如何使用 open62541 一次使用 OPC-UA 编写多个节点？

Question

I am attempting to write multiple nodes in a single request, however I have not found any documentation or examples on how to do that, every time I find anything regarding the issue, a single node is written. Based on my understanding of the open62541 library (which is not much), I've attempted to do this like so:

void Write_from_3_to_5_piece_queue() {
        char NodeID[128];
        char NodeID_backup[128];
        char aux[3];
        bool bool_to_write = false;
        strcpy(NodeID_backup, _BaseNodeID);
        strcat(NodeID_backup, "POU.AT2.piece_queue["); // this is where I want to write, I need only to append the array index in which to write


        UA_WriteRequest wReq;
        UA_WriteValue my_nodes[3]; // this is where I start to make things up, I'm not sure this is the correct way to do it
        my_nodes[0] = *UA_WriteValue_new();
        my_nodes[1] = *UA_WriteValue_new();
        my_nodes[2] = *UA_WriteValue_new();
        strcpy(NodeID, NodeID_backup);
        strcat(NodeID, "3]"); //append third index of array (will write to piece_queue[3])
        my_nodes[0].nodeId = UA_NODEID_STRING_ALLOC(_nodeIndex, NodeID);
        my_nodes[0].attributeId = UA_ATTRIBUTEID_VALUE;
        my_nodes[0].value.hasValue = true;
        my_nodes[0].value.value.type = &UA_TYPES[UA_TYPES_BOOLEAN];
        my_nodes[0].value.value.storageType = UA_VARIANT_DATA_NODELETE;
        my_nodes[0].value.value.data = &bool_to_write;

        strcpy(NodeID, NodeID_backup);
        strcat(NodeID, "4]");
        my_nodes[1].nodeId = UA_NODEID_STRING_ALLOC(_nodeIndex, NodeID);
        my_nodes[1].attributeId = UA_ATTRIBUTEID_VALUE;
        my_nodes[1].value.hasValue = true;
        my_nodes[1].value.value.type = &UA_TYPES[UA_TYPES_BOOLEAN];
        my_nodes[1].value.value.storageType = UA_VARIANT_DATA_NODELETE;
        my_nodes[1].value.value.data = &bool_to_write;

        strcpy(NodeID, NodeID_backup);
        strcat(NodeID, "5]");
        my_nodes[2].nodeId = UA_NODEID_STRING_ALLOC(_nodeIndex, NodeID);
        my_nodes[2].attributeId = UA_ATTRIBUTEID_VALUE;
        my_nodes[2].value.hasValue = true;
        my_nodes[2].value.value.type = &UA_TYPES[UA_TYPES_BOOLEAN];
        my_nodes[2].value.value.storageType = UA_VARIANT_DATA_NODELETE;
        my_nodes[2].value.value.data = &bool_to_write;


        UA_WriteRequest_init(&wReq);
        wReq.nodesToWrite = my_nodes;
        wReq.nodesToWriteSize = 3;
        UA_WriteResponse wResp = UA_Client_Service_write(_client, wReq);
        UA_WriteResponse_clear(&wResp);
        UA_WriteRequest_clear(&wReq);

        return;
    }

At first I didn't have much hope that this would work, but it turns out this actually writes the values that I wish. The problem is that on UA_WriteRequest_clear(&wReq); I trigger an exception in the open62541 library:

Also, I know I can write multiple values to arrays specifically, even though in this particular example that would fix my issue, that's not what I mean to do, this example is just to simplify my problem. Just suppose I have a multi-type structure and I want to write to it, all in a single request. I appreciate any help!

Answer 1

First of all, this is bad:

UA_WriteValue my_nodes[3];
        my_nodes[0] = *UA_WriteValue_new();
        my_nodes[1] = *UA_WriteValue_new();
        my_nodes[2] = *UA_WriteValue_new();

my_nodes is already created on the stack, and then you are copying the content of a new object into it by dereferencing. This definitely leads to memory leaks. You probably want to use UA_WriteValue_init() instead. Never ever dereference the return value of a new() function.

Let's go bottom up:

UA_WriteRequest_clear(&wReq) is recursively freeing all content of the wReq steucture. This means that it will also call: UA_Array_delete(wReq.nodesToWrite, wReq.nodesToWriteSize, ...) which in turn calls UA_free(wReq.nodesToWrite)

And you have: wReq.nodesToWrite = my_nodes; with UA_WriteValue my_nodes[3];

This means that you are assigning a variable, which lives on the stack to a pointer, and later this pointer is freed. free can only delete stuff which is on the heap and not stack, and therefore it fails.

You have two options now:

1. If you still want to use the stack trick the UA_clear in thinking that the variable is empty:

wReq.nodesToWrite = NULL;
wReq.nodesToWriteSize = 0;
UA_clear(&wReq);

2. Put the nodes on the heap: Instead of UA_WriteValue my_nodes[3]; use Something like UA_WriteValue *my_nodes = (UA_WriteValue*)UA_malloc(sizeof(UA_WriteValue)*3);

Also I strongly recommend that you either use valgrind or clang memory sanitizer to avoid all these memory issues.