1);
setPercentFillTank2(m_percentFilledTank2 + 1);
if (qFuzzyIsNull(m_percentFilledTank1) || m_percentFilledTank2 >= targetValue) {
setState(MachineState::Idle);
m_machineTimer.stop();
}
} else if (m_state == MachineState::Flushing && m_percentFilledTank2 > targetValue) {
setPercentFillTank2(m_percentFilledTank2 - 1);
if (m_percentFilledTank2 <= targetValue) {
setTank2ValveState(false);
setState(MachineState::Idle);
m_machineTimer.stop();
}
}
});
}
QT_END_NAMESPACE
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