ua_adapter.h

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/*
 * This file is part of ChimeraTKs ControlSystem-OPC-UA-Adapter.
 *
 * ChimeraTKs ControlSystem-OPC-UA-Adapter is free software: you can
 * redistribute it and/or modify it under the terms of the Lesser GNU
 * General Public License as published by the Free Software Foundation,
 * either version 3 of the License, or (at your option) any later version.
 *
 * ChimeraTKs ControlSystem-OPC-UA-Adapter is distributed in the hope
 * that it will be useful, but WITHOUT ANY WARRANTY; without even the
 * implied warranty ofMERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the Lesser GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Foobar.  If not, see https://www.gnu.org/licenses/lgpl.html
 *
 * Copyright (c) 2016 Chris Iatrou <Chris_Paul.Iatrou@tu-dresden.de>
 * Copyright (c) 2016 Julian Rahm  <Julian.Rahm@tu-dresden.de>
 * Copyright (c) 2019-2021 Andreas Ebner  <Andreas.Ebner@iosb.fraunhofer.de>
 */
 
#pragma once
 
#include "node_historizing.h"
#include <open62541/config.h>
#include <open62541/plugin/accesscontrol.h>
#include <open62541/plugin/accesscontrol_default.h>
#include <open62541/plugin/historydata/history_data_gathering.h>
#include <open62541/server_config_default.h>
 
#include <memory>
 
using namespace std;
 
namespace ChimeraTK {
  struct ServerConfig {
    string rootFolder;
    string descriptionFolder;
    UA_Boolean UsernamePasswordLogin = UA_FALSE;
    string password;
    string username;
    string applicationName = "OPCUA-Adapter";
    uint16_t opcuaPort = 16664;
    bool enableSecurity = false;
    bool unsecure = false;
    UA_LogLevel logLevel = UA_LOGLEVEL_INFO;
    string certPath;
    string keyPath;
    string allowListFolder;
    string blockListFolder;
    string issuerListFolder;
    vector<AdapterHistorySetup> history{};
    vector<AdapterFolderHistorySetup> historyfolders{};
    vector<AdapterPVHistorySetup> historyvariables{};
  };
 
  struct FolderInfo {
    string folderName;
    UA_NodeId folderNodeId = UA_NODEID_NULL;
    UA_NodeId nextFolderNodeId = UA_NODEID_NULL;
    UA_NodeId prevFolderNodeId = UA_NODEID_NULL;
  };
 
  class ua_uaadapter : ua_mapped_class {
   private:
    UA_ServerConfig* server_config{nullptr};
 
    UA_NodeId variablesListId;
    UA_NodeId constantsListId;
    std::shared_ptr<UA_DataTypeArray> customDataTypes;
 
    vector<FolderInfo> folderVector;
    UA_NodeId ownNodeId;
    UA_NodeId configNodeId;
    string pvSeperator;
    UA_Boolean mappingExceptions;
 
    ServerConfig serverConfig;
    UA_Logger logger;
 
    vector<ua_processvariable*> variables;
    vector<ua_additionalvariable*> additionalVariables;
    vector<ua_processvariable*> mappedVariables;
 
    std::shared_ptr<xml_file_handler> fileHandler;
 
    void constructServer();
 
    UA_StatusCode mapSelfToNamespace();
 
    UA_NodeId createUAFolder(UA_NodeId basenodeId, const string& folderName, const string& description = "");
 
    void raiseError(std::string errorMesssage, std::string consequenceMessage, const int& line = -1);
 
   public:
    bool running = false;
    // TODO move this field to private and add getter and setter
    vector<string> exclude;
    vector<string> folder_with_history;
 
    ua_uaadapter(const string& configPath);
 
    virtual ~ua_uaadapter();
 
    UA_DateTime getSourceTimeStamp();
 
    UA_Server* getMappedServer();
 
    UA_NodeId createFolderPath(UA_NodeId basenodeid, vector<string> folderPathVector);
 
    UA_NodeId createFolder(UA_NodeId basenodeid, const string& folderName, const string& description = "");
 
    UA_NodeId existFolderPath(UA_NodeId basenodeid, const vector<string>& folderPath);
 
    UA_NodeId existFolder(UA_NodeId basenodeid, const string& folderName);
 
    UA_NodeId enrollFolderPathFromString(const string& path, const string& seperator);
 
    void implicitVarMapping(const std::string& varName, const boost::shared_ptr<ControlSystemPVManager>& csManager);
 
    void applyMapping(const boost::shared_ptr<ControlSystemPVManager>& csManager);
 
    void explicitVarMapping(const boost::shared_ptr<ControlSystemPVManager>& csManager);
 
    void addAdditionalVariables();
 
    void buildFolderStructure(const boost::shared_ptr<ControlSystemPVManager>& csManager);
 
    void deepCopyHierarchicalLayer(
        const boost::shared_ptr<ControlSystemPVManager>& csManager, UA_NodeId layer, UA_NodeId target);
 
    UA_NodeId getOwnNodeId();
 
    vector<ua_processvariable*> getVariables();
 
    void workerThread();
 
    void readConfig();
 
    vector<string> getAllNotMappableVariablesNames();
 
    // ToDo documentation
    vector<string> getAllMappedPvSourceNames();
 
    void fillBuildInfo(UA_ServerConfig* config) const;
 
    ServerConfig get_server_config();
 
    static UA_StatusCode readLogLevel(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);
 
    static UA_StatusCode writeLogLevel(UA_Server* server, const UA_NodeId* sessionId, void* sessionContext,
        const UA_NodeId* nodeId, void* nodeContext, const UA_NumericRange* range, const UA_DataValue* data);
    // friend class declaration
    friend class csa_opcua_adapter;
  };
} // namespace ChimeraTK