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sync upstream

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This commit is contained in:
Wang_Weigen
2022-01-18 14:55:00 +08:00
parent d56a5315dd 27657d6219
commit bc1d8f574b
85 changed files with 10364 additions and 1099 deletions
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APP_Framework/Framework/control/plc/interoperability/opcua/open62541.c
+146 -14
View File
@@ -46,9 +46,7 @@
#endif
#include "open62541.h"
#define ua_print KPrintf
#define ua_trace() KPrintf("ua: [%s] line %d checked!\n", __func__, __LINE__)
#include "ua_api.h"
#if LWIP_DNS
@@ -7147,6 +7145,8 @@ encodeWithExchangeBuffer(const void *ptr, const UA_DataType *type, Ctx *ctx) {
ctx->pos = oldpos; /* Set to the last known good position and exchange */
ret = exchangeBuffer(ctx);
UA_CHECK_STATUS(ret, return ret);
ua_print("ua: [%s] exchange kind %d ret %d\n", __func__, type->typeKind, ret);
ret = encodeBinaryJumpTable[type->typeKind](ptr, type, ctx);
}
return ret;
@@ -7493,6 +7493,11 @@ Array_encodeBinary(const void *src, size_t length, const UA_DataType *type, Ctx
ret = Array_encodeBinaryComplex((uintptr_t)src, length, type, ctx);
}
UA_assert(ret != UA_STATUSCODE_BADENCODINGLIMITSEXCEEDED);
//tst by wly
ua_debug("ua: [%s] src %p len %d %d type %p <%d> <%d> %p ret %d\n", __func__,
src, length, signed_length, *type, type->typeKind, type->overlayable, ctx, ret);
return ret;
}
@@ -8335,6 +8340,26 @@ encodeBinaryStruct(const void *src, const UA_DataType *type, Ctx *ctx) {
const UA_DataType *mt = m->memberType;
ptr += m->padding;
if(mt->typeKind > UA_DATATYPEKINDS)
{
ua_debug("ua: [%s] %d type %d %p ptr %p failed\n", __func__, i, mt->typeKind, m->memberType, ptr);
return ret;
}
ua_debug("ua: [%s] > %d < %d mt %p %d %d dep %d msg %p %p:<%x> <%d> isArry %d ret %d\n", __func__,
i,
type->membersSize,
mt,
mt->typeKind,
mt->memSize,
ctx->depth,
ptr,
src,
((UA_TcpMessageHeader *)src)->messageTypeAndChunkType,
((UA_TcpMessageHeader *)src)->messageSize,
m->isArray,
ret);
/* Array. Buffer-exchange is done inside Array_encodeBinary if required. */
if(m->isArray) {
const size_t length = *((const size_t*)ptr);
@@ -8348,6 +8373,21 @@ encodeBinaryStruct(const void *src, const UA_DataType *type, Ctx *ctx) {
/* Scalar */
ret = encodeWithExchangeBuffer((const void*)ptr, mt, ctx);
UA_assert(ret != UA_STATUSCODE_BADENCODINGLIMITSEXCEEDED);
ua_debug("ua: [%s] >> %d < %d mt %p %d %d dep %d msg %p %p:<%x> <%d> isArry %d ret %d\n", __func__,
i,
type->membersSize,
mt,
mt->typeKind,
mt->memSize,
ctx->depth,
ptr,
src,
((UA_TcpMessageHeader *)src)->messageTypeAndChunkType,
((UA_TcpMessageHeader *)src)->messageSize,
m->isArray,
ret);
ptr += mt->memSize;
}
@@ -8584,20 +8624,70 @@ decodeBinaryStructure(void *dst, const UA_DataType *type, Ctx *ctx) {
const UA_DataType *mt = m->memberType;
ptr += m->padding;
if(mt->typeKind >= UA_DATATYPEKINDS)
{
ua_debug("ua: [%s] fail %d < %d mt %p %d %d dep %d msg %p %p:<%x> <%d>\n", __func__,
i,
membersSize,
mt,
mt->typeKind,
mt->memSize,
ctx->depth,
ptr,
dst,
((UA_TcpMessageHeader *)dst)->messageTypeAndChunkType,
((UA_TcpMessageHeader *)dst)->messageSize);
return ret;
}
ua_debug("ua: [%s] > %d < %d mt %p %d %d dep %d msg %p %p:<%x> <%d> isArry %d ret %d\n", __func__,
i,
membersSize,
mt,
mt->typeKind,
mt->memSize,
ctx->depth,
ptr,
dst,
((UA_TcpMessageHeader *)dst)->messageTypeAndChunkType,
((UA_TcpMessageHeader *)dst)->messageSize,
m->isArray,
ret);
/* Array */
if(m->isArray) {
size_t *length = (size_t*)ptr;
ptr += sizeof(size_t);
ret = Array_decodeBinary((void *UA_RESTRICT *UA_RESTRICT)ptr, length, mt , ctx);
ptr += sizeof(void*);
ua_debug("ua: [%s] %d ret %d ptr %p len %d\n", __func__, i, ret, ptr, length);
continue;
}
/* Scalar */
ret = decodeBinaryJumpTable[mt->typeKind]((void *UA_RESTRICT)ptr, mt, ctx);
ptr += mt->memSize;
ua_debug("ua: [%s] >> %d < %d dep %d msg %p %p:<%x> <%d> ret %d\n", __func__,
i,
membersSize,
ctx->depth,
ptr,
dst,
((UA_TcpMessageHeader *)dst)->messageTypeAndChunkType,
((UA_TcpMessageHeader *)dst)->messageSize,
ret);
}
ua_debug("ua: [%s] >>> dep %d msg %p %p:<%x> <%d> ret %d\n", __func__,
ctx->depth,
ptr,
dst,
((UA_TcpMessageHeader *)dst)->messageTypeAndChunkType,
((UA_TcpMessageHeader *)dst)->messageSize,
ret);
ctx->depth--;
return ret;
}
@@ -8739,8 +8829,18 @@ UA_decodeBinaryInternal(const UA_ByteString *src, size_t *offset,
/* Decode */
memset(dst, 0, type->memSize); /* Initialize the value */
ua_debug("ua: [%s] t %d mem %d len %d off %d pos %d end %d dst %p type %x size %x\n", __func__,
type->typeKind, type->memSize, src->length, *offset, *ctx.pos, *ctx.end,
dst, ((UA_TcpMessageHeader *)dst)->messageTypeAndChunkType,
((UA_TcpMessageHeader *)dst)->messageSize);
status ret = decodeBinaryJumpTable[type->typeKind](dst, type, &ctx);
ua_debug("ua: [%s] -> t %d dst %p type %x size %x ret %d\n", __func__,
type->typeKind, dst, ((UA_TcpMessageHeader *)dst)->messageTypeAndChunkType,
((UA_TcpMessageHeader *)dst)->messageSize, ret);
if(UA_LIKELY(ret == UA_STATUSCODE_GOOD)) {
/* Set the new offset */
*offset = (size_t)(ctx.pos - src->data) / sizeof(u8);
@@ -8748,7 +8848,16 @@ UA_decodeBinaryInternal(const UA_ByteString *src, size_t *offset,
/* Clean up */
UA_clear(dst, type);
memset(dst, 0, type->memSize);
ua_debug("ua: [%s] => t %d dst %p type %x size %x\n", __func__,
type->typeKind, dst, ((UA_TcpMessageHeader *)dst)->messageTypeAndChunkType,
((UA_TcpMessageHeader *)dst)->messageSize);
}
ua_debug("ua: [%s] #> off %d %p %p t %d dst %p type %x size %x\n", __func__, *offset,
ctx.pos, src->data,
type->typeKind, dst, ((UA_TcpMessageHeader *)dst)->messageTypeAndChunkType,
((UA_TcpMessageHeader *)dst)->messageSize);
return ret;
}
@@ -18516,6 +18625,12 @@ processChunks(UA_SecureChannel *channel, void *application,
channel->decryptedChunksCount > channel->config.localMaxChunkCount) ||
(channel->config.localMaxMessageSize != 0 &&
channel->decryptedChunksLength > channel->config.localMaxMessageSize)) {
ua_print("ua: [%s] count %d max %d len %d mess %d\n",
channel->decryptedChunksCount,
channel->config.localMaxChunkCount,
channel->decryptedChunksLength,
channel->config.localMaxMessageSize
);
return UA_STATUSCODE_BADTCPMESSAGETOOLARGE;
}
@@ -18552,6 +18667,10 @@ extractCompleteChunk(UA_SecureChannel *channel, const UA_ByteString *buffer,
UA_StatusCode res =
UA_decodeBinaryInternal(buffer, &initial_offset, &hdr,
&UA_TRANSPORT[UA_TRANSPORT_TCPMESSAGEHEADER], NULL);
ua_debug("ua: [%s] res %d buf %p offset %d hdr %d size %d\n", __func__, res, buffer, *offset,
hdr.messageTypeAndChunkType, hdr.messageSize);
UA_assert(res == UA_STATUSCODE_GOOD);
(void)res; /* pacify compilers if assert is ignored */
UA_MessageType msgType = (UA_MessageType)
@@ -18563,7 +18682,10 @@ extractCompleteChunk(UA_SecureChannel *channel, const UA_ByteString *buffer,
if(hdr.messageSize < UA_SECURECHANNEL_MESSAGE_MIN_LENGTH)
return UA_STATUSCODE_BADTCPMESSAGETYPEINVALID;
if(hdr.messageSize > channel->config.recvBufferSize)
{
ua_debug("lw: [%s] msg size %d rec %d\n", __func__, hdr.messageSize, channel->config.recvBufferSize);
return UA_STATUSCODE_BADTCPMESSAGETOOLARGE;
}
/* Incomplete chunk */
if(hdr.messageSize > remaining) {
@@ -44134,6 +44256,8 @@ UA_Client_run_iterate(UA_Client *client, UA_UInt32 timeout) {
client->sessionState < UA_SESSIONSTATE_ACTIVATED) {
retval = connectIterate(client, timeout);
notifyClientState(client);
lw_print("lw: [%s] ret %d timeout %d state %d ch %d\n", __func__, retval, timeout,
client->sessionState, client->channel.state);
return retval;
}
@@ -45075,21 +45199,21 @@ connectIterate(UA_Client *client, UA_UInt32 timeout) {
return UA_STATUSCODE_BADCONNECTIONCLOSED;
}
ua_debug("ua: [%s] conn %d state %d handle %p\n", __func__, client->connectStatus,
client->connection.state, client->connection.handle);
/* The connection is closed. Reset the SecureChannel and open a new TCP
* connection */
if(client->connection.state == UA_CONNECTIONSTATE_CLOSED)
return initConnect(client);
ua_print("ua: [%s] state %d %d handle %p\n", __func__, client->connectStatus,
client->connection.state, client->connection.handle);
/* Poll the connection status */
if(client->connection.state == UA_CONNECTIONSTATE_OPENING) {
client->connectStatus =
client->config.pollConnectionFunc(&client->connection, timeout,
&client->config.logger);
ua_print("ua: [%s] exit conn %x %d time %d handle %p\n", __func__,
ua_debug("ua: [%s] exit conn %x %d time %d handle %p\n", __func__,
client->connectStatus,
client->connection.state, timeout, client->connection.handle);
@@ -45175,6 +45299,7 @@ connectIterate(UA_Client *client, UA_UInt32 timeout) {
break;
}
lw_print("lw: [%s] sess %d conn %d\n", __func__, client->sessionState, client->connectStatus);
return client->connectStatus;
}
@@ -45286,6 +45411,8 @@ connectSync(UA_Client *client) {
UA_DateTime now = UA_DateTime_nowMonotonic();
UA_DateTime maxDate = now + ((UA_DateTime)client->config.timeout * UA_DATETIME_MSEC);
ua_print("ua; [%s] time %d\n", __func__, (UA_DateTime)client->config.timeout);
UA_StatusCode retval = initConnect(client);
if(retval != UA_STATUSCODE_GOOD)
return retval;
@@ -68096,6 +68223,9 @@ void
UA_Log_Stdout_log(void *context, UA_LogLevel level, UA_LogCategory category,
const char *msg, va_list args) {
char str[120];
memset(str, 0, sizeof(str));
/* Assume that context is casted to UA_LogLevel */
/* TODO we may later change this to a struct with bitfields to filter on category */
if ( context != NULL && (UA_LogLevel)(uintptr_t)context > level )
@@ -68115,8 +68245,8 @@ UA_Log_Stdout_log(void *context, UA_LogLevel level, UA_LogCategory category,
KPrintf("%s/%s" ANSI_COLOR_RESET "\t",
logLevelNames[level], logCategoryNames[category]);
KPrintf(msg, args);
vsnprintf(str, sizeof(str) - 1, msg, args);
KPrintf(msg, str);
KPrintf("\n");
// printf("\n");
@@ -70191,7 +70321,7 @@ UA_Client * UA_Client_new() {
UA_StatusCode
UA_ClientConfig_setDefault(UA_ClientConfig *config) {
config->timeout = 5000;
config->timeout = 20000;
config->secureChannelLifeTime = 10 * 60 * 1000; /* 10 minutes */
if(!config->logger.log) {
@@ -70656,13 +70786,15 @@ UA_Log_Syslog_withLevel(UA_LogLevel minlevel) {
#define configTICK_RATE_HZ TICK_PER_SECOND
#define xTaskGetTickCount CurrentTicksGain
#define EHOSTUNREACH 113 /* No route to host */
#define EINPROGRESS 115 /* Operation now in progress */
#define EADDRINUSE 98 /* Address already in use */
#define EALREADY 114 /* Operation already in progress */
#define ECONNABORTED 103 /* Software caused connection abort */
#define EISCONN 106 /* Transport endpoint is already connected */
#define ENOTCONN 107 /* Transport endpoint is not connected */
#define ECONNABORTED 103 /* Software caused connection abort */
#define EHOSTUNREACH 113 /* No route to host */
#define EALREADY 114 /* Operation already in progress */
#define EINPROGRESS 115 /* Operation now in progress */
#ifdef UA_ARCHITECTURE_FREERTOSLWIP_POSIX_CLOCK
APP_Framework/Framework/control/plc/interoperability/opcua/ua_api.h
+7 -1
View File
@@ -15,10 +15,16 @@
#include "open62541.h"
#define OPC_SERVER "opc.tcp://192.168.250.5:4840"
#define ua_print printf
#define ua_print //printf
#define ua_trace() //printf("ua: [%s] line %d checked!\n", __func__, __LINE__)
#define ua_pr_info KPrintf
#define ua_debug
int ua_server_connect(void);
int ua_get_server_info(UA_Client *client);
void ua_browser_objects(UA_Client *client);
void ua_browser_nodes(UA_Client *client);
void ua_read_time(UA_Client *client);
int16 ua_test(void);
APP_Framework/Framework/control/plc/interoperability/opcua/ua_client.c
+36 -40
View File
@@ -12,9 +12,7 @@
#include "open62541.h"
#include <stdlib.h>
#define OPC_SERVER "opc.tcp://192.168.250.5:4840"
#define ua_print printf
#include "ua_api.h"
#ifdef UA_ENABLE_SUBSCRIPTIONS
static void handler_TheAnswerChanged(UA_Client *client, UA_UInt32 subId, void *subContext,
@@ -32,7 +30,7 @@ static UA_StatusCode nodeIter(UA_NodeId childId, UA_Boolean isInverse, UA_NodeId
}
UA_NodeId *parent = (UA_NodeId *)handle;
ua_print("%d, %d --- %d ---> NodeId %d, %d\n",
ua_pr_info("%d, %d --- %d ---> NodeId %d, %d\n",
parent->namespaceIndex, parent->identifier.numeric,
referenceTypeId.identifier.numeric, childId.namespaceIndex,
childId.identifier.numeric);
@@ -61,32 +59,42 @@ int ua_get_points(UA_Client *client)
endpointArray[i].endpointUrl.data);
}
UA_Array_delete(endpointArray,endpointArraySize, &UA_TYPES[UA_TYPES_ENDPOINTDESCRIPTION]);
return EXIT_SUCCESS;
return EXIT_SUCCESS;
}
void ua_browser_objects(UA_Client *client)
{
/* Browse some objects */
ua_print("Browsing nodes in objects folder:\n");
ua_pr_info("Browsing nodes in objects folder:\n");
UA_BrowseRequest bReq;
UA_BrowseRequest_init(&bReq);
bReq.requestedMaxReferencesPerNode = 0;
bReq.nodesToBrowse = UA_BrowseDescription_new();
bReq.nodesToBrowseSize = 1;
bReq.nodesToBrowse[0].nodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER); /* browse objects folder */
bReq.nodesToBrowse[0].resultMask = UA_BROWSERESULTMASK_ALL; /* return everything */
UA_BrowseResponse bResp = UA_Client_Service_browse(client, bReq);
ua_print("%-9s %-16s %-16s %-16s\n", "NAMESPACE", "NODEID", "BROWSE NAME", "DISPLAY NAME");
for(size_t i = 0; i < bResp.resultsSize; ++i) {
for(size_t j = 0; j < bResp.results[i].referencesSize; ++j) {
ua_pr_info("%-9s %-16s %-16s %-16s\n", "NAMESPACE", "NODEID", "BROWSE NAME", "DISPLAY NAME");
for(size_t i = 0; i < bResp.resultsSize; ++i)
{
for(size_t j = 0; j < bResp.results[i].referencesSize; ++j)
{
UA_ReferenceDescription *ref = &(bResp.results[i].references[j]);
if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_NUMERIC) {
ua_print("%-9d %-16d %-16.*s %-16.*s\n", ref->nodeId.nodeId.namespaceIndex,
if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_NUMERIC)
{
ua_pr_info("%-9d %-16d %-16.*s %-16.*s\n", ref->nodeId.nodeId.namespaceIndex,
ref->nodeId.nodeId.identifier.numeric, (int)ref->browseName.name.length,
ref->browseName.name.data, (int)ref->displayName.text.length,
ref->displayName.text.data);
} else if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_STRING) {
ua_print("%-9d %-16.*s %-16.*s %-16.*s\n", ref->nodeId.nodeId.namespaceIndex,
}
else if(ref->nodeId.nodeId.identifierType == UA_NODEIDTYPE_STRING)
{
ua_pr_info("%-9d %-16.*s %-16.*s %-16.*s\n", ref->nodeId.nodeId.namespaceIndex,
(int)ref->nodeId.nodeId.identifier.string.length,
ref->nodeId.nodeId.identifier.string.data,
(int)ref->browseName.name.length, ref->browseName.name.data,
@@ -95,6 +103,7 @@ void ua_browser_objects(UA_Client *client)
/* TODO: distinguish further types */
}
}
ua_pr_info("\n");
UA_BrowseRequest_clear(&bReq);
UA_BrowseResponse_clear(&bResp);
}
@@ -133,7 +142,7 @@ UA_UInt32 ua_start_sub(UA_Client *client)
/* The first publish request should return the initial value of the variable */
UA_Client_run_iterate(client, 1000);
return subId;
return subId;
}
void ua_read_attr(UA_Client *client)
@@ -165,7 +174,8 @@ void ua_read_attr(UA_Client *client)
wReq.nodesToWrite[0].value.value.data = &value;
UA_WriteResponse wResp = UA_Client_Service_write(client, wReq);
if(wResp.responseHeader.serviceResult == UA_STATUSCODE_GOOD)
ua_print("the new value is: %i\n", value);
ua_print("the new value is: %i\n", value);
UA_WriteRequest_clear(&wReq);
UA_WriteResponse_clear(&wResp);
@@ -189,11 +199,14 @@ void ua_call_remote(UA_Client *client)
UA_Variant *output;
UA_StatusCode retval = UA_Client_call(client, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(1, 62541), 1, &input, &outputSize, &output);
if(retval == UA_STATUSCODE_GOOD) {
if(retval == UA_STATUSCODE_GOOD)
{
ua_print("Method call was successful, and %lu returned values available.\n",
(unsigned long)outputSize);
UA_Array_delete(output, outputSize, &UA_TYPES[UA_TYPES_VARIANT]);
} else {
}
else
{
ua_print("Method call was unsuccessful, and %x returned values available.\n", retval);
}
UA_Variant_clear(&input);
@@ -271,33 +284,16 @@ void ua_add_nodes(UA_Client *client)
int ua_get_server_info(UA_Client *client)
{
UA_StatusCode retval;
/* Listing endpoints */
retval = ua_get_points(client);
if(retval != UA_STATUSCODE_GOOD) {
UA_Client_delete(client);
return EXIT_FAILURE;
}
/* Connect to a server */
/* anonymous connect would be: retval = UA_Client_connect(client, "opc.tcp://localhost:4840"); */
retval = UA_Client_connect(client, OPC_SERVER);
if(retval != UA_STATUSCODE_GOOD) {
UA_Client_delete(client);
return EXIT_FAILURE;
}
ua_browser_objects(client);
ua_browser_objects(client);
/* Same thing, this time using the node iterator... */
ua_browser_nodes(client);
ua_browser_nodes(client);
#ifdef UA_ENABLE_SUBSCRIPTIONS
UA_Int32 subId = ua_start_sub(client);
UA_Int32 subId = ua_start_sub(client);
#endif
ua_read_attr(client);
ua_read_attr(client);
#ifdef UA_ENABLE_SUBSCRIPTIONS
/* Take another look at the.answer */
@@ -308,11 +304,11 @@ int ua_get_server_info(UA_Client *client)
#endif
#ifdef UA_ENABLE_METHODCALLS
ua_call_remote(client);
ua_call_remote(client);
#endif
#ifdef UA_ENABLE_NODEMANAGEMENT
ua_add_nodes(client);
ua_add_nodes(client);
#endif
return EXIT_SUCCESS;
APP_Framework/Framework/transform_layer/xiuos/transform.c
+4
View File
@@ -164,6 +164,10 @@ int PrivIoctl(int fd, int cmd, void *args)
case LCD_TYPE:
ret = PrivLcdIoctl(fd, cmd, ioctl_cfg->args);
break;
case ADC_TYPE:
case DAC_TYPE:
ret = ioctl(fd, cmd, ioctl_cfg->args);
break;
default:
break;
}
APP_Framework/Framework/transform_layer/xiuos/transform.h
+2
View File
@@ -139,6 +139,8 @@ enum IoctlDriverType
I2C_TYPE,
PIN_TYPE,
LCD_TYPE,
ADC_TYPE,
DAC_TYPE,
DEFAULT_TYPE,
};