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add OptStruct support
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@dirk-zimoch
dirk-zimoch committed Oct 24, 2024
1 parent 7717f13 commit d9298ea
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Showing 6 changed files with 143 additions and 121 deletions.
3 changes: 0 additions & 3 deletions .ci-local/install-open62541.py
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Original file line number Diff line number Diff line change
Expand Up @@ -86,9 +86,6 @@
if cue.ci['static']:
build_shared = 'OFF'

if ver[0] == '1' and ver[1] == '3':
sp.check_call(['patch', '-p1', '-i', os.path.join(curdir, '.ci-local', 'open62541-1.3.patch')], cwd=sdkdir)

sp.check_call(['cmake', '..',
'-G', generator,
'-DBUILD_SHARED_LIBS={0}'.format(build_shared),
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24 changes: 0 additions & 24 deletions .ci-local/open62541-1.3.patch
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This file was deleted.

41 changes: 29 additions & 12 deletions devOpcuaSup/UaSdk/DataElementUaSdk.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -166,7 +166,6 @@ DataElementUaSdk::setIncomingData(const UaVariant &value,
for (int i = 0; i < definition.childrenCount(); i++) {
if (*timefrom == definition.child(i).name().toUtf8()) {
timesrc = i;
pitem->tsData = epicsTimeFromUaVariant(genericValue.value(i));
}
}
OpcUa_BuiltInType t = genericValue.value(timesrc).type();
Expand All @@ -191,7 +190,6 @@ DataElementUaSdk::setIncomingData(const UaVariant &value,
elementMap.insert({i, it});
delete pelem->enumChoices;
pelem->enumChoices = pitem->session->getEnumChoices(definition.child(i).enumDefinition());
pelem->setIncomingData(genericValue.value(i), reason);
}
}
}
Expand All @@ -200,16 +198,35 @@ DataElementUaSdk::setIncomingData(const UaVariant &value,
<< " child elements mapped to a "
<< "structure of " << definition.childrenCount() << " elements" << std::endl;
mapped = true;
} else {
if (timefrom) {
if (timesrc >= 0)
pitem->tsData = epicsTimeFromUaVariant(genericValue.value(timesrc));
else
pitem->tsData = pitem->tsSource;
}
for (auto &it : elementMap) {
auto pelem = it.second.lock();
pelem->setIncomingData(genericValue.value(it.first), reason);
}

if (timesrc >= 0)
pitem->tsData = epicsTimeFromUaVariant(genericValue.value(timesrc));
else
pitem->tsData = pitem->tsSource;

for (auto &it : elementMap) {
auto pelem = it.second.lock();
OpcUa_StatusCode stat;
const UaVariant &memberValue = genericValue.value(it.first, &stat);
if (stat != OpcUa_Good) {
// Absent optional field: The incoming type is Null.
// Pass a fake value with correct data type so that
// later writing will not fail with type mismatch.
const UaStructureField &field = definition.child(it.first);
OpcUa_Variant fakeValue;
OpcUa_Variant_Clear(&fakeValue);
fakeValue.Datatype = field.valueType();
fakeValue.ArrayType = field.valueRank() != 0;
if (debug())
std::cerr << pitem->recConnector->getRecordName()
<< " element " << pelem->name
<< " absent optional " << variantTypeString((OpcUa_BuiltInType)fakeValue.Datatype)
<< (fakeValue.ArrayType ? " array" : " scalar")
<< std::endl;
pelem->setIncomingData(fakeValue, ProcessReason::readFailure);
} else {
pelem->setIncomingData(memberValue, reason);
}
}
}
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126 changes: 70 additions & 56 deletions devOpcuaSup/open62541/DataElementOpen62541.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -107,28 +107,35 @@ DataElementOpen62541::show (const int level, const unsigned int indent) const
#error Set UA_ENABLE_TYPEDESCRIPTION in open62541
#endif

#ifndef UA_DATATYPES_USE_POINTER
// Older open62541 version 1.2 has no UA_DataType_getStructMember
// Code from open62541 version 1.3.7 modified for compatibility with version 1.2
// and extended to return isOptional flag
UA_Boolean
UA_DataType_getStructMember(const UA_DataType *type, const char *memberName,
UA_DataType_getStructMemberExt(const UA_DataType *type, const char *memberName,
size_t *outOffset, const UA_DataType **outMemberType,
UA_Boolean *outIsArray) {
UA_Boolean *outIsArray, UA_Boolean *outIsOptional) {
if(type->typeKind != UA_DATATYPEKIND_STRUCTURE &&
type->typeKind != UA_DATATYPEKIND_OPTSTRUCT)
return false;

size_t offset = 0;
#ifndef UA_DATATYPES_USE_POINTER
const UA_DataType *typelists[2] = { UA_TYPES, &type[-type->typeIndex] };
#endif
for(size_t i = 0; i < type->membersSize; ++i) {
const UA_DataTypeMember *m = &type->members[i];
#ifndef UA_DATATYPES_USE_POINTER
const UA_DataType *mt = &typelists[!m->namespaceZero][m->memberTypeIndex];
#else
const UA_DataType *mt = m->memberType;
#endif
offset += m->padding;

if(strcmp(memberName, m->memberName) == 0) {
*outOffset = offset;
*outMemberType = mt;
*outIsArray = m->isArray;
*outIsOptional = m->isOptional;
return true;
}

Expand All @@ -151,27 +158,28 @@ UA_DataType_getStructMember(const UA_DataType *type, const char *memberName,

return false;
}
#endif

bool
void
DataElementOpen62541::createMap (const UA_DataType *type,
const std::string *timefrom)
{
switch (typeKindOf(type)) {
case UA_DATATYPEKIND_STRUCTURE:
{
case UA_DATATYPEKIND_OPTSTRUCT: {
if (debug() >= 5)
std::cout << " ** creating index-to-element map for child elements" << std::endl;

if (timefrom) {
const UA_DataType *timeMemberType;
UA_Boolean timeIsArray;
UA_Boolean timeIsOptional;
size_t timeOffset;

if (UA_DataType_getStructMember(type, timefrom->c_str(),
if (UA_DataType_getStructMemberExt(type, timefrom->c_str(),
&timeOffset,
&timeMemberType,
&timeIsArray)) {
&timeIsArray,
&timeIsOptional)) {
if (typeKindOf(timeMemberType) != UA_TYPES_DATETIME || timeIsArray) {
errlogPrintf("%s: timestamp element %s has invalid type %s%s - using "
"source timestamp\n",
Expand All @@ -191,10 +199,11 @@ DataElementOpen62541::createMap (const UA_DataType *type,

for (auto &it : elements) {
auto pelem = it.lock();
if (UA_DataType_getStructMember(type, pelem->name.c_str(),
if (UA_DataType_getStructMemberExt(type, pelem->name.c_str(),
&pelem->offset,
&pelem->memberType,
&pelem->isArray)) {
&pelem->isArray,
&pelem->isOptional)) {
if (typeKindOf(pelem->memberType) == UA_DATATYPEKIND_ENUM) {
pelem->enumChoices = pitem->session->getEnumChoices(&pelem->memberType->typeId);
}
Expand All @@ -207,18 +216,17 @@ DataElementOpen62541::createMap (const UA_DataType *type,
}
if (debug() >= 5)
std::cout << " ** " << elements.size()
<< " child elements mapped to a "
<< "structure of " << type->membersSize << " elements" << std::endl;
<< " child elements mapped to "
<< variantTypeString(type)
<< " of " << type->membersSize << " elements" << std::endl;
break;
}
default:
std::cerr << "Item " << pitem
<< " has unimplemented type " << variantTypeString(type)
std::cerr << "Error: " << this
<< " is not a structure or an optstruct but a " << typeKindName(typeKindOf(type))
<< std::endl;
return false;
}
mapped = true;
return true;
}

// Getting the timestamp and status information from the Item assumes that only one thread
Expand Down Expand Up @@ -271,7 +279,7 @@ DataElementOpen62541::setIncomingData (const UA_Variant &value,

const UA_DataType *type = value.type;
char* container = static_cast<char*>(value.data);
if (type->typeKind == UA_DATATYPEKIND_EXTENSIONOBJECT) {
if (typeKindOf(type) == UA_DATATYPEKIND_EXTENSIONOBJECT) {
UA_ExtensionObject &extensionObject = *reinterpret_cast<UA_ExtensionObject *>(container);
if (extensionObject.encoding >= UA_EXTENSIONOBJECT_DECODED) {
// Access content of decoded extension objects
Expand All @@ -288,28 +296,32 @@ DataElementOpen62541::setIncomingData (const UA_Variant &value,
if (!mapped)
createMap(type, timefrom);

if (timefrom) {
if (timesrc >= 0)
pitem->tsData = ItemOpen62541::uaToEpicsTime(*reinterpret_cast<UA_DateTime*>(container + timesrc), 0);
else
pitem->tsData = pitem->tsSource;
}
if (timesrc >= 0)
pitem->tsData = ItemOpen62541::uaToEpicsTime(*reinterpret_cast<UA_DateTime*>(container + timesrc), 0);
else
pitem->tsData = pitem->tsSource;

for (auto &it : elements) {
auto pelem = it.lock();
char* memberData = container + pelem->offset;
const UA_DataType* memberType = pelem->memberType;
char* memberData = container + pelem->offset;
UA_Variant memberValue;
if (pelem->isArray)
{
size_t arrayLength = *reinterpret_cast<size_t*>(memberData);
size_t arrayLength = 0; // default to scalar
if (pelem->isArray) {
arrayLength = *reinterpret_cast<size_t*>(memberData);
memberData = *reinterpret_cast<char**>(memberData + sizeof(size_t));
if (arrayLength == 0) memberData = reinterpret_cast<char*>(UA_EMPTY_ARRAY_SENTINEL);
UA_Variant_setArray(&memberValue, memberData, arrayLength, memberType);
} else {
UA_Variant_setScalar(&memberValue, memberData, memberType);
} else if (pelem->isOptional) {
/* optional scalar stored through pointer like an array */
memberData = *reinterpret_cast<char**>(memberData);
}
pelem->setIncomingData(memberValue, reason);
UA_Variant_setArray(&memberValue, memberData, arrayLength, memberType);
if (debug() && !memberData && pelem->isOptional) {
std::cerr << pelem << " absent optional " << variantTypeString(memberType)
<< (pelem->isArray ? " array" : " scalar" )
<< std::endl;
}
pelem->setIncomingData(memberValue,
pelem->isOptional && !memberData ? ProcessReason::readFailure : reason);
}
}
}
Expand Down Expand Up @@ -358,35 +370,37 @@ DataElementOpen62541::setState(const ConnectionStatus state)

// Helper to update one data structure element from pointer to child
bool
DataElementOpen62541::updateDataInStruct (void* container,
std::shared_ptr<DataElementOpen62541> pelem)
DataElementOpen62541::updateDataInStruct(void* container,
std::shared_ptr<DataElementOpen62541> pelem)
{
bool updated = false;
{ // Scope of Guard G
Guard G(pelem->outgoingLock);
if (pelem->isDirty()) {
void* memberData = static_cast<char*>(container) + pelem->offset;
const UA_Variant& data = pelem->getOutgoingData();
char* memberData = static_cast<char*>(container) + pelem->offset;
const UA_Variant& elementData = pelem->getOutgoingData();
const UA_DataType* memberType = pelem->memberType;
assert(memberType == data.type);
if (pelem->isArray)
{
size_t& arrayLength = *reinterpret_cast<size_t*>(memberData);
void*& arrayData = *reinterpret_cast<void**>(static_cast<char*>(memberData) + sizeof(size_t));
UA_Array_delete(arrayData, arrayLength, memberType);
UA_StatusCode status = UA_Array_copy(data.data, data.arrayLength, &arrayData, memberType);
if (status == UA_STATUSCODE_GOOD) {
arrayLength = data.arrayLength;
} else {
arrayLength = 0;
std::cerr << "Item " << pitem
<< ": inserting data from from child element" << pelem->name
<< " failed (" << UA_StatusCode_name(status) << ')'
<< std::endl;
return false;
}
assert(memberType == elementData.type);
if (!pelem->isArray && !pelem->isOptional) {
// mandatory scalar: shallow copy
UA_clear(memberData, memberType);
void* data = pelem->moveOutgoingData();
memcpy(memberData, data, memberType->memSize);
UA_free(data);
} else {
UA_copy(data.data, memberData, memberType);
// array or optional scalar: move content
void **memberDataPtr;
if (pelem->isArray) /* mandatory or optional array stored as length and pointer */ {
size_t& arrayLength = *reinterpret_cast<size_t*>(memberData);
memberDataPtr = reinterpret_cast<void**>(memberData + sizeof(size_t));
UA_Array_delete(*memberDataPtr, arrayLength, memberType);
arrayLength = elementData.arrayLength;
} else /* optional scalar stored through pointer */ {
memberDataPtr = reinterpret_cast<void**>(memberData);
if (*memberDataPtr) /* absent optional has nullptr here */
UA_Array_delete(*memberDataPtr, 1, memberType);
}
*memberDataPtr = pelem->moveOutgoingData();
}
pelem->isdirty = false;
updated = true;
Expand Down Expand Up @@ -551,6 +565,7 @@ DataElementOpen62541::readScalar (char *value, const size_t num,
ProcessReason nReason;
std::shared_ptr<UpdateOpen62541> upd = incomingQueue.popUpdate(&nReason);
dbgReadScalar(upd.get(), "CString", num);
prec->udf = false;

switch (upd->getType()) {
case ProcessReason::readFailure:
Expand Down Expand Up @@ -620,7 +635,6 @@ DataElementOpen62541::readScalar (char *value, const size_t num,
strncpy(value, reinterpret_cast<char*>(datastring->data), n);
value[n] = '\0';
UA_String_clear(&buffer);
prec->udf = false;
UA_Variant_clear(&data);
}
if (statusCode) *statusCode = stat;
Expand Down Expand Up @@ -693,6 +707,7 @@ DataElementOpen62541::readArray (char *value, const epicsUInt32 len,
ProcessReason nReason;
std::shared_ptr<UpdateOpen62541> upd = incomingQueue.popUpdate(&nReason);
dbgReadArray(upd.get(), num, epicsTypeString(value));
prec->udf = false;

switch (upd->getType()) {
case ProcessReason::readFailure:
Expand Down Expand Up @@ -733,7 +748,6 @@ DataElementOpen62541::readArray (char *value, const epicsUInt32 len,
strncpy(value + i * len, reinterpret_cast<char*>(static_cast<UA_String *>(data.data)[i].data), len);
(value + i * len)[len - 1] = '\0';
}
prec->udf = false;
}
UA_Variant_clear(&data);
}
Expand Down
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