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Enable interactive simulation without stepping
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@sjoelund @adeas31
sjoelund authored and adeas31 committed Oct 19, 2017
1 parent 7d12dd4 commit 5a35717
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Showing 2 changed files with 76 additions and 95 deletions.
165 changes: 75 additions & 90 deletions OMEdit/OMEditGUI/Simulation/OpcUaClient.cpp
View file
Expand Up @@ -7,6 +7,62 @@
#include <QThread>
#include <QDebug>

/*!
Write the value value to the real node with id id.
*/
static bool writeReal(UA_Client *client, UA_NodeId id, UA_Double value)
{
UA_WriteRequest wReq;
UA_WriteRequest_init(&wReq);
wReq.nodesToWrite = UA_WriteValue_new();
wReq.nodesToWriteSize = 1;
wReq.nodesToWrite[0].nodeId = id;
wReq.nodesToWrite[0].attributeId = UA_ATTRIBUTEID_VALUE;
wReq.nodesToWrite[0].value.hasValue = UA_TRUE;
wReq.nodesToWrite[0].value.value.type = &UA_TYPES[UA_TYPES_DOUBLE];
wReq.nodesToWrite[0].value.value.storageType = UA_Variant::UA_VARIANT_DATA_NODELETE;
wReq.nodesToWrite[0].value.value.data = &value;

UA_WriteResponse wResp = UA_Client_Service_write(client, wReq);
if (wResp.responseHeader.serviceResult != UA_STATUSCODE_GOOD) {
UA_WriteRequest_deleteMembers(&wReq);
UA_WriteResponse_deleteMembers(&wResp);
return false;
}
UA_WriteRequest_deleteMembers(&wReq);
UA_WriteResponse_deleteMembers(&wResp);

return true;
}

/*!
Write the value value to the bool node with id id.
*/
static bool writeBool(UA_Client *client, UA_NodeId id, UA_Boolean value)
{
UA_WriteRequest wReq;
UA_WriteRequest_init(&wReq);
wReq.nodesToWrite = UA_WriteValue_new();
wReq.nodesToWriteSize = 1;
wReq.nodesToWrite[0].nodeId = id;
wReq.nodesToWrite[0].attributeId = UA_ATTRIBUTEID_VALUE;
wReq.nodesToWrite[0].value.hasValue = UA_TRUE;
wReq.nodesToWrite[0].value.value.type = &UA_TYPES[UA_TYPES_BOOLEAN];
wReq.nodesToWrite[0].value.value.storageType = UA_Variant::UA_VARIANT_DATA_NODELETE;
wReq.nodesToWrite[0].value.value.data = &value;

UA_WriteResponse wResp = UA_Client_Service_write(client, wReq);
if (wResp.responseHeader.serviceResult == UA_STATUSCODE_GOOD) {
UA_WriteRequest_deleteMembers(&wReq);
UA_WriteResponse_deleteMembers(&wResp);
return true;
}
UA_WriteRequest_deleteMembers(&wReq);
UA_WriteResponse_deleteMembers(&wResp);
return false;
}


/*!
Contains OPC UA functionality to interact with an OPC UA server.
*/
Expand Down Expand Up @@ -36,7 +92,7 @@ bool OpcUaClient::connectToServer()
Sleep::currentThread()->msleep(100);
returnValue = UA_Client_connect(mpClient, UA_ClientConnectionTCP, endPoint.c_str());
} while (returnValue != UA_STATUSCODE_GOOD);
std::cerr << "Connected to OPC-UA server " << endPoint << std::endl;
// qDebug() << "Connected to OPC-UA server " << endPoint;
return true;
}

Expand All @@ -47,7 +103,6 @@ bool OpcUaClient::connectToServer()
*/
QStringList OpcUaClient::fetchVariableNamesFromServer()
{
qDebug() << "fetchVariableNamesFromServer";
UA_BrowseRequest browseRequest;
UA_BrowseRequest_init(&browseRequest);
browseRequest.requestedMaxReferencesPerNode = 0;
Expand Down Expand Up @@ -88,7 +143,6 @@ QStringList OpcUaClient::fetchVariableNamesFromServer()
}
UA_BrowseRequest_deleteMembers(&browseRequest);
UA_BrowseResponse_deleteMembers(&browseResponse);
qDebug() << "fetchVariableNamesFromServer" << variablesList;
return variablesList;
}

Expand Down Expand Up @@ -207,34 +261,6 @@ double OpcUaClient::readReal(int id)
return res;
}

/*!
Write the value value to the real node with id id.
*/
bool OpcUaClient::writeReal(int id, UA_Double value)
{
UA_WriteRequest wReq;
UA_WriteRequest_init(&wReq);
wReq.nodesToWrite = UA_WriteValue_new();
wReq.nodesToWriteSize = 1;
wReq.nodesToWrite[0].nodeId = UA_NODEID_NUMERIC(1, id);
wReq.nodesToWrite[0].attributeId = UA_ATTRIBUTEID_VALUE;
wReq.nodesToWrite[0].value.hasValue = UA_TRUE;
wReq.nodesToWrite[0].value.value.type = &UA_TYPES[UA_TYPES_DOUBLE];
wReq.nodesToWrite[0].value.value.storageType = UA_Variant::UA_VARIANT_DATA_NODELETE;
wReq.nodesToWrite[0].value.value.data = &value;

UA_WriteResponse wResp = UA_Client_Service_write(mpClient, wReq);
if (wResp.responseHeader.serviceResult != UA_STATUSCODE_GOOD) {
UA_WriteRequest_deleteMembers(&wReq);
UA_WriteResponse_deleteMembers(&wResp);
return false;
}
UA_WriteRequest_deleteMembers(&wReq);
UA_WriteResponse_deleteMembers(&wResp);

return true;
}

/*!
Read the bool value of the provided id, return the result as an integer.
-1 indicates an error.
Expand All @@ -261,33 +287,6 @@ int OpcUaClient::readBool(int id)
return res;
}

/*!
Write the value value to the bool node with id id.
*/
bool OpcUaClient::writeBool(int id, UA_Boolean value)
{
UA_WriteRequest wReq;
UA_WriteRequest_init(&wReq);
wReq.nodesToWrite = UA_WriteValue_new();
wReq.nodesToWriteSize = 1;
wReq.nodesToWrite[0].nodeId = UA_NODEID_NUMERIC(1, id);
wReq.nodesToWrite[0].attributeId = UA_ATTRIBUTEID_VALUE;
wReq.nodesToWrite[0].value.hasValue = UA_TRUE;
wReq.nodesToWrite[0].value.value.type = &UA_TYPES[UA_TYPES_BOOLEAN];
wReq.nodesToWrite[0].value.value.storageType = UA_Variant::UA_VARIANT_DATA_NODELETE;
wReq.nodesToWrite[0].value.value.data = &value;

UA_WriteResponse wResp = UA_Client_Service_write(mpClient, wReq);
if (wResp.responseHeader.serviceResult == UA_STATUSCODE_GOOD) {
UA_WriteRequest_deleteMembers(&wReq);
UA_WriteResponse_deleteMembers(&wResp);
return true;
}
UA_WriteRequest_deleteMembers(&wReq);
UA_WriteResponse_deleteMembers(&wResp);
return false;
}

/*!
Called when a value is entered in the variable tree.
Write the new value to the corresponding node.
Expand All @@ -296,9 +295,9 @@ void OpcUaClient::writeValue(const QVariant &value, const QString &name)
{
int nodeId = mVariables.value(name)->getNodeId();
if (variableIsReal(nodeId)) {
writeReal(nodeId, value.toDouble());
writeReal(mpClient, UA_NODEID_NUMERIC(1, nodeId), value.toDouble());
} else if (variableIsBool(nodeId)) {
writeBool(nodeId, value.toBool());
writeBool(mpClient, UA_NODEID_NUMERIC(1, nodeId), value.toBool());
}
}

Expand All @@ -317,7 +316,7 @@ double OpcUaClient::getCurrentSimulationTime()
It can be done by using subscriptions or contacting the remote directly each time step (simulate with steps).
*/
OpcUaWorker::OpcUaWorker(OpcUaClient *pClient, bool simulateWithSteps)
: mpParentClient(pClient), mSimulateWithSteps(simulateWithSteps), mSampleInterval(100)
: mpParentClient(pClient), mSimulateWithSteps(simulateWithSteps), mSampleInterval(100), mSpeedValue(1.0)
{
setInterval(mSampleInterval);
if (!mSimulateWithSteps) {
Expand All @@ -339,6 +338,11 @@ void OpcUaWorker::startInteractiveSimulation()
mClock.start();
mIsRunning = true;

if (!mSimulateWithSteps) {
writeReal(mpParentClient->getClient(), UA_NODEID_NUMERIC(0, 10002), mSpeedValue);
writeBool(mpParentClient->getClient(), UA_NODEID_NUMERIC(0, 10001), true);
}

while(mIsRunning) {
const double elapsed = mClock.elapsed();
sample();
Expand All @@ -357,6 +361,9 @@ void OpcUaWorker::startInteractiveSimulation()
void OpcUaWorker::pauseInteractiveSimulation()
{
mIsRunning = false;
if (!mSimulateWithSteps) {
writeBool(mpParentClient->getClient(), UA_NODEID_NUMERIC(0, 10001), false);
}
}

/*!
Expand Down Expand Up @@ -391,7 +398,13 @@ void OpcUaWorker::setSpeed(QString value)
bool isFloat = true;
double speedValue = value.toFloat(&isFloat);
if (isFloat && speedValue > 0.0) {
mSpeedValue = speedValue;
setInterval(mSampleInterval / speedValue);
} else if (isFloat && speedValue == 0.0) {
mSpeedValue = 0.0;
}
if (isFloat) {
writeReal(mpParentClient->getClient(), UA_NODEID_NUMERIC(0, 10002), mSpeedValue);
}
}

Expand Down Expand Up @@ -452,7 +465,6 @@ void OpcUaWorker::createSubscription()
UA_SubscriptionSettings subscriptionSettings = UA_SubscriptionSettings_standard;
subscriptionSettings.requestedPublishingInterval = 1;
UA_Client_Subscriptions_new(mpParentClient->getClient(), subscriptionSettings, &mSubscriptionId);
qDebug() << "createSubscription";
monitorTime();
}

Expand Down Expand Up @@ -488,7 +500,7 @@ void OpcUaWorker::timeChanged(UA_UInt32 handle, UA_DataValue *pValue, void *pCli
// catch the time value
mCurrentTime.setLocalData(*(UA_Double*)pValue->value.data);
}
writeStep(pClient, UA_TRUE);
writeBool((UA_Client*) pClient, UA_NODEID_NUMERIC(0, 10000), UA_TRUE);
}

/*!
Expand Down Expand Up @@ -565,33 +577,6 @@ void OpcUaWorker::removeMonitoredItem(const QString& variableName)
mMonitorIds.localData().remove(pVariable->getMonitoredItemId());
}

/*!
Writes true to the step variable with help of the raw OPC UA services.
*/
bool OpcUaWorker::writeStep(void *pClient, UA_Boolean value)
{
UA_WriteRequest wReq;
UA_WriteRequest_init(&wReq);
wReq.nodesToWrite = UA_WriteValue_new();
wReq.nodesToWriteSize = 1;
wReq.nodesToWrite[0].nodeId = UA_NODEID_NUMERIC(0, 10000);
wReq.nodesToWrite[0].attributeId = UA_ATTRIBUTEID_VALUE;
wReq.nodesToWrite[0].value.hasValue = UA_TRUE;
wReq.nodesToWrite[0].value.value.type = &UA_TYPES[UA_TYPES_BOOLEAN];
wReq.nodesToWrite[0].value.value.storageType = UA_Variant::UA_VARIANT_DATA_NODELETE;
wReq.nodesToWrite[0].value.value.data = &value;

UA_WriteResponse wResp = UA_Client_Service_write((UA_Client *)pClient, wReq);
if (wResp.responseHeader.serviceResult == UA_STATUSCODE_GOOD) {
UA_WriteRequest_deleteMembers(&wReq);
UA_WriteResponse_deleteMembers(&wResp);
return true;
}
UA_WriteRequest_deleteMembers(&wReq);
UA_WriteResponse_deleteMembers(&wResp);
return false;
}

/*!
Data structure to handle data between the OPC UA server and OMPlot.
*/
Expand Down
6 changes: 1 addition & 5 deletions OMEdit/OMEditGUI/Simulation/OpcUaClient.h
View file
Expand Up @@ -37,9 +37,6 @@ class OpcUaClient : public QObject
OpcUaWorker* getOpcUaWorker() {return mpOpcUaWorker;}
QThread* getSampleThread() {return mpSampleThread;}
private:
bool writeReal(int id, UA_Double value);
bool writeBool(int id, UA_Boolean value);

UA_Client *mpClient;
QThread *mpSampleThread;
OpcUaWorker* mpOpcUaWorker;
Expand Down Expand Up @@ -79,12 +76,11 @@ private slots:
OpcUaClient *mpParentClient;
VariablesTreeItem *mpVariablesTreeItemRoot;
QTime mClock;
double mInterval;
double mInterval, mSpeedValue;
bool mIsRunning;

void createSubscription();
void monitorTime();
static bool writeStep(void *pClient, UA_Boolean value);
static void timeChanged(UA_UInt32 handle, UA_DataValue *pValue, void *pClient);
static void realChanged(UA_UInt32 handle, UA_DataValue *pValue, void *pClient);
static void boolChanged(UA_UInt32 handle, UA_DataValue *pValue, void *pClient);
Expand Down

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