Add support for sending data with nested Structs

src/com/opc_ua/opcua_local_handler.cpp

@@ -30,6 +30,7 @@
 #include "forte_printer.h"
 #include "../../arch/utils/mainparam_utils.h"
 #include "opcua_local_handler.h"
+#include "struct_action_info.h"
 #ifdef FORTE_COM_OPC_UA_MULTICAST
 #include "detail/lds_me_handler.h"
 #endif //FORTE_COM_OPC_UA_MULTICAST
@@ -361,6 +362,24 @@ UA_StatusCode COPC_UA_Local_Handler::executeAction(CActionInfo &paActionInfo) {
   return retVal;
 }
 
+UA_StatusCode COPC_UA_Local_Handler::executeStructAction(CActionInfo &paActionInfo, CIEC_ANY &paMember) {
+  UA_StatusCode retVal = UA_STATUSCODE_BADINTERNALERROR;
+
+  CCriticalRegion criticalRegion(mServerAccessMutex);
+  switch(paActionInfo.getAction()){
+    case CActionInfo::eWrite:
+      retVal = executeStructWrite(paActionInfo, paMember);
+      break;
+    default: //eCallMethod, eSubscribe will never reach here since they weren't initialized. eRead is a Subscribe FB
+      DEVLOG_ERROR("[OPC UA LOCAL]: Struct Action %d to be executed is unknown or invalid\n", paActionInfo.getAction());
+      break;
+  }
+
+  mServerNeedsIteration.inc();
+
+  return retVal;
+}
+
 UA_StatusCode COPC_UA_Local_Handler::uninitializeAction(CActionInfo &paActionInfo) {
   UA_StatusCode retVal = UA_STATUSCODE_BADINTERNALERROR;
   CCriticalRegion criticalRegion(mServerAccessMutex);
@@ -871,6 +890,34 @@ UA_StatusCode COPC_UA_Local_Handler::executeWrite(CActionInfo &paActionInfo) {
   return retVal;
 }
 
+UA_StatusCode COPC_UA_Local_Handler::executeStructWrite(CActionInfo &paActionInfo, CIEC_ANY &paMember) {
+  UA_StatusCode retVal = UA_STATUSCODE_GOOD;
+
+  if(paMember.getDataTypeID() == CIEC_ANY::e_STRUCT) {
+    CIEC_STRUCT& structType = static_cast<CIEC_STRUCT&>(paMember);
+    CStructActionInfo &structActionInfo = static_cast<CStructActionInfo&>(paActionInfo);
+    std::vector<std::shared_ptr<CActionInfo>> memberActionInfos = structActionInfo.getMemberActionInfos();
+    for(size_t i = 0; i < memberActionInfos.size(); i++) {
+      std::shared_ptr<CActionInfo> memberActionInfo = memberActionInfos[i];
+      CIEC_ANY *member = structType.getMember(i);
+      retVal = executeStructWrite(*memberActionInfo, *member);
+      if(retVal != UA_STATUSCODE_GOOD) {
+        return retVal;
+      }
+    }
+  } else {
+    auto it = paActionInfo.getNodePairInfo().begin();
+    retVal = updateNodeValue(*it->getNodeId(), &paMember);
+    if(UA_STATUSCODE_GOOD != retVal) {   
+      DEVLOG_ERROR("[OPC UA LOCAL]: Could not convert value to write for node %s at FB %s. Error: %s\n",
+        (*paActionInfo.getNodePairInfo().begin()).getBrowsePath(),
+        paActionInfo.getLayer().getCommFB()->getInstanceName(), UA_StatusCode_name(retVal));
+      return retVal;
+    }
+  }
+  return retVal;
+}
+
 UA_StatusCode COPC_UA_Local_Handler::executeCreateMethod(CActionInfo &paActionInfo) {
   //This is the return of a local method call, when RSP is triggered
 

src/com/opc_ua/opcua_local_handler.h

@@ -87,6 +87,14 @@ class COPC_UA_Local_Handler : public COPC_UA_HandlerAbstract, public CThread {
      */
     UA_StatusCode initializeActionForObjectStruct(std::shared_ptr<CActionInfo> &paActionInfo, CIEC_ANY &paMember);
 
+    /**
+     * Execute action for the given struct member
+     * @param paActionInfo Action of Struct member to be executed
+     * @param paMember Struct member
+     * @return UA_STATUSCODE_GOOD if no problem occurred, other value otherwise
+     */
+    UA_StatusCode executeStructAction(CActionInfo &paActionInfo, CIEC_ANY &paMember);
+
     /**
      * Splits a browsepath into folders and node name. The non-existing folders are created in the local server
      * @param paBrowsePath Browsepath to be splitted
@@ -524,6 +532,14 @@ class COPC_UA_Local_Handler : public COPC_UA_HandlerAbstract, public CThread {
      */
     UA_StatusCode executeWrite(CActionInfo &paActionInfo);
 
+    /**
+     * Execute the write action for a struct member
+     * @param paActionInfo Action to be executed
+     * @param paMember Struct member
+     * @return UA_STATUSCODE_GOOD is no problem occurred, other value otherwise
+     */
+    UA_StatusCode executeStructWrite(CActionInfo &paActionInfo, CIEC_ANY &paMember);
+
     /**
      * When the FB of the local method is triggered to signalize the end of the method, this function is called
      * @param paActionInfo Action to be executed

src/com/opc_ua/opcua_objectstruct_helper.cpp

@@ -260,8 +260,17 @@ CIEC_ANY const *COPC_UA_ObjectStruct_Helper::getStructMember(CActionInfo &paActi
 }
 
 forte::com_infra::EComResponse COPC_UA_ObjectStruct_Helper::executeStructAction() {
-  for(std::shared_ptr<CActionInfo> actionInfo : mStructMemberActionInfos) {
-    if(UA_STATUSCODE_GOOD != mHandler->executeAction(*actionInfo)) {
+  COPC_UA_Local_Handler* localHandler = static_cast<COPC_UA_Local_Handler*>(mHandler);
+  if(!localHandler) {
+    DEVLOG_ERROR("[OPC UA OBJECT STRUCT HELPER]: Failed to get LocalHandler because LocalHandler is null!\n");
+    return e_InitTerminated;
+  }
+  CIEC_ANY** apoDataPorts = mLayer.getCommFB()->getSDs();
+  CIEC_STRUCT& structType = static_cast<CIEC_STRUCT&>(apoDataPorts[0]->unwrap());
+  for(size_t i = 0; i < mStructMemberActionInfos.size(); i++) {
+    std::shared_ptr<CActionInfo> actionInfo = mStructMemberActionInfos[i];
+    CIEC_ANY *member = structType.getMember(i);
+    if(localHandler->executeStructAction(*actionInfo, *member) != UA_STATUSCODE_GOOD) {
       return e_ProcessDataSendFailed;
     }
   }

src/com/opc_ua/struct_action_info.h

@@ -28,6 +28,10 @@ class CStructActionInfo : public CStructMemberActionInfo {
       mStructMemberActionInfos.insert(mStructMemberActionInfos.end(), paActionInfos.begin(), paActionInfos.end());
     }
 
+    std::vector<std::shared_ptr<CActionInfo>> &getMemberActionInfos() {
+      return mStructMemberActionInfos;
+    }
+
   private:
 
   std::vector<std::shared_ptr<CActionInfo>> mStructMemberActionInfos;