support LWIP and demo from Wang_Linyu Liu_Kai Yang Peihao Wang_Weigen

it is OK

APP_Framework/Applications/connection_app/Kconfig

@@ -1,3 +1,7 @@
 menu "connection app"
 
+    menuconfig APPLICATION_CONNECTION
+        bool "Using connection apps"
+        default n
+	
 endmenu

APP_Framework/Applications/connection_app/Makefile

@@ -1,3 +1,7 @@
 SRC_DIR :=
 
+ifeq ($(CONFIG_RESOURCES_LWIP),y)
+	SRC_DIR += socket_demo
+endif
+
 include $(KERNEL_ROOT)/compiler.mk

APP_Framework/Applications/connection_app/socket_demo/Makefile

@@ -0,0 +1,3 @@
+SRC_FILES := lwip_tcp_socket_demo.c lwip_udp_socket_demo.c
+
+include $(KERNEL_ROOT)/compiler.mk

APP_Framework/Applications/connection_app/socket_demo/lwip_tcp_socket_demo.c

@@ -0,0 +1,187 @@
+/*
+* Copyright (c) 2020 AIIT XUOS Lab
+* XiUOS is licensed under Mulan PSL v2.
+* You can use this software according to the terms and conditions of the Mulan PSL v2.
+* You may obtain a copy of Mulan PSL v2 at:
+*        http://license.coscl.org.cn/MulanPSL2
+* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
+* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
+* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
+* See the Mulan PSL v2 for more details.
+*/
+
+/**
+* @file tcp_echo_socket_demo.c
+* @brief One UDP demo based on LwIP
+* @version 1.0
+* @author AIIT XUOS Lab
+* @date 2021-05-29
+*/
+#include <transform.h>
+#include <xiuos.h>
+#include "board.h"
+#include "sys_arch.h"
+#include <lwip/sockets.h>
+#include "lwip/sys.h"
+
+/*******************************************************************************
+ * Definitions
+ ******************************************************************************/
+
+/*******************************************************************************
+ * Prototypes
+ ******************************************************************************/
+
+/*******************************************************************************
+ * Variables
+ ******************************************************************************/
+
+char tcp_socket_ip[] = {192, 168, 250, 252};
+
+#define TCP_BUF_SIZE 1024
+
+/*******************************************************************************
+ * Code
+ ******************************************************************************/
+
+static void tcp_recv_demo(void *arg)
+{
+    lw_print("tcp_recv_demo start.\n");
+
+    int fd = -1;
+    char *recv_buf;
+    struct sockaddr_in tcp_addr, server_addr;
+    int recv_len;
+    socklen_t addr_len;
+
+    while(1)
+    {
+        recv_buf = (char *)malloc(TCP_BUF_SIZE);
+        if (recv_buf == NULL)
+        {
+            lw_print("No memory\n");
+            goto __exit;
+        }
+
+        fd = socket(AF_INET, SOCK_STREAM, 0);
+        if (fd < 0)
+        {
+            lw_print("Socket error\n");
+            goto __exit;
+        }
+
+        tcp_addr.sin_family = AF_INET;
+        tcp_addr.sin_addr.s_addr = INADDR_ANY;
+        tcp_addr.sin_port = htons(LOCAL_PORT_SERVER);
+        memset(&(tcp_addr.sin_zero), 0, sizeof(tcp_addr.sin_zero));
+
+        if (bind(fd, (struct sockaddr *)&tcp_addr, sizeof(struct sockaddr)) == -1)
+        {
+            lw_print("Unable to bind\n");
+            goto __exit;
+        }
+
+        lw_print("tcp bind sucess, start to receive.\n");
+        lw_print("\n\nLocal Port:%d\n\n", LOCAL_PORT_SERVER);
+
+        while(1)
+        {
+            memset(recv_buf, 0, TCP_BUF_SIZE);
+            recv_len = recvfrom(fd, recv_buf, TCP_BUF_SIZE, 0, (struct sockaddr *)&server_addr, &addr_len);
+            lw_pr_info("Receive from : %s\n", inet_ntoa(server_addr.sin_addr));
+            lw_pr_info("Receive data : %s\n\n", recv_buf);
+            sendto(fd, recv_buf, recv_len, 0, (struct sockaddr*)&server_addr, addr_len);
+        }
+
+    __exit:
+        if (fd >= 0)
+            closesocket(fd);
+
+        if (recv_buf)
+            free(recv_buf);
+    }
+}
+
+void tcp_socket_recv_run(int argc, char *argv[])
+{
+    int result = 0;
+    pthread_t th_id;
+    pthread_attr_t attr;
+
+    if(argc == 2)
+    {
+        lw_print("lw: [%s] gw %s\n", __func__, argv[1]);
+        sscanf(argv[1], "%d.%d.%d.%d", &tcp_socket_ip[0], &tcp_socket_ip[1], &tcp_socket_ip[2], &tcp_socket_ip[3]);
+    }
+
+    ETH_BSP_Config();
+    lwip_config_tcp(lwip_ipaddr, lwip_netmask, lwip_gwaddr);
+    sys_thread_new("tcp_recv_demo", tcp_recv_demo, NULL, 4096, 15);
+}
+
+SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) | SHELL_CMD_PARAM_NUM(3),
+     TCPSocketRecv, tcp_socket_recv_run, TCP recv echo);
+
+static void tcp_send_demo(void *arg)
+{
+    int cnt = TEST_LWIP_TIMES;
+    lw_print("tcp_send_demo start.\n");
+    int fd = -1;
+    char send_msg[128];
+
+    memset(send_msg, 0, sizeof(send_msg));
+    fd = socket(AF_INET, SOCK_STREAM, 0);
+    if (fd < 0)
+    {
+        lw_print("Socket error\n");
+        goto __exit;
+    }
+
+    struct sockaddr_in tcp_sock;
+    tcp_sock.sin_family = AF_INET;
+    tcp_sock.sin_port = htons(TARGET_PORT_CLIENT);
+    tcp_sock.sin_addr.s_addr = PP_HTONL(LWIP_MAKEU32(tcp_socket_ip[0],tcp_socket_ip[1],tcp_socket_ip[2],tcp_socket_ip[3]));
+    memset(&(tcp_sock.sin_zero), 0, sizeof(tcp_sock.sin_zero));
+
+    if (connect(fd, (struct sockaddr *)&tcp_sock, sizeof(struct sockaddr)))
+    {
+        lw_print("Unable to connect\n");
+        goto __exit;
+    }
+
+    lw_print("tcp connect success, start to send.\n");
+    lw_print("\n\nTarget Port:%d\n\n", tcp_sock.sin_port);
+
+    while (cnt --)
+    {
+        lw_print("Lwip client is running.\n");
+        snprintf(send_msg, sizeof(send_msg), "TCP test package times %d\r\n", cnt);
+        sendto(fd, send_msg, strlen(send_msg), 0, (struct sockaddr*)&tcp_sock, sizeof(struct sockaddr));
+        lw_print("Send tcp msg: %s ", send_msg);
+        MdelayKTask(1000);
+    }
+
+__exit:
+    if (fd >= 0)
+        closesocket(fd);
+
+    return;
+}
+
+
+void tcp_socket_send_run(int argc, char *argv[])
+{
+    if(argc == 2)
+    {
+        lw_print("lw: [%s] gw %s\n", __func__, argv[1]);
+        sscanf(argv[1], "%d.%d.%d.%d", &tcp_socket_ip[0], &tcp_socket_ip[1], &tcp_socket_ip[2], &tcp_socket_ip[3]);
+    }
+
+    ETH_BSP_Config();
+    lwip_config_tcp(lwip_ipaddr, lwip_netmask, lwip_gwaddr);
+    sys_thread_new("tcp socket", tcp_send_demo, NULL, 4096, 25);
+}
+
+SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) | SHELL_CMD_PARAM_NUM(0),
+     TCPSocketSend, tcp_socket_send_run, TCP send demo);
+

APP_Framework/Applications/connection_app/socket_demo/lwip_udp_socket_demo.c

@@ -0,0 +1,209 @@
+/*
+* Copyright (c) 2020 AIIT XUOS Lab
+* XiUOS is licensed under Mulan PSL v2.
+* You can use this software according to the terms and conditions of the Mulan PSL v2.
+* You may obtain a copy of Mulan PSL v2 at:
+*        http://license.coscl.org.cn/MulanPSL2
+* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
+* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
+* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
+* See the Mulan PSL v2 for more details.
+*/
+
+/**
+* @file lwip_udp_socket_demo.c
+* @brief One UDP demo based on LwIP
+* @version 1.0
+* @author AIIT XUOS Lab
+* @date 2021-05-29
+*/
+#include <transform.h>
+#include <xiuos.h>
+#include "board.h"
+#include "sys_arch.h"
+#include "lwip/udp.h"
+#include "lwip/opt.h"
+
+/*******************************************************************************
+ * Definitions
+ ******************************************************************************/
+
+/*******************************************************************************
+ * Prototypes
+ ******************************************************************************/
+
+/*******************************************************************************
+ * Variables
+ ******************************************************************************/
+extern char udp_target[];
+static struct udp_pcb *udpecho_raw_pcb;
+char udp_socket_ip[] = {192, 168, 250, 252};
+
+/*******************************************************************************
+ * Code
+ ******************************************************************************/
+
+#include <lwip/sockets.h>
+#include "lwip/sys.h"
+
+#define LWIP_UDP_TASK_STACK 4096
+#define LWIP_UDP_TASK_PRIO 25
+#define UDP_BUF_SIZE 1024
+
+static void udp_recv_demo(void *arg)
+{
+    lw_print("udp_recv_demo start.\n");
+
+    int socket_fd = -1;
+    char *recv_buf;
+    struct sockaddr_in udp_addr, server_addr;
+    int recv_len;
+    socklen_t addr_len;
+
+    while(1)
+    {
+        recv_buf = (char *)malloc(UDP_BUF_SIZE);
+        if (recv_buf == NULL)
+        {
+            lw_print("No memory\n");
+            goto __exit;
+        }
+
+        socket_fd = socket(AF_INET, SOCK_DGRAM, 0);
+        if (socket_fd < 0)
+        {
+            lw_print("Socket error\n");
+            goto __exit;
+        }
+
+        udp_addr.sin_family = AF_INET;
+        udp_addr.sin_addr.s_addr = INADDR_ANY;
+        udp_addr.sin_port = htons(LOCAL_PORT_SERVER);
+        memset(&(udp_addr.sin_zero), 0, sizeof(udp_addr.sin_zero));
+
+        if (bind(socket_fd, (struct sockaddr *)&udp_addr, sizeof(struct sockaddr)) == -1)
+        {
+            lw_print("Unable to bind\n");
+            goto __exit;
+        }
+
+        lw_print("UDP bind sucess, start to receive.\n");
+        lw_print("\n\nLocal Port:%d\n\n", LOCAL_PORT_SERVER);
+
+        while(1)
+        {
+            memset(recv_buf, 0, UDP_BUF_SIZE);
+            recv_len = recvfrom(socket_fd, recv_buf, UDP_BUF_SIZE, 0, (struct sockaddr *)&server_addr, &addr_len);
+            lw_print("Receive from : %s\n", inet_ntoa(server_addr.sin_addr));
+            lw_print("Receive data : %s\n\n", recv_buf);
+            sendto(socket_fd, recv_buf, recv_len, 0, (struct sockaddr*)&server_addr, addr_len);
+        }
+
+    __exit:
+        if (socket_fd >= 0)
+            closesocket(socket_fd);
+
+        if (recv_buf)
+            free(recv_buf);
+    }
+}
+
+static void udp_recv_demo_thread(void* param)
+{
+    ETH_BSP_Config();
+    lwip_config_tcp(lwip_ipaddr, lwip_netmask, lwip_gwaddr);
+    sys_thread_new("udp_recv_demo", udp_recv_demo, NULL, LWIP_UDP_TASK_STACK, LWIP_UDP_TASK_PRIO);
+}
+
+void udp_socket_recv_run(int argc, char *argv[])
+{
+    int result = 0;
+    pthread_t th_id;
+    pthread_attr_t attr;
+
+    if(argc == 2)
+    {
+        lw_print("lw: [%s] gw %s\n", __func__, argv[1]);
+        sscanf(argv[1], "%d.%d.%d.%d", &udp_socket_ip[0], &udp_socket_ip[1], &udp_socket_ip[2], &udp_socket_ip[3]);
+    }
+
+    sys_thread_new("udp socket send", udp_recv_demo_thread, NULL, 4096, 15);
+}
+
+SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) | SHELL_CMD_PARAM_NUM(3),
+     UDPSocketRecv, udp_socket_recv_run, UDP recv echo);
+
+static void udp_send_demo(void *arg)
+{
+    int cnt = TEST_LWIP_TIMES;
+    char send_str[128];
+
+    lw_print("udp_send_demo start.\n");
+
+    int socket_fd = -1;
+    memset(send_str, 0, sizeof(send_str));
+
+    socket_fd = socket(AF_INET, SOCK_DGRAM, 0);
+    if (socket_fd < 0)
+    {
+        lw_print("Socket error\n");
+        goto __exit;
+    }
+
+    struct sockaddr_in udp_sock;
+    udp_sock.sin_family = AF_INET;
+    udp_sock.sin_port = htons(TARGET_PORT_CLIENT);
+    udp_sock.sin_addr.s_addr = PP_HTONL(LWIP_MAKEU32(udp_target[0],udp_target[1],udp_target[2],udp_target[3]));
+    memset(&(udp_sock.sin_zero), 0, sizeof(udp_sock.sin_zero));
+
+    if (connect(socket_fd, (struct sockaddr *)&udp_sock, sizeof(struct sockaddr)))
+    {
+        lw_print("Unable to connect\n");
+        goto __exit;
+    }
+
+    lw_print("UDP connect success, start to send.\n");
+    lw_print("\n\nTarget Port:%d\n\n", udp_sock.sin_port);
+
+    while (cnt --)
+    {
+        snprintf(send_str, sizeof(send_str), "UDP test package times %d\r\n", cnt);
+        sendto(socket_fd, send_str, strlen(send_str), 0, (struct sockaddr*)&udp_sock, sizeof(struct sockaddr));
+        lw_pr_info("Send UDP msg: %s ", send_str);
+        MdelayKTask(1000);
+    }
+
+__exit:
+    if (socket_fd >= 0)
+    {
+        closesocket(socket_fd);
+    }
+
+    return;
+}
+
+static void udp_send_demo_thread(void* param)
+{
+    ETH_BSP_Config();
+    lwip_config_tcp(lwip_ipaddr, lwip_netmask, lwip_gwaddr);
+    sys_thread_new("udp_send_demo", udp_send_demo, NULL, LWIP_UDP_TASK_STACK, LWIP_UDP_TASK_PRIO);
+}
+
+void udp_socket_send_run(int argc, char *argv[])
+{
+    int result = 0;
+    pthread_t th_id;
+    pthread_attr_t attr;
+
+    if(argc == 2)
+    {
+        lw_print("lw: [%s] gw %s\n", __func__, argv[1]);
+        sscanf(argv[1], "%d.%d.%d.%d", &udp_socket_ip[0], &udp_socket_ip[1], &udp_socket_ip[2], &udp_socket_ip[3]);
+    }
+
+    sys_thread_new("udp socket send", udp_send_demo_thread, NULL, 4096, 15);
+}
+
+SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) | SHELL_CMD_PARAM_NUM(3),
+     UDPSocketSend, udp_socket_send_run, UDP send echo);
+

APP_Framework/Applications/control_app/Kconfig

@@ -3,6 +3,7 @@ menu "control app"
     menuconfig APPLICATION_CONTROL
         bool "Using control apps"
         default n
+        depends on SUPPORT_CONTROL_FRAMEWORK
 
 endmenu
 

APP_Framework/Applications/control_app/Makefile

@@ -0,0 +1,11 @@
+SRC_DIR :=
+
+ifeq ($(CONFIG_RESOURCES_LWIP),y)
+
+ifeq ($(CONFIG_USING_CONTROL_PLC_OPCUA), y)
+	SRC_DIR += opcua_demo
+endif
+
+endif
+
+include $(KERNEL_ROOT)/compiler.mk

APP_Framework/Applications/control_app/opcua_demo/Makefile

@@ -0,0 +1,3 @@
+SRC_FILES :=opcua_demo.c
+
+include $(KERNEL_ROOT)/compiler.mk

APP_Framework/Applications/control_app/opcua_demo/opcua_demo.c

@@ -0,0 +1,160 @@
+/*
+ * Copyright (c) 2021 AIIT XUOS Lab
+ * XiUOS is licensed under Mulan PSL v2.
+ * You can use this software according to the terms and conditions of the Mulan PSL v2.
+ * You may obtain a copy of Mulan PSL v2 at:
+ *        http://license.coscl.org.cn/MulanPSL2
+ * THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
+ * EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
+ * MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
+ * See the Mulan PSL v2 for more details.
+ */
+
+/**
+ * @file ua_demo.c
+ * @brief Demo for OpcUa function
+ * @version 1.0
+ * @author AIIT XUOS Lab
+ * @date 2021.11.11
+ */
+
+#include <list.h>
+#include <transform.h>
+#include "board.h"
+#include <lwip/altcp.h>
+#include "open62541.h"
+#include "ua_api.h"
+
+/*******************************************************************************
+ * Definitions
+ ******************************************************************************/
+//#define ua_print KPrintf
+#define ua_trace() KPrintf("ua: [%s] %d pass!\n", __func__, __LINE__)
+
+#define TCP_LOCAL_PORT 4840
+
+/*******************************************************************************
+ * Prototypes
+ ******************************************************************************/
+
+/*******************************************************************************
+ * Variables
+ ******************************************************************************/
+
+const char *test_uri = "opc.tcp://192.168.250.5:4840";
+const char *test_cb_str = "tcp client connected\r\n";
+
+char test_ua_gw[] = {192, 168, 250, 5};
+
+static pthread_t eth_input_id = 0;
+static pthread_t ua_demo_id;
+
+/*******************************************************************************
+ * Code
+ ******************************************************************************/
+
+void *test_ua_get_server_info(void *param);
+
+static void test_ua_connect(void *arg)
+{
+    struct netif net;
+    UA_StatusCode retval;
+
+    UA_Client *client = UA_Client_new();
+
+    if (client == NULL)
+    {
+        ua_print("ua: [%s] tcp client null\n", __func__);
+        return;
+    }
+
+    UA_ClientConfig *config = UA_Client_getConfig(client);
+    UA_ClientConfig_setDefault(config);
+
+    retval = UA_Client_connect(client, test_uri);
+    if (retval != UA_STATUSCODE_GOOD)
+    {
+        ua_print("ua: [%s] ret %x\n", __func__, retval);
+    }
+
+    ua_print("ua: [%s] start Ua Test!\n", __func__);
+    UA_Client_disconnect(client);
+    UA_Client_delete(client);
+}
+
+void test_ua_connect_thr(void *arg)
+{
+    ETH_BSP_Config();
+    lwip_config_tcp(lwip_ipaddr, lwip_netmask, test_ua_gw);
+    test_ua_connect(NULL);
+}
+
+void test_sh_ua_connect(void)
+{
+    int result = 0;
+    pthread_t th_id;
+    pthread_attr_t attr;
+    sys_thread_new("ua test", test_ua_connect_thr, NULL, 4096, 15);
+}
+
+SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) | SHELL_CMD_PARAM_NUM(0),
+                 UaConnect, test_sh_ua_connect, Test Opc UA connection);
+
+void *test_ua_get_server_info(void *param)
+{
+    UA_Client *client = UA_Client_new();
+
+    ua_print("ua: [%s] start ...\n", __func__);
+
+    if (client == NULL)
+    {
+        ua_print("ua: [%s] tcp client null\n", __func__);
+        return NULL;
+    }
+
+    UA_ClientConfig *config = UA_Client_getConfig(client);
+    UA_ClientConfig_setDefault(config);
+
+    UA_StatusCode retval = UA_Client_connect(client, OPC_SERVER);
+    if(retval != UA_STATUSCODE_GOOD) {
+        ua_print("ua: [%s] connect failed %#x\n", __func__, retval);
+        UA_Client_delete(client);
+        return NULL;
+    }
+
+    ua_print("ua: [%s] connect ok!\n", __func__);
+
+    ua_read_time(client);
+    ua_get_server_info(client);
+
+    /* Clean up */
+    UA_Client_disconnect(client);
+    UA_Client_delete(client); /* Disconnects the client internally */
+}
+
+void *test_ua_get_server_info_thr(void *arg)
+{
+    ETH_BSP_Config();
+    lwip_config_tcp(lwip_ipaddr, lwip_netmask, test_ua_gw);
+    test_ua_get_server_info(NULL);
+}
+
+void *test_sh_ua_get_server_info(void *param)
+{
+    int result = 0;
+    pthread_attr_t attr;
+
+    attr.schedparam.sched_priority = 15;
+    attr.stacksize = 4096;
+
+    result = pthread_create(&ua_demo_id, &attr, test_ua_get_server_info_thr, NULL);
+    if (0 == result) {
+        lw_print("test_ua_get_server_info %d successfully!\n", __func__, ua_demo_id);
+    } else {
+        lw_print("test_ua_get_server_info failed! error code is %d\n", __func__, result);
+    }
+}
+
+SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) | SHELL_CMD_PARAM_NUM(0),
+                 UaGetInfo, test_sh_ua_get_server_info, Get information from OpcUA server);
+

APP_Framework/Framework/control/Kconfig

@@ -1,4 +1,8 @@
 menuconfig SUPPORT_CONTROL_FRAMEWORK
     bool "support control framework"
     default n
-    select TRANSFORM_LAYER_ATTRIUBUTE
+    select TRANSFORM_LAYER_ATTRIUBUTE
+
+if SUPPORT_CONTROL_FRAMEWORK
+    source "$APP_DIR/Framework/control/plc/interoperability/Kconfig"
+endif

APP_Framework/Framework/control/Makefile

@@ -1,3 +1,3 @@
-SRC_DIR :=
+SRC_DIR := shared plc
 
 include $(KERNEL_ROOT)/compiler.mk

APP_Framework/Framework/control/plc/Makefile

@@ -0,0 +1,4 @@
+SRC_DIR := shared interoperability
+
+include $(KERNEL_ROOT)/compiler.mk
+

APP_Framework/Framework/control/plc/interoperability/Kconfig

@@ -0,0 +1,6 @@
+
+menuconfig USING_CONTROL_PLC_OPCUA
+        bool "PLC support OPCUA"
+        default y
+		depends on RESOURCES_LWIP
+

APP_Framework/Framework/control/plc/interoperability/Makefile

@@ -0,0 +1,13 @@
+SRC_DIR :=
+
+ifeq ($(CONFIG_RESOURCES_LWIP),y)
+
+ifeq ($(CONFIG_USING_CONTROL_PLC_OPCUA), y)
+	SRC_DIR += opcua
+endif
+
+endif
+
+SRC_FILES += interoperability.c
+
+include $(KERNEL_ROOT)/compiler.mk

APP_Framework/Framework/control/plc/interoperability/interoperability.c

@@ -0,0 +1,30 @@
+/*
+* Copyright (c) 2021 AIIT XUOS Lab
+* XiUOS is licensed under Mulan PSL v2.
+* You can use this software according to the terms and conditions of the Mulan PSL v2.
+* You may obtain a copy of Mulan PSL v2 at:
+*        http://license.coscl.org.cn/MulanPSL2
+* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
+* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
+* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
+* See the Mulan PSL v2 for more details.
+*/
+
+
+void ctrl_interop_init(void)
+{
+}
+
+void ctrl_interop_connect(void)
+{
+}
+
+void ctrl_interop_enable(void)
+{
+}
+
+void ctrl_interop_disable(void)
+{
+}
+
+

APP_Framework/Framework/control/plc/interoperability/opcua/Makefile

@@ -0,0 +1,3 @@
+SRC_FILES := ua_data.c open62541.c ua_client.c ua_server.c
+
+include $(KERNEL_ROOT)/compiler.mk

APP_Framework/Framework/control/plc/interoperability/opcua/ua_api.h

@@ -0,0 +1,25 @@
+/*
+* Copyright (c) 2021 AIIT XUOS Lab
+* XiUOS is licensed under Mulan PSL v2.
+* You can use this software according to the terms and conditions of the Mulan PSL v2.
+* You may obtain a copy of Mulan PSL v2 at:
+*        http://license.coscl.org.cn/MulanPSL2
+* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
+* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
+* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
+* See the Mulan PSL v2 for more details.
+*/
+#ifndef __UA_API_H__
+#define __UA_API_H__
+
+#include "open62541.h"
+
+#define OPC_SERVER "opc.tcp://192.168.250.5:4840"
+#define ua_print printf
+
+int ua_server_connect(void);
+int ua_get_server_info(UA_Client *client);
+void ua_read_time(UA_Client *client);
+int16 ua_test(void);
+
+#endif

APP_Framework/Framework/control/plc/interoperability/opcua/ua_client.c

@@ -0,0 +1,342 @@
+/*
+* Copyright (c) 2021 AIIT XUOS Lab
+* XiUOS is licensed under Mulan PSL v2.
+* You can use this software according to the terms and conditions of the Mulan PSL v2.
+* You may obtain a copy of Mulan PSL v2 at:
+*        http://license.coscl.org.cn/MulanPSL2
+* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
+* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
+* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
+* See the Mulan PSL v2 for more details.
+*/
+
+#include "open62541.h"
+#include <stdlib.h>
+
+#define OPC_SERVER "opc.tcp://192.168.250.5:4840"
+#define ua_print printf
+
+#ifdef UA_ENABLE_SUBSCRIPTIONS
+static void handler_TheAnswerChanged(UA_Client *client, UA_UInt32 subId, void *subContext,
+                         UA_UInt32 monId, void *monContext, UA_DataValue *value)
+{
+    ua_print("The Answer has changed!\n");
+}
+#endif
+
+static UA_StatusCode nodeIter(UA_NodeId childId, UA_Boolean isInverse, UA_NodeId referenceTypeId, void *handle)
+{
+    if(isInverse)
+    {
+        return UA_STATUSCODE_GOOD;
+    }
+
+    UA_NodeId *parent = (UA_NodeId *)handle;
+    ua_print("%d, %d --- %d ---> NodeId %d, %d\n",
+           parent->namespaceIndex, parent->identifier.numeric,
+           referenceTypeId.identifier.numeric, childId.namespaceIndex,
+           childId.identifier.numeric);
+
+    return UA_STATUSCODE_GOOD;
+}
+
+int ua_get_points(UA_Client *client)
+{
+    /* Listing endpoints */
+    UA_EndpointDescription* endpointArray = NULL;
+    size_t endpointArraySize = 0;
+    UA_StatusCode retval = UA_Client_getEndpoints(client, OPC_SERVER,
+                                                  &endpointArraySize, &endpointArray);
+    if(retval != UA_STATUSCODE_GOOD)
+    {
+        UA_Array_delete(endpointArray, endpointArraySize, &UA_TYPES[UA_TYPES_ENDPOINTDESCRIPTION]);
+        return EXIT_FAILURE;
+    }
+
+    ua_print("%i endpoints found\n", (int)endpointArraySize);
+    for(size_t i=0;i<endpointArraySize;i++)
+    {
+        ua_print("URL of endpoint %i is %.*s\n", (int)i,
+               (int)endpointArray[i].endpointUrl.length,
+               endpointArray[i].endpointUrl.data);
+    }
+    UA_Array_delete(endpointArray,endpointArraySize, &UA_TYPES[UA_TYPES_ENDPOINTDESCRIPTION]);
+	return EXIT_SUCCESS;
+}
+
+void ua_browser_objects(UA_Client *client)
+{
+    /* Browse some objects */
+    ua_print("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_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,
+                       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,
+                       (int)ref->nodeId.nodeId.identifier.string.length,
+                       ref->nodeId.nodeId.identifier.string.data,
+                       (int)ref->browseName.name.length, ref->browseName.name.data,
+                       (int)ref->displayName.text.length, ref->displayName.text.data);
+            }
+            /* TODO: distinguish further types */
+        }
+    }
+    UA_BrowseRequest_clear(&bReq);
+    UA_BrowseResponse_clear(&bResp);
+}
+
+void ua_browser_nodes(UA_Client *client)
+{
+    /* Same thing, this time using the node iterator... */
+    UA_NodeId *parent = UA_NodeId_new();
+    *parent = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
+    UA_Client_forEachChildNodeCall(client, UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
+                                   nodeIter, (void *) parent);
+    UA_NodeId_delete(parent);
+}
+
+UA_UInt32 ua_start_sub(UA_Client *client)
+{
+    /* Create a subscription */
+    UA_CreateSubscriptionRequest request = UA_CreateSubscriptionRequest_default();
+    UA_CreateSubscriptionResponse response = UA_Client_Subscriptions_create(client, request,
+                                                                            NULL, NULL, NULL);
+
+    UA_UInt32 subId = response.subscriptionId;
+    if(response.responseHeader.serviceResult == UA_STATUSCODE_GOOD)
+        ua_print("Create subscription succeeded, id %u\n", subId);
+
+    UA_MonitoredItemCreateRequest monRequest =
+        UA_MonitoredItemCreateRequest_default(UA_NODEID_STRING(1, "the.answer"));
+
+    UA_MonitoredItemCreateResult monResponse =
+    UA_Client_MonitoredItems_createDataChange(client, response.subscriptionId,
+                                              UA_TIMESTAMPSTORETURN_BOTH,
+                                              monRequest, NULL, handler_TheAnswerChanged, NULL);
+    if(monResponse.statusCode == UA_STATUSCODE_GOOD)
+        ua_print("Monitoring 'the.answer', id %u\n", monResponse.monitoredItemId);
+
+
+    /* The first publish request should return the initial value of the variable */
+    UA_Client_run_iterate(client, 1000);
+	return subId;
+}
+
+void ua_read_attr(UA_Client *client)
+{
+    /* Read attribute */
+    UA_Int32 value = 0;
+    ua_print("\nReading the value of node (1, \"the.answer\"):\n");
+    UA_Variant *val = UA_Variant_new();
+    UA_StatusCode retval = UA_Client_readValueAttribute(client, UA_NODEID_STRING(1, "the.answer"), val);
+    if(retval == UA_STATUSCODE_GOOD && UA_Variant_isScalar(val) &&
+       val->type == &UA_TYPES[UA_TYPES_INT32]) {
+            value = *(UA_Int32*)val->data;
+            ua_print("the value is: %i\n", value);
+    }
+    UA_Variant_delete(val);
+
+    /* Write node attribute */
+    value++;
+    ua_print("\nWriting a value of node (1, \"the.answer\"):\n");
+    UA_WriteRequest wReq;
+    UA_WriteRequest_init(&wReq);
+    wReq.nodesToWrite = UA_WriteValue_new();
+    wReq.nodesToWriteSize = 1;
+    wReq.nodesToWrite[0].nodeId = UA_NODEID_STRING_ALLOC(1, "the.answer");
+    wReq.nodesToWrite[0].attributeId = UA_ATTRIBUTEID_VALUE;
+    wReq.nodesToWrite[0].value.hasValue = true;
+    wReq.nodesToWrite[0].value.value.type = &UA_TYPES[UA_TYPES_INT32];
+    wReq.nodesToWrite[0].value.value.storageType = UA_VARIANT_DATA_NODELETE; /* do not free the integer on deletion */
+    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_WriteRequest_clear(&wReq);
+    UA_WriteResponse_clear(&wResp);
+
+    /* Write node attribute (using the highlevel API) */
+    value++;
+    UA_Variant *myVariant = UA_Variant_new();
+    UA_Variant_setScalarCopy(myVariant, &value, &UA_TYPES[UA_TYPES_INT32]);
+    UA_Client_writeValueAttribute(client, UA_NODEID_STRING(1, "the.answer"), myVariant);
+    UA_Variant_delete(myVariant);
+
+}
+
+void ua_call_remote(UA_Client *client)
+{
+    /* Call a remote method */
+    UA_Variant input;
+    UA_String argString = UA_STRING("Hello Server");
+    UA_Variant_init(&input);
+    UA_Variant_setScalarCopy(&input, &argString, &UA_TYPES[UA_TYPES_STRING]);
+    size_t outputSize;
+    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) {
+        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 {
+        ua_print("Method call was unsuccessful, and %x returned values available.\n", retval);
+    }
+    UA_Variant_clear(&input);
+}
+
+
+void ua_add_nodes(UA_Client *client)
+{
+    /* Add new nodes*/
+    /* New ReferenceType */
+    UA_NodeId ref_id;
+    UA_ReferenceTypeAttributes ref_attr = UA_ReferenceTypeAttributes_default;
+    ref_attr.displayName = UA_LOCALIZEDTEXT("en-US", "NewReference");
+    ref_attr.description = UA_LOCALIZEDTEXT("en-US", "References something that might or might not exist");
+    ref_attr.inverseName = UA_LOCALIZEDTEXT("en-US", "IsNewlyReferencedBy");
+    UA_StatusCode retval = UA_Client_addReferenceTypeNode(client,
+                                            UA_NODEID_NUMERIC(1, 12133),
+                                            UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
+                                            UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
+                                            UA_QUALIFIEDNAME(1, "NewReference"),
+                                            ref_attr, &ref_id);
+    if(retval == UA_STATUSCODE_GOOD )
+        ua_print("Created 'NewReference' with numeric NodeID %u\n", ref_id.identifier.numeric);
+
+    /* New ObjectType */
+    UA_NodeId objt_id;
+    UA_ObjectTypeAttributes objt_attr = UA_ObjectTypeAttributes_default;
+    objt_attr.displayName = UA_LOCALIZEDTEXT("en-US", "TheNewObjectType");
+    objt_attr.description = UA_LOCALIZEDTEXT("en-US", "Put innovative description here");
+    retval = UA_Client_addObjectTypeNode(client,
+                                         UA_NODEID_NUMERIC(1, 12134),
+                                         UA_NODEID_NUMERIC(0, UA_NS0ID_BASEOBJECTTYPE),
+                                         UA_NODEID_NUMERIC(0, UA_NS0ID_HASSUBTYPE),
+                                         UA_QUALIFIEDNAME(1, "NewObjectType"),
+                                         objt_attr, &objt_id);
+    if(retval == UA_STATUSCODE_GOOD)
+        ua_print("Created 'NewObjectType' with numeric NodeID %u\n", objt_id.identifier.numeric);
+
+    /* New Object */
+    UA_NodeId obj_id;
+    UA_ObjectAttributes obj_attr = UA_ObjectAttributes_default;
+    obj_attr.displayName = UA_LOCALIZEDTEXT("en-US", "TheNewGreatNode");
+    obj_attr.description = UA_LOCALIZEDTEXT("de-DE", "Hier koennte Ihre Webung stehen!");
+    retval = UA_Client_addObjectNode(client,
+                                     UA_NODEID_NUMERIC(1, 0),
+                                     UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
+                                     UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
+                                     UA_QUALIFIEDNAME(1, "TheGreatNode"),
+                                     UA_NODEID_NUMERIC(1, 12134),
+                                     obj_attr, &obj_id);
+    if(retval == UA_STATUSCODE_GOOD )
+        ua_print("Created 'NewObject' with numeric NodeID %u\n", obj_id.identifier.numeric);
+
+    /* New Integer Variable */
+    UA_NodeId var_id;
+    UA_VariableAttributes var_attr = UA_VariableAttributes_default;
+    var_attr.displayName = UA_LOCALIZEDTEXT("en-US", "TheNewVariableNode");
+    var_attr.description =
+        UA_LOCALIZEDTEXT("en-US", "This integer is just amazing - it has digits and everything.");
+    UA_Int32 int_value = 1234;
+    /* This does not copy the value */
+    UA_Variant_setScalar(&var_attr.value, &int_value, &UA_TYPES[UA_TYPES_INT32]);
+    var_attr.dataType = UA_TYPES[UA_TYPES_INT32].typeId;
+    retval = UA_Client_addVariableNode(client,
+                                       UA_NODEID_NUMERIC(1, 0), // Assign new/random NodeID
+                                       UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
+                                       UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
+                                       UA_QUALIFIEDNAME(0, "VariableNode"),
+                                       UA_NODEID_NULL, // no variable type
+                                       var_attr, &var_id);
+    if(retval == UA_STATUSCODE_GOOD )
+        ua_print("Created 'NewVariable' with numeric NodeID %u\n", var_id.identifier.numeric);
+
+}
+
+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);
+
+    /* Same thing, this time using the node iterator... */
+	ua_browser_nodes(client);
+
+#ifdef UA_ENABLE_SUBSCRIPTIONS
+	UA_Int32 subId = ua_start_sub(client);
+#endif
+
+	ua_read_attr(client);
+
+#ifdef UA_ENABLE_SUBSCRIPTIONS
+    /* Take another look at the.answer */
+    UA_Client_run_iterate(client, 100);
+    /* Delete the subscription */
+    if(UA_Client_Subscriptions_deleteSingle(client, subId) == UA_STATUSCODE_GOOD)
+        ua_print("Subscription removed\n");
+#endif
+
+#ifdef UA_ENABLE_METHODCALLS
+	ua_call_remote(client);
+#endif
+
+#ifdef UA_ENABLE_NODEMANAGEMENT
+	ua_add_nodes(client);
+#endif
+
+    return EXIT_SUCCESS;
+}
+
+void ua_read_time(UA_Client *client)
+{
+    /* Read the value attribute of the node. UA_Client_readValueAttribute is a
+    * wrapper for the raw read service available as UA_Client_Service_read. */
+    UA_Variant value; /* Variants can hold scalar values and arrays of any type */
+    UA_Variant_init(&value);
+
+    /* NodeId of the variable holding the current time */
+    const UA_NodeId nodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_SERVER_SERVERSTATUS_CURRENTTIME);
+    UA_StatusCode retval = UA_Client_readValueAttribute(client, nodeId, &value);
+
+    if(retval == UA_STATUSCODE_GOOD && UA_Variant_hasScalarType(&value, &UA_TYPES[UA_TYPES_DATETIME]))
+    {
+        UA_DateTime raw_date = *(UA_DateTime *) value.data;
+        UA_DateTimeStruct dts = UA_DateTime_toStruct(raw_date);
+        UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "date is: %u-%u-%u %u:%u:%u.%03u\n",
+            dts.day, dts.month, dts.year, dts.hour, dts.min, dts.sec, dts.milliSec);
+    }
+    /* Clean up */
+    UA_Variant_clear(&value);
+}
+

APP_Framework/Framework/control/plc/interoperability/opcua/ua_data.c

@@ -0,0 +1,201 @@
+#include "open62541.h"
+
+/* Opc.Ua - ns=0;i=7617 */
+const UA_Byte variablenode_ns_0_i_7617_variant_DataContents_byteArray[177218] = {60, 111, 112, 99, 58, 84, 121, 112, 101, 68, 105, 99, 116, 105, 111, 110, 97, 114, 121, 13, 10, 32, 32, 120, 109, 108, 110, 115, 58, 111, 112, 99, 61, 34, 104, 116, 116, 112, 58, 47, 47, 111, 112, 99, 102, 111, 117, 110, 100, 97, 116, 105, 111, 110, 46, 111, 114, 103, 47, 66, 105, 110, 97, 114, 121, 83, 99, 104, 101, 109, 97, 47, 34, 13, 10, 32, 32, 120, 109, 108, 110, 115, 58, 120, 115, 105, 61, 34, 104, 116, 116, 112, 58, 47, 47, 119, 119, 119, 46, 119, 51, 46, 111, 114, 103, 47, 50, 48, 48, 49, 47, 88, 77, 76, 83, 99, 104, 101, 109, 97, 45, 105, 110, 115, 116, 97, 110, 99, 101, 34, 13, 10, 32, 32, 120, 109, 108, 110, 115, 58, 117, 97, 61, 34, 104, 116, 116, 112, 58, 47, 47, 111, 112, 99, 102, 111, 117, 110, 100, 97, 116, 105, 111, 110, 46, 111, 114, 103, 47, 85, 65, 47, 34, 13, 10, 32, 32, 120, 109, 108, 110, 115, 58, 116, 110, 115, 61, 34, 104, 116, 116, 112, 58, 47, 47, 111, 112, 99, 102, 111, 117, 110, 100, 97, 116, 105, 111, 110, 46, 111, 114, 103, 47, 85, 65, 47, 34, 13, 10, 32, 32, 68, 101, 102, 97, 117, 108, 116, 66, 121, 116, 101, 79, 114, 100, 101, 114, 61, 34, 76, 105, 116, 116, 108, 101, 69, 110, 100, 105, 97, 110, 34, 13, 10, 32, 32, 84, 97, 114, 103, 101, 116, 78, 97, 109, 101, 115, 112, 97, 99, 101, 61, 34, 104, 116, 116, 112, 58, 47, 47, 111, 112, 99, 102, 111, 117, 110, 100, 97, 116, 105, 111, 110, 46, 111, 114, 103, 47, 85, 65, 47, 34, 13, 10, 62, 13, 10, 13, 10, 32, 32, 60, 111, 112, 99, 58, 73, 109, 112, 111, 114, 116, 32, 78, 97, 109, 101, 115, 112, 97, 99, 101, 61, 34, 104, 116, 116, 112, 58, 47, 47, 111, 112, 99, 102, 111, 117, 110, 100, 97, 116, 105, 111, 110, 46, 111, 114, 103, 47, 66, 105, 110, 97, 114, 121, 83, 99, 104, 101, 109, 97, 47, 34, 32, 47, 62, 13, 10, 13, 10, 32, 32, 60, 111, 112, 99, 58, 83, 116, 114, 117, 99, 116, 117, 114, 101, 100, 84, 121, 112, 101, 32, 78, 97, 109, 101, 61, 34, 88, 109, 108, 69, 108, 101, 109, 101, 110, 116, 34, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 68, 111, 99, 117, 109, 101, 110, 116, 97, 116, 105, 111, 110, 62, 65, 110, 32, 88, 77, 76, 32, 101, 108, 101, 109, 101, 110, 116, 32, 101, 110, 99, 111, 100, 101, 100, 32, 97, 115, 32, 97, 32, 85, 84, 70, 45, 56, 32, 115, 116, 114, 105, 110, 103, 46, 60, 47, 111, 112, 99, 58, 68, 111, 99, 117, 109, 101, 110, 116, 97, 116, 105, 111, 110, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 70, 105, 101, 108, 100, 32, 78, 97, 109, 101, 61, 34, 76, 101, 110, 103, 116, 104, 34, 32, 84, 121, 112, 101, 78, 97, 109, 101, 61, 34, 111, 112, 99, 58, 73, 110, 116, 51, 50, 34, 32, 47, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 70, 105, 101, 108, 100, 32, 78, 97, 109, 101, 61, 34, 86, 97, 108, 117, 101, 34, 32, 84, 121, 112, 101, 78, 97, 109, 101, 61, 34, 111, 112, 99, 58, 67, 104, 97, 114, 34, 32, 76, 101, 110, 103, 116, 104, 70, 105, 101, 108, 100, 61, 34, 76, 101, 110, 103, 116, 104, 34, 32, 47, 62, 13, 10, 32, 32, 60, 47, 111, 112, 99, 58, 83, 116, 114, 117, 99, 116, 117, 114, 101, 100, 84, 121, 112, 101, 62, 13, 10, 13, 10, 32, 32, 60, 111, 112, 99, 58, 69, 110, 117, 109, 101, 114, 97, 116, 101, 100, 84, 121, 112, 101, 32, 78, 97, 109, 101, 61, 34, 78, 111, 100, 101, 73, 100, 84, 121, 112, 101, 34, 32, 76, 101, 110, 103, 116, 104, 73, 110, 66, 105, 116, 115, 61, 34, 54, 34, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 68, 111, 99, 117, 109, 101, 110, 116, 97, 116, 105, 111, 110, 62, 84, 104, 101, 32, 112, 111, 115, 115, 105, 98, 108, 101, 32, 101, 110, 99, 111, 100, 105, 110, 103, 115, 32, 102, 111, 114, 32, 97, 32, 78, 111, 100, 101, 73, 100, 32, 118, 97, 108, 117, 101, 46, 60, 47, 111, 112, 99, 58, 68, 111, 99, 117, 109, 101, 110, 116, 97, 116, 105, 111, 110, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 69, 110, 117, 109, 101, 114, 97, 116, 101, 100, 86, 97, 108, 117, 101, 32, 78, 97, 109, 101, 61, 34, 84, 119, 111, 66, 121, 116, 101, 34, 32, 86, 97, 108, 117, 101, 61, 34, 48, 34, 32, 47, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 69, 110, 117, 109, 101, 114, 97, 116, 101, 100, 86, 97, 108, 117,
+101, 32, 78, 97, 109, 101, 61, 34, 70, 111, 117, 114, 66, 121, 116, 101, 34, 32, 86, 97, 108, 117, 101, 61, 34, 49, 34, 32, 47, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 69, 110, 117, 109, 101, 114, 97, 116, 101, 100, 86, 97, 108, 117, 101, 32, 78, 97, 109, 101, 61, 34, 78, 117, 109, 101, 114, 105, 99, 34, 32, 86, 97, 108, 117, 101, 61, 34, 50, 34, 32, 47, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 69, 110, 117, 109, 101, 114, 97, 116, 101, 100, 86, 97, 108, 117, 101, 32, 78, 97, 109, 101, 61, 34, 83, 116, 114, 105, 110, 103, 34, 32, 86, 97, 108, 117, 101, 61, 34, 51, 34, 32, 47, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 69, 110, 117, 109, 101, 114, 97, 116, 101, 100, 86, 97, 108, 117, 101, 32, 78, 97, 109, 101, 61, 34, 71, 117, 105, 100, 34, 32, 86, 97, 108, 117, 101, 61, 34, 52, 34, 32, 47, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 69, 110, 117, 109, 101, 114, 97, 116, 101, 100, 86, 97, 108, 117, 101, 32, 78, 97, 109, 101, 61, 34, 66, 121, 116, 101, 83, 116, 114, 105, 110, 103, 34, 32, 86, 97, 108, 117, 101, 61, 34, 53, 34, 32, 47, 62, 13, 10, 32, 32, 60, 47, 111, 112, 99, 58, 69, 110, 117, 109, 101, 114, 97, 116, 101, 100, 84, 121, 112, 101, 62, 13, 10, 13, 10, 32, 32, 60, 111, 112, 99, 58, 83, 116, 114, 117, 99, 116, 117, 114, 101, 100, 84, 121, 112, 101, 32, 78, 97, 109, 101, 61, 34, 84, 119, 111, 66, 121, 116, 101, 78, 111, 100, 101, 73, 100, 34, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 70, 105, 101, 108, 100, 32, 78, 97, 109, 101, 61, 34, 73, 100, 101, 110, 116, 105, 102, 105, 101, 114, 34, 32, 84, 121, 112, 101, 78, 97, 109, 101, 61, 34, 111, 112, 99, 58, 66, 121, 116, 101, 34, 32, 47, 62, 13, 10, 32, 32, 60, 47, 111, 112, 99, 58, 83, 116, 114, 117, 99, 116, 117, 114, 101, 100, 84, 121, 112, 101, 62, 13, 10, 13, 10, 32, 32, 60, 111, 112, 99, 58, 83, 116, 114, 117, 99, 116, 117, 114, 101, 100, 84, 121, 112, 101, 32, 78, 97, 109, 101, 61, 34, 70, 111, 117, 114, 66, 121, 116, 101, 78, 111, 100, 101, 73, 100, 34, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 70, 105, 101, 108, 100, 32, 78, 97, 109, 101, 61, 34, 78, 97, 109, 101, 115, 112, 97, 99, 101, 73, 110, 100, 101, 120, 34, 32, 84, 121, 112, 101, 78, 97, 109, 101, 61, 34, 111, 112, 99, 58, 66, 121, 116, 101, 34, 32, 47, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 70, 105, 101, 108, 100, 32, 78, 97, 109, 101, 61, 34, 73, 100, 101, 110, 116, 105, 102, 105, 101, 114, 34, 32, 84, 121, 112, 101, 78, 97, 109, 101, 61, 34, 111, 112, 99, 58, 85, 73, 110, 116, 49, 54, 34, 32, 47, 62, 13, 10, 32, 32, 60, 47, 111, 112, 99, 58, 83, 116, 114, 117, 99, 116, 117, 114, 101, 100, 84, 121, 112, 101, 62, 13, 10, 13, 10, 32, 32, 60, 111, 112, 99, 58, 83, 116, 114, 117, 99, 116, 117, 114, 101, 100, 84, 121, 112, 101, 32, 78, 97, 109, 101, 61, 34, 78, 117, 109, 101, 114, 105, 99, 78, 111, 100, 101, 73, 100, 34, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 70, 105, 101, 108, 100, 32, 78, 97, 109, 101, 61, 34, 78, 97, 109, 101, 115, 112, 97, 99, 101, 73, 110, 100, 101, 120, 34, 32, 84, 121, 112, 101, 78, 97, 109, 101, 61, 34, 111, 112, 99, 58, 85, 73, 110, 116, 49, 54, 34, 32, 47, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 70, 105, 101, 108, 100, 32, 78, 97, 109, 101, 61, 34, 73, 100, 101, 110, 116, 105, 102, 105, 101, 114, 34, 32, 84, 121, 112, 101, 78, 97, 109, 101, 61, 34, 111, 112, 99, 58, 85, 73, 110, 116, 51, 50, 34, 32, 47, 62, 13, 10, 32, 32, 60, 47, 111, 112, 99, 58, 83, 116, 114, 117, 99, 116, 117, 114, 101, 100, 84, 121, 112, 101, 62, 13, 10, 13, 10, 32, 32, 60, 111, 112, 99, 58, 83, 116, 114, 117, 99, 116, 117, 114, 101, 100, 84, 121, 112, 101, 32, 78, 97, 109, 101, 61, 34, 83, 116, 114, 105, 110, 103, 78, 111, 100, 101, 73, 100, 34, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 70, 105, 101, 108, 100, 32, 78, 97, 109, 101, 61, 34, 78, 97, 109, 101, 115, 112, 97, 99, 101, 73, 110, 100, 101, 120, 34, 32, 84, 121, 112, 101, 78, 97, 109, 101, 61, 34, 111, 112, 99, 58, 85, 73, 110, 116, 49, 54, 34, 32, 47, 62, 13, 10, 32, 32, 32, 32, 60, 111, 112, 99, 58, 70, 105, 101, 108, 100, 32, 78, 97, 109, 101, 61, 34
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