csa_opcua_application.cpp

Go to the documentation of this file.

/*
 * 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) 2023 Andreas Ebner <Andreas.Ebner@iosb.fraunhofer.de>
 */
 
extern "C" {
#include <signal.h>
#include <unistd.h>
}
 
#include "ChimeraTK/ControlSystemAdapter/ApplicationBase.h"
#include "csa_opcua_adapter.h"
#include "open62541/plugin/log_stdout.h"
 
#include <atomic>
#include <iostream>
#include <string>
 
boost::shared_ptr<ChimeraTK::ControlSystemPVManager> csManager;
boost::shared_ptr<ChimeraTK::DevicePVManager> devManager;
ChimeraTK::csa_opcua_adapter* csaOPCUA;
 
std::atomic<bool> terminateMain;
 
static void SigHandler_Int(int /*sign*/) {
  UA_LOG_INFO(csaOPCUA->getLogger(), UA_LOGCATEGORY_USERLAND, "Received SIGINT... terminating");
  terminateMain = true;
  if(csaOPCUA) {
    csaOPCUA->stop();
    csaOPCUA->~csa_opcua_adapter();
  }
  ChimeraTK::ApplicationBase::getInstance().shutdown();
  std::cout << "OPC UA adapter termianted." << std::endl;
}
 
int main() {
  signal(SIGINT, SigHandler_Int);  // Registriert CTRL-C/SIGINT
  signal(SIGTERM, SigHandler_Int); // Registriert SIGTERM
 
  /* Block SIGINT until the OPC UA Adapter is running.
   * So the adapter is in a consistent state when we shut it down. */
  sigset_t intmask;
  sigemptyset(&intmask);
  sigaddset(&intmask, SIGINT);
  sigprocmask(SIG_BLOCK, &intmask, nullptr);
 
  std::pair<boost::shared_ptr<ChimeraTK::ControlSystemPVManager>, boost::shared_ptr<ChimeraTK::DevicePVManager>>
      pvManagers = ChimeraTK::createPVManager();
 
  devManager = pvManagers.second;
  csManager = pvManagers.first;
 
  csManager->enablePersistentDataStorage();
  ChimeraTK::ApplicationBase::getInstance().setPVManager(devManager);
  ChimeraTK::ApplicationBase::getInstance().initialise();
 
  string pathToConfig = ChimeraTK::ApplicationBase::getInstance().getName() + "_mapping.xml";
  csaOPCUA = new ChimeraTK::csa_opcua_adapter(csManager, pathToConfig);
 
  UA_LOG_INFO(csaOPCUA->getLogger(), UA_LOGCATEGORY_USERLAND, "Optimize unmapped variables in the application base");
  ChimeraTK::ApplicationBase::getInstance().optimiseUnmappedVariables(csaOPCUA->getUnusedVariables());
 
  UA_LOG_INFO(csaOPCUA->getLogger(), UA_LOGCATEGORY_USERLAND, "Run the application instance");
  ChimeraTK::ApplicationBase::getInstance().run();
 
  UA_LOG_INFO(csaOPCUA->getLogger(), UA_LOGCATEGORY_USERLAND, "Start the OPC UA Adapter");
  csaOPCUA->start();
 
  /* Unblock SIGINT */
  sigprocmask(SIG_UNBLOCK, &intmask, nullptr);
 
  while(!terminateMain) sleep(3600); // sleep will be interrupted when signal is received
  csManager.reset();
 
  std::cout << "Application termianted." << std::endl;
}