feat(examples): Add Zephyr example

examples/zephyr/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.20.0)
+
+project(server)
+
+# set(CMAKE_OBJCOPY /usr/bin/arm-linux-gnueabihf-objcopy)
+set(Python3_EXECUTABLE "/usr/bin/python3" CACHE STRING "" FORCE)
+set(EXTRA_ZEPHYR_MODULES ${CMAKE_CURRENT_SOURCE_DIR}/../..)
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+
+target_sources(app PRIVATE main.c)
+target_link_libraries(app PUBLIC open62541)

examples/zephyr/README.md

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+# Zephyr server example
+## HOWTO
+```
+# Initialize the west workspace
+cd examples/zephyr
+west init -l server
+west update
+# Build the native sim executable
+cd server
+west build -p -b native_sim
+# Setup host side ethernet interface (see
+# https://github.com/zephyrproject-rtos/net-tools or
+# https://docs.zephyrproject.org/latest/boards/native/native_sim/doc/index.html#peripherals)
+sudo ./<path-to-net-tools>/net-setup.sh &
+# Execute the OPC UA server
+./build/zephyr/zephyr.exe &
+# Read the answer value via python-opcua CLI
+uaread -u "opc.tcp://192.0.2.10:4840" -n "ns=1;s=the.answer"
+```
+Expected output of uaread:
+```
+WARNING: Requested secure channel timeout to be 3600000ms, got 600000ms instead
+42
+```

examples/zephyr/main.c

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+#include <zephyr/net/net_ip.h>
+#include <zephyr/net/net_l2.h>
+#include <zephyr/init.h>
+#include <zephyr/kernel.h>
+#include <zephyr/net/net_if.h>
+#include <zephyr/net/socket.h>
+#include <zephyr/net/wifi.h>
+#include <zephyr/net/wifi_mgmt.h>
+#include <zephyr/net/wifi_utils.h>
+#include <zephyr/sys/sys_heap.h>
+
+#include <zephyr/logging/log.h>
+LOG_MODULE_REGISTER(open62541_test, LOG_LEVEL_DBG);
+
+#include <open62541/server.h>
+#include <open62541/server_config_default.h>
+
+int main(void) {
+  k_sleep(K_MSEC(1000));
+  struct net_if *iface = net_if_get_default();
+  struct in_addr addr;
+  struct in_addr mask;
+  int ret = zsock_inet_pton(AF_INET, "192.0.2.10", &addr);
+  if (ret < 0) {
+    LOG_ERR("Invalid IP address format");
+    return 1;
+  }
+  ret = zsock_inet_pton(AF_INET, "255.255.255.0", &mask);
+  if (ret < 0) {
+    LOG_ERR("Invalid IP address format");
+    return 1;
+  }
+  struct net_if_addr *in_addr =
+      net_if_ipv4_addr_add(iface, &addr, NET_ADDR_MANUAL, 0);
+  net_if_ipv4_set_netmask_by_addr(iface, &addr, &mask);
+  if (!in_addr) {
+    LOG_ERR("Failed to add IPv4 address");
+    return 1;
+  }
+  k_sleep(K_MSEC(1000));
+
+  LOG_INF("Starting UA_Server");
+  static UA_ServerConfig config;
+  memset(&config, 0, sizeof(UA_ServerConfig));
+  UA_ServerConfig_setDefault(&config);
+  // Minimum is 8192
+  config.tcpBufSize = 1 << 13;
+  config.tcpMaxMsgSize = 1 << 13;
+  config.maxSecureChannels = 1;
+  config.maxSessions = 1;
+  UA_Server *server = UA_Server_newWithConfig(&config);
+  if (server == NULL) {
+    LOG_ERR("UA_Server_new failed");
+    return EXIT_FAILURE;
+  }
+
+  // Add a variable node to the adresspace
+  UA_VariableAttributes attr; attr = UA_VariableAttributes_default;
+  UA_Int32 myInteger; myInteger = 42;
+  UA_Variant_setScalarCopy(&attr.value, &myInteger, &UA_TYPES[UA_TYPES_INT32]);
+  attr.description = UA_LOCALIZEDTEXT_ALLOC("en-US", "the answer");
+  attr.displayName = UA_LOCALIZEDTEXT_ALLOC("en-US", "the answer");
+  UA_NodeId myIntegerNodeId; myIntegerNodeId = UA_NODEID_STRING_ALLOC(1, "the.answer");
+  UA_QualifiedName myIntegerName; myIntegerName = UA_QUALIFIEDNAME_ALLOC(1, "the answer");
+  UA_NodeId parentNodeId; parentNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER);
+  UA_NodeId parentReferenceNodeId; parentReferenceNodeId = UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES);
+  UA_Server_addVariableNode(server, myIntegerNodeId, parentNodeId,
+                            parentReferenceNodeId, myIntegerName,
+                            UA_NODEID_NULL, attr, NULL, NULL);
+
+  // /* Allocations on the heap need to be freed */
+  UA_VariableAttributes_clear(&attr);
+  UA_NodeId_clear(&myIntegerNodeId);
+  UA_QualifiedName_clear(&myIntegerName);
+
+  volatile UA_Boolean running = true;
+  UA_StatusCode retval = UA_Server_run(server, &running);
+
+  UA_Server_delete(server);
+  return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE;
+}

examples/zephyr/prj.conf

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+# Networking
+CONFIG_NETWORKING=y
+CONFIG_NET_DRIVERS=y
+CONFIG_NET_SOCKETS=y
+CONFIG_NET_LOG=y
+CONFIG_NET_IPV4=y
+CONFIG_NET_IPV6=y
+CONFIG_NET_TCP=y
+
+CONFIG_NET_PKT_RX_COUNT=8
+CONFIG_NET_PKT_TX_COUNT=8
+CONFIG_NET_MAX_CONTEXTS=16
+CONFIG_NET_MAX_CONN=16
+CONFIG_NET_CONTEXT_SYNC_RECV=y
+CONFIG_NET_TX_STACK_SIZE=4096
+CONFIG_NET_RX_STACK_SIZE=4096
+CONFIG_NET_L2_ETHERNET=y
+CONFIG_NET_SOCKETS_POLL_MAX=12
+CONFIG_NET_BUF_RX_COUNT=16
+CONFIG_NET_BUF_TX_COUNT=16
+CONFIG_NET_BUF_DATA_SIZE=128
+CONFIG_NET_TC_TX_COUNT=1
+CONFIG_NET_MAX_CONTEXTS=16
+CONFIG_NET_MAX_CONN=16
+CONFIG_NET_CONTEXT_SYNC_RECV=y
+CONFIG_ENTROPY_GENERATOR=y
+
+# Memory
+CONFIG_HEAP_MEM_POOL_SIZE=200000
+CONFIG_COMMON_LIBC_MALLOC_ARENA_SIZE=100000
+
+CONFIG_INIT_STACKS=y
+CONFIG_MAIN_STACK_SIZE=8192
+
+# Debugging
+CONFIG_DEBUG=y
+CONFIG_STACK_SENTINEL=y
+
+# Logging
+CONFIG_LOG=y
+CONFIG_PRINTK=y
+CONFIG_COMMON_LIBC_MALLOC=y
+CONFIG_NEWLIB_LIBC=y
+CONFIG_POSIX_MAX_FDS=32
+CONFIG_EVENTFD=y
+CONFIG_EVENTFD_MAX=8
+CONFIG_POSIX_API=y
+CONFIG_SYS_HEAP_RUNTIME_STATS=y
+
+CONFIG_OPEN62541=y
+CONFIG_OPEN62541_ENABLE_DISCOVERY_SEMAPHORE=n
+CONFIG_OPEN62541_MULTITHREADING=0
+CONFIG_OPEN62541_NAMESPACE_ZERO="MINIMAL"
+CONFIG_OPEN62541_ENABLE_PUBSUB=n
+CONFIG_OPEN62541_ENABLE_PUBSUB_INFORMATIONMODEL=n
+CONFIG_OPEN62541_ENABLE_SUBSCRIPTIONS_EVENTS=n
+CONFIG_OPEN62541_ENABLE_SUBSCRIPTIONS=n
+CONFIG_OPEN62541_ENABLE_HISTORIZING=n
+CONFIG_OPEN62541_ENABLE_JSON_ENCODING=n

examples/zephyr/west.yml

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+manifest:
+  version: 1.2
+  remotes:
+    - name: ncs
+      url-base: https://github.com/nrfconnect
+
+  projects:
+    - name: nrf
+      remote: ncs
+      repo-path: sdk-nrf
+      revision: v2.7.0
+      import: true
+