open62541DeviceDriver

open62541DeviceDriver is a tool to support the development of "Device Drivers" for open62541. A "Device Driver" in this context is set of functions that represent a device from a Companion Secification(CS).

As a user, you can choose a CS and then choose one ore more Device-Types. For each device you can set all the Variables, Objects and Methods that are specified in the CS, including inherited Nodes. You can then set things like a value, description or the display name. This tool then generates code-skeletons that are compilable out of the box. For each node there are "empty" callback-functions where you connect your device. For a detailed walk-through, see Example Workflow.

Features

• Generates a code skeleton that represent a device.
• You just need implement the callback-functions to connect your hardware or data source.
• Each callback has a "User-Code" block, that will not be overwritten if you generate the code again.
• Not all CS work flawlessly. They are not tested thoroughly.
• All data types are supported. Including custom types that are defined in the CS or referenced from an other CS.
• You can set static values for variables.
• There are some features that are not implemented. Take a look at the issues for more ideas/features that might be included in the future!

Example Workflow

This is only a gif preview. You can find a mp4 file in the doc folder.

Example

The following code snippets are genereated for an RfidReaderDeviceType from the AutoID Companion specification. It is the same code that was genereated in the Example Workflow.

1. Adding the RfidReaderDeviceType to the server

static void addRfidReaderDeviceType(UA_Server *server) {
    UA_NodeId RfidReaderDeviceTypeTypeId = UA_NODEID_NUMERIC(ns[0], 1003);

    UA_ObjectAttributes nodeAttr = UA_ObjectAttributes_default;
    nodeAttr.displayName = UA_LOCALIZEDTEXT("en-US", "RfidReaderDeviceType");
    nodeAttr.description = UA_LOCALIZEDTEXT("en-US", "Test");

    // Save current lifecycle
    UA_GlobalNodeLifecycle lifecycle = UA_Server_getConfig(server)->nodeLifecycle;
    UA_Server_getConfig(server)->nodeLifecycle.createOptionalChild = createOptionalChildCallback;
    UA_StatusCode retval = UA_Server_addObjectNode(server, RfidReaderDeviceType1003NodeId,
                                UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
                                UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
                                UA_QUALIFIEDNAME(ns[0], "RfidReaderDeviceType"),
                                RfidReaderDeviceTypeTypeId,
                                nodeAttr, NULL, &RfidReaderDeviceType1003NodeId);

    UA_Server_getConfig(server)->nodeLifecycle = lifecycle;

    printf("RfidReaderDeviceType added to server with statuscode: %s\n", UA_StatusCode_name(retval));
}

2. Example of the Scan-Method callback. There are info comments about the datatype member.

// Scan Callback NodeId: ns=1;i=7013
static UA_StatusCode Scan7013Callback(UA_Server *server,
                  const UA_NodeId *sessionId, void *sessionContext,
                  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) {

    UA_ScanSettings setting = *(UA_ScanSettings*)input[0].data;
    // INFO Members of UA_ScanSettings:
    /*
    * Int32 cycles
    * Boolean dataAvailable
    * Duration duration
    * LocationTypeEnumeration locationType
    */


    UA_RfidScanResult results;
    UA_init(&results, &UA_TYPES_AUTOID[UA_TYPES_AUTOID_RFIDSCANRESULT]);
    // INFO Members of UA_RfidScanResult:
    // CodeTypeDataType codeType
    // Location location
    // ScanData scanData
    // RfidSighting sighting
    // UtcTime timestamp

    UA_AutoIdOperationStatusEnumeration status;
    UA_init(&status, &UA_TYPES_AUTOID[UA_TYPES_AUTOID_AUTOIDOPERATIONSTATUSENUMERATION]);
    // INFO Enum fields in UA_AutoIdOperationStatusEnumeration;
    /*
    * CODE_NOT_SUPPORTED = 13
    * DECODING_ERROR = 11
    * DEVICE_FAULT = 20
    * DEVICE_NOT_READY = 17
    * INVALID_CONFIGURATION = 18
    * MATCH_ERROR = 12
    * MISC_ERROR_PARTIAL = 2
    * MISC_ERROR_TOTAL = 1
    * MULTIPLE_IDENTIFIERS = 9
    * NOT_SUPPORTED_BY_DEVICE = 15
    * NOT_SUPPORTED_BY_TAG = 16
    * NO_IDENTIFIER = 8
    * OP_NOT_POSSIBLE_ERROR = 6
    * OUT_OF_RANGE_ERROR = 7
    * PASSWORD_ERROR = 4
    * PERMISSON_ERROR = 3
    * READ_ERROR = 10
    * REGION_NOT_FOUND_ERROR = 5
    * RF_COMMUNICATION_ERROR = 19
    * SUCCESS = 0
    * TAG_HAS_LOW_BATTERY = 21
    * WRITE_ERROR = 14
    */


    printf("Scan7013Callback called!\n");

    //BEGIN user code Scan7013
    
    //END user code Scan7013

    UA_Variant_setScalarCopy(&output[0], &results, &UA_TYPES_AUTOID[UA_TYPES_AUTOID_RFIDSCANRESULT]);
    UA_Variant_setScalarCopy(&output[1], &status, &UA_TYPES_AUTOID[UA_TYPES_AUTOID_AUTOIDOPERATIONSTATUSENUMERATION]);

    return UA_STATUSCODE_GOOD;
}

3. Example of a variable with a static value that has been set with the tool.

// readAntennaNames NodeId: ns=1;i=6048
static UA_StatusCode readAntennaNames6048(UA_Server *server, const UA_NodeId *sessionId, void *sessionContext, const UA_NodeId *nodeId, void *nodeContext, UA_Boolean sourceTimeStamp, const UA_NumericRange *range, UA_DataValue *dataValue) {
    UA_AntennaNameIdPair antennaNames;
    // Int32
    antennaNames.antennaId=42;
    // String
    antennaNames.antennaName = UA_STRING("Test");
    UA_Variant_setScalarCopy(&dataValue->value, &antennaNames, &UA_TYPES_AUTOID[UA_TYPES_AUTOID_ANTENNANAMEIDPAIR]);
    dataValue->hasValue = true;

    //BEGIN user code read AntennaNames6048
    
    //END user code read AntennaNames6048
    printf("readAntennaNames got called\n");
    return UA_STATUSCODE_GOOD;
}

Keep in mind that you need to implement the read/write and method callbacks to get the data from the actual device.

Getting open62541DeviceDriver

This Project uses the UA-Nodeset and the C++ Single Header Mustache Implementation Mustache.

Clone the Project and checkout the submodules

git clone --recursive XXX

Dependencies

• Qt 6.8.2
• For WebAssembly use Emscripten v. 3.1.56
• Open62541 v1.4.10

Building

Use the Qt-Creator with Qt 6.8.2 to open, build and run the Project.

Building the Generated Code

Dependencies

• Open62541 v1.4.10

Building

You will find the generated code in templates/output.c along with a CMakelists.txt.

Keep in mind that you need to set the open62541_SOURCE_DIR to your local open62541 path.

You can build it like this:

mkdir build && cd build
cmake .. -Dopen62541_SOURCE_DIR=/path/to/open62541/
make

It should build right away and you can find the binary in the bin folder. The name of the binary is equal to your selected companion specification:

./bin/projectName

Contributing

Contributions are welcome! If you encounter any issues or would like to request a feature, feel free to open an issue or submit a pull request.

The support of nodesets has not been thoroughly tested. So you might face some issues. If you encounter any problems, opening an issue would be appreciated!

License

This project is released under the LGPLv3.0-or-later License.