BACnet B-SA (Smart Actuator) - C++ example

A minimal, copy-paste-friendly example showing how to implement the BACnet B-SA (BACnet Smart Actuator) device profile in C++ using the CAS BACnet Stack. It listens on BACnet/IP (UDP 47808), answers ReadProperty requests, accepts WriteProperty to its commandable outputs, and is discoverable via Who-Is / I-Am. Each output does what the winning command says: a heating valve brings the temperature to the commanded setpoint, a relay follows its command, a drive runs at the commanded speed, and each reports back through an input. A disconnected valve shows up as a fault a client can read. The valve, relay and drive are a Simulation; everything BACnet does with them is real.

Download a prebuilt binary (Windows and Linux x64) - or build it yourself, see Build below.

TUTORIAL.md - how to extend this example and how to review it for conformance. Read it when you start turning this into your own device.
docs/PICS.md - the Protocol Implementation Conformance Statement: every object, every property, and who answers it.

Versions: this document describes example v1.3.0, built and verified against CAS BACnet Stack 6.0.23 (6.x @ 64b2cfac5), at Protocol_Revision 30, with the vendored common/ helper at v3.4.0. Running the example prints all three - if what it prints disagrees with this line, trust the program and check CHANGELOG.md.

What is the B-SA (Smart Actuator) profile?

B-SA (BACnet Smart Actuator), defined in Annex L.4.4 of ANSI/ASHRAE 135-2024, is the next step up from the Smart Sensor - the standard describes it as "a simple control device with limited resources; it is intended for specific applications." In practice that is an inexpensive, fixed-function actuator (a valve, a damper, a relay, a setpoint) that reports state and accepts commands from a controller.

A B-SA device answers ReadProperty and accepts WriteProperty to its commandable outputs - that is what distinguishes an actuator from a sensor. It does not have to support alarming / event reporting, scheduling, or trending, and this example implements none of them on purpose.

What this example does with a command: it stores the write in the output's Priority_Array, the stack resolves Present_Value from it, and the actuator Simulation drives its (simulated) equipment from that same resolved value - so a client sees the command take effect on the matching input, not just read back.

But it is still a full BACnet device. Even the simplest profile must present the standard object model - a Device object, a Network Port object (every device needs one), and its objects - and each object must expose all of its required properties. The CAS BACnet Stack generates most of those automatically (Object_Identifier, Object_Type, Status_Flags, Object_List, Protocol_*, ...); this example supplies the handful that are application-specific. The result is conformant for Protocol_Revision 30. docs/PICS.md lists every property and who answers it.

Commandable outputs (the heart of B-SA)

A BACnet output object's Present_Value is not written directly. Instead it is commandable: it is resolved from a 16-slot Priority_Array plus a Relinquish_Default.

A WriteProperty(Present_Value, value, priority) stores value in slot priority (1 = highest .. 16 = lowest). If the client omits the priority, BACnet uses 16.
A WriteProperty(Present_Value, NULL, priority) relinquishes that slot.
The stack reports the value in the highest-priority non-null slot as the effective Present_Value; if every slot is null, it reports Relinquish_Default.

This lets several controllers command the same output at different priorities (e.g. a manual override at priority 8 beats a normal command at 16) and cleanly hand control back by writing NULL. The application just stores the array (see the Commandable struct in main.cpp); the stack does the priority resolution.

The device this example creates

Device 389002  "Chipkin Example B-SA"   (Vendor 389 - Chipkin Automation Systems)
    │
    ├── Analog Input  1       "Bronze"      Present_Value  21.5 -> follows the setpoint  (REAL, degrees Celsius; read-only)
    ├── Binary Input  1       "Emerald"     Present_Value  follows Binary Output 1      (0 = inactive / 1 = active; read-only)
    ├── Multi-State Input 1   "Hot Pink"    Present_Value  follows Multi-State Output 1 (state, 1..3; read-only)
    ├── Analog Output 1       "Chartreuse"  Present_Value  20.0    (REAL setpoint, 10.0 .. 30.0 C; WRITABLE, commandable)
    ├── Binary Output 1       "Fuchsia"     Present_Value  inactive  (0/1 relay; WRITABLE, commandable)
    ├── Multi-State Output 1  "Indigo"      Present_Value  1       (speed, 1..3; WRITABLE, commandable)
    └── Network Port 1        "Vermilion"   the BACnet/IP port     (required on every device)

The three input objects (Bronze, Emerald, Hot Pink) are the shared minimum every example in this series carries; here each is the feedback of one output. The three output objects (Chartreuse, Fuchsia, Indigo) are the B-SA additions; their Present_Value starts at the Relinquish_Default (no slots commanded yet). Object names follow this series' colour-naming convention (Device is always "Chipkin Example B-SA").

The scenario: an actuator a controller commands

What a B-SA is for, in one sentence, from Annex L.4.4 of ANSI/ASHRAE 135-2024: "Ability to allow modification of some or all of its BACnet objects by another device" - a controller (the Peer - any BACnet client, or the Python client in tests/) commands an output, and the actuator does what the winning command says:

The Peer writes Analog Output 1 Present_Value = 24.0 at priority 8. The valve opens and the temperature (Analog Input 1) climbs 1.0 C a second until it reads 24.0.
A second Peer writes 19.0 at priority 12. Priority 8 still wins: Present_Value stays 24.0, Priority_Array[12] holds 19.0, and the temperature does not move.
The first Peer relinquishes priority 8 (writes NULL). Priority 12 wins now: the temperature falls to 19.0. Relinquish priority 12 and the output returns to its Relinquish_Default, 20.0 - and so does the temperature.
Binary Output 1 and Multi-State Output 1 work the same way; Binary Input 1 (the relay's feedback contact) and Multi-State Input 1 (the drive's speed) follow the winning command within a second.
Failure Mode - a command it must refuse. A setpoint outside Min_Pres_Value .. Max_Pres_Value (10.0 .. 30.0), a Binary Output value other than 0/1, or a Multi-State Output state outside 1..3 gets Error property / value-out-of-range, and nothing moves. A WriteProperty to an input gets Error property / write-access-denied.
Failure Mode - a disconnected actuator. When the valve actuator is disconnected, Analog Output 1 Reliability reads no-output (6, "No physical device is connected to the Output object", clause 12.1) and the FAULT bit of its Status_Flags is TRUE (clause 12.3.7). Commands are still accepted into the Priority_Array, but the temperature does not move. Reconnect it and Reliability returns to no-fault-detected, FAULT clears, and the valve obeys the winning command.

The actuator Simulation

A real smart actuator drives a valve motor, a relay coil and a variable-speed drive, and reads back what they did. This example has none of them, so it simulates them - non-BACnet scaffolding, outside the BACnet Surface, in section 1b of main.cpp (ActuatorSimulationTick(), called beside BACnetStack_Tick()). Once a second:

the heating valve moves the temperature (Analog Input 1) up to 1.0 C toward the winning Analog Output 1 setpoint;
the relay's feedback contact (Binary Input 1) takes the winning Binary Output 1 command;
the drive's speed (Multi-State Input 1) takes the winning Multi-State Output 1 command.

"Winning" is ResolvedCommand(): the highest-priority commanded slot, else Relinquish_Default - the same answer the stack gives for Present_Value (clause 19.2).

The disconnected valve is a test-only hook, not a feature: if the environment variable CAS_EXAMPLE_TEST_ACTUATOR_FAULT_FILE names a file, the valve actuator counts as disconnected for as long as that file exists. The Wire Tests create and delete it. Nothing on the network can disconnect it.

To port the example to hardware, replace ActuatorSimulationTick() with code that drives your outputs from ResolvedCommand() and samples your feedback inputs, and set Reliability from your output driver's own diagnostics.

What this example supports

The example implements exactly the capabilities below - and nothing more, which is the point of a profile example.

BIBBs (BACnet Interoperability Building Blocks)

BIBB	Description	Supported
DS-RP-B	Data Sharing - ReadProperty - B	✅
DS-WP-B	Data Sharing - WriteProperty - B	✅
DM-DDB-B	Device Management - Dynamic Device Binding - B	✅
DM-DOB-B	Device Management - Dynamic Object Binding - B	✅

Services (executed / B-side)

Service	Notes
ReadProperty	Responds to property reads (DS-RP-B).
WriteProperty	Accepts writes to the commandable outputs' Present_Value (DS-WP-B).
Who-Is / I-Am	Answers Who-Is with I-Am, and broadcasts an I-Am on start-up (DM-DDB-B).
Who-Has / I-Have	Answers Who-Has with I-Have (DM-DOB-B).

Object types

Object type	Instance	Name	Access
Device	389002	Chipkin Example B-SA	-
Analog Input	1	Bronze	read-only
Binary Input	1	Emerald	read-only
Multi-State Input	1	Hot Pink	read-only
Analog Output	1	Chartreuse	writable (commandable)
Binary Output	1	Fuchsia	writable (commandable)
Multi-State Output	1	Indigo	writable (commandable)
Network Port	1	Vermilion	-

Every required property of every object, and who answers it, is in docs/PICS.md.

Requires the CAS BACnet Stack (licensed product)

This example builds against the CAS BACnet Stack, which is a commercial Chipkin product - it is not free or open source, and there is no public/trial build. The stack is referenced here as the private git submodule submodules/cas-bacnet-stack; you can only fetch and build it once you have a CAS BACnet Stack license and access to that repository.

To get the CAS BACnet Stack (and access to build this example), contact Chipkin: https://store.chipkin.com/services/stacks/bacnet-stack or sales@chipkin.com.

You do not need a stack licence to read this example, or to run a prebuilt release binary. The licence is what lets you build it - that is the part the stack submodule gates.

What's in this repository

This is a self-contained project. It ships:

main.cpp - the example device.
common/ - the shared helper (UDP, callbacks, CLI, keyboard) vendored in.
CMakeLists.txt - the build, the same on Windows, Linux, and macOS.
docs/PICS.md - the conformance statement.
tests/ - the Wire Tests (see Wire Tests), and wiretest/, the series' shared Python harness they are written against (vendored, like common/).
submodules/cas-bacnet-stack/ - the CAS BACnet Stack as a git submodule (private; requires a license - see above). Its sources are compiled into the executable, so there is no library or DLL to build, ship, or install.

Prerequisites

A C++17 compiler (MSVC, GCC, or Clang).
CMake >= 3.15.
Git (to fetch the stack submodule).

Windows

C++ compiler - install Visual Studio Community (free) and select the "Desktop development with C++" workload.
CMake - from https://cmake.org/download/, or winget install Kitware.CMake.

Linux / macOS

Debian/Ubuntu: sudo apt install build-essential cmake git
macOS: xcode-select --install and brew install cmake

Build

CMake only, and the same two commands on every platform:

git clone --recursive https://github.com/chipkin/BACnetProfileExample-B-SA-CPP.git
cd BACnetProfileExample-B-SA-CPP

cmake -B build -S .
cmake --build build --config Release

Already cloned without --recursive? Run git submodule update --init --recursive first - the build needs the stack submodule.

The first build takes a few minutes - it compiles the entire CAS BACnet Stack (~600 source files) into the executable. Rebuilds after that are incremental and take seconds.

If your CAS BACnet Stack lives somewhere other than the bundled submodule, point CMake at it: cmake -B build -S . -D CAS_STACK_DIR=/path/to/cas-bacnet-stack.

Run

# Linux / macOS
./build/BACnetExampleBSA

# Windows
.\build\Release\BACnetExampleBSA.exe

Expected output:

BACnet B-SA (Smart Actuator) Example - C++ v1.3.0
CAS BACnet Stack version: 6.0.23.0
Common helper (common/) version: 3.4.0
FYI: Listening for BACnet/IP on UDP port 47808 (Network Port 1).
TX 21 bytes to 192.168.3.255:47808 (broadcast) (Network Port 1) - Unconfirmed: I-Am
FYI: Device 389002 ("Chipkin Example B-SA") ready. Vendor ID 389. Press 'h' for help.

The TX line is the start-up I-Am the device broadcasts to announce itself. It goes to the local subnet broadcast address (here 192.168.3.255, computed from the Network Port's interface), not the global 255.255.255.255. As clients talk to the device you'll see RX ... bytes from ... and TX ... bytes to ... lines showing the traffic; a WriteProperty to an output also prints a line such as WriteProperty: Analog Output 1 (Chartreuse) <- 24.00 @ priority 8.

The device listens on UDP 47808 (BACnet/IP). Allow that port through your firewall. To use a different port, pass --port (see below).

A wall of red Error: lines at start-up is expected and is not your bug - it is the stack's own debug logging (the device hearing its own broadcast I-Am, and a one-time BACnet/SC UUID notice). TUTORIAL.md explains both.

Command-line options

Option	Default	Meaning
`--port <n>`	`47808`	UDP port to listen on (BACnet/IP).
`--deviceID <n>`	`389002`	The device's BACnet instance number (BACnet requires this to be configurable).
`--help`, `-h`	-	Show usage and exit.
`--version`	-	Print the example, stack, and `common/` helper versions, then exit.

Interactive commands

While the example runs, these keys are available:

Key	Action
`h`	Show the version information and this command list.
`q`	Quit.
up arrow	Disturb the simulated temperature (Analog Input 1, `Bronze`) up by 1.1.
down arrow	Disturb the simulated temperature (Analog Input 1, `Bronze`) down by 1.1.

The up/down keys push the simulated temperature off its setpoint; within a few seconds the valve brings it back, and a client re-reading Analog Input 1 sees both.

Verify

Use a BACnet client such as the CAS BACnet Explorer:

Discover - send a Who-Is. The device replies with I-Am from instance 389002 (vendor 389). It also broadcasts an I-Am at start-up.
Browse the object model - the device shows eight objects: the Device (Chipkin Example B-SA), three inputs, three outputs, and the Network Port (Vermilion). Reading the Device's Object_List returns all eight.
Read the Device - ReadProperty 389002 -> Object_Name returns "Chipkin Example B-SA"; Protocol_Revision returns 30; Description returns the profile description string.
Read a sensor - ReadProperty Analog Input 1 -> Present_Value returns 20.0 once the valve has settled at the default setpoint (it starts at 21.5); Units returns degrees-Celsius; Object_Name returns "Bronze".
Command an output (the B-SA test) - ReadProperty Analog Output 1 -> Present_Value returns 20.0 (its Relinquish_Default, nothing commanded yet). Now WriteProperty Analog Output 1 Present_Value = 24.0 at priority 8. Re-read Present_Value: it returns 24.0, and Priority_Array[8] shows 24.0. Read Analog Input 1 for a few seconds: it climbs to 24.0. WriteProperty Present_Value = NULL at priority 8 to relinquish; Present_Value returns to 20.0, and so does Analog Input 1. Repeat for Binary Output 1 ("Fuchsia", active/inactive - watch Binary Input 1) and Multi-State Output 1 ("Indigo", state 1..3 - watch Multi-State Input 1).
Confirm the profile boundary - a WriteProperty to a read-only input (e.g. Analog Input 1) is rejected. That is correct: inputs are sensors.

For a property-by-property review against the conformance statement, see TUTORIAL.md.

Wire Tests

The checks above, automated: a Python BACnet client (the Peer) drives the running example over BACnet/IP from outside it. Python 3 standard library only.

Script	What it proves
`discovery_test.py`	Who-Is, the Device's `Object_List`, then for every object its `Property_List` and a ReadProperty of every property it lists - every read comes back as a value.
`commanding_test.py`	The Profile Function. Commands each output at two priorities; `Present_Value`, `Priority_Array` and `Current_Command_Priority` follow the winning command, and the feedback input follows it too - through a lower-priority write that must change nothing, two relinquishes, and back to `Relinquish_Default`. Fails against an example that only stores commands.
`failure_modes_test.py`	The Failure Modes. Disconnects the valve actuator: `Reliability` `no-output`, `Status_Flags` FAULT, a command accepted but not obeyed; reconnects it: all clear, the valve obeys. Then out-of-range writes (`value-out-of-range`, nothing moves) and a write to an input (`write-access-denied`).

Run them all:

python3 tests/run_wire_tests.py --exe build/BACnetExampleBSA          # Linux/macOS
python tests\run_wire_tests.py --exe build\Release\BACnetExampleBSA.exe   # Windows

It ends with ALL WIRE TESTS PASSED (exit 0). CI runs it on Linux after the smoke test. tests/README.md says what each check proves.

The BACnet profile example series

There is one example repository per standardized device profile in ASHRAE 135-2024 Annex L. An example marked ⛔ is blocked: the stack cannot yet perform that profile's function through its customer interface, and the example's README says what it does today. Pick the profile your device claims, then the language you build in. "Ask" means the example hasn't been built yet for that language - contact Chipkin if you need one.

Controllers (Annex L.4)

Profile	C++	Node.js	C#	Rust	Python	Go
B-SS Smart Sensor	B-SS-CPP	B-SS-Node	B-SS-CS	B-SS-Rust	B-SS-Python	B-SS-Go
B-SA Smart Actuator	B-SA-CPP	Ask	Ask	Ask	Ask	Ask
B-ASC Application Specific Controller	B-ASC-CPP	B-ASC-Node	Ask	Ask	Ask	Ask
B-AAC Advanced Application Controller	B-AAC-CPP	Ask	Ask	Ask	Ask	Ask
B-BC Building Controller	B-BC-CPP	Ask	Ask	Ask	Ask	Ask

Life safety controllers (Annex L.5)

Profile	C++	Node.js	C#	Rust	Python	Go
B-LSC Life Safety Controller	B-LSC-CPP 🚧	Ask	Ask	Ask	Ask	Ask
B-ALSC Advanced Life Safety Controller	B-ALSC-CPP	Ask	Ask	Ask	Ask	Ask

Access control controllers (Annex L.6)

Profile	C++	Node.js	C#	Rust	Python	Go
B-ACC Access Control Controller	B-ACC-CPP	Ask	Ask	Ask	Ask	Ask
B-AACC Advanced Access Control Controller	B-AACC-CPP	Ask	Ask	Ask	Ask	Ask

Lighting controllers (Annex L.11)

Profile	C++	Node.js	C#	Rust	Python	Go
B-LD Lighting Device	B-LD-CPP	Ask	Ask	Ask	Ask	Ask
B-LS Lighting Supervisor	B-LS-CPP	Ask	Ask	Ask	Ask	Ask

Elevator controllers (Annex L.13)

Profile	C++	Node.js	C#	Rust	Python	Go
B-EM Elevator Monitor	B-EM-CPP	Ask	Ask	Ask	Ask	Ask
B-EC Elevator Controller	B-EC-CPP	Ask	Ask	Ask	Ask	Ask
B-AEC Advanced Elevator Controller	B-AEC-CPP	Ask	Ask	Ask	Ask	Ask

Authentication and authorization (Annex L.14)

Profile	C++	Node.js	C#	Rust	Python	Go
B-AS Authorization Server	B-AS-CPP ⛔ blocked on stack #2043	Ask	Ask	Ask	Ask	Ask

Miscellaneous (Annex L.7, combinable with any one family)

Profile	C++	Node.js	C#	Rust	Python	Go
B-BBMD Broadcast Management Device	B-BBMD-CPP	Ask	Ask	Ask	Ask	Ask
B-ACDC Access Control Door Controller	B-ACDC-CPP	Ask	Ask	Ask	Ask	Ask
B-ACCR Access Control Credential Reader	B-ACCR-CPP ⛔ blocked on stack #3934	Ask	Ask	Ask	Ask	Ask
B-RTR Router	B-RTR-CPP	Ask	Ask	Ask	Ask	Ask
B-GW Gateway	B-GW-CPP	Ask	Ask	Ask	Ask	Ask
B-DAP Device Address Proxy	B-DAP-CPP ⛔ blocked on stack #2032	Ask	Ask	Ask	Ask	Ask
B-SCHUB BACnet/SC Hub	B-SCHUB-CPP	Ask	Ask	Ask	Ask	Ask
B-GENERAL General device (Annex L.8)	(satisfied by every example above)	—	—	—	—	—

Operator interfaces and workstations (Annex L.1–L.3, L.9–L.10, L.12)

Client-side profiles.

Profile	C++	Node.js	C#	Rust	Python	Go
B-OD Operator Display	B-OD-CPP	Ask	Ask	Ask	Ask	Ask
B-OWS Operator Workstation	planned	—	—	—	—	—
B-AWS Advanced Operator Workstation	planned	—	—	—	—	—
B-XAWS Extended Advanced Operator Workstation	planned	—	—	—	—	—
B-LSAP Life Safety Annunciator Panel	planned	—	—	—	—	—
B-LSWS Life Safety Workstation	planned	—	—	—	—	—
B-ALSWS Advanced Life Safety Workstation	planned	—	—	—	—	—
B-ACSD Access Control Security Display	planned	—	—	—	—	—
B-ACWS Access Control Workstation	planned	—	—	—	—	—
B-AACWS Advanced Access Control Workstation	planned	—	—	—	—	—
B-LOD Lighting Operator Display	planned	—	—	—	—	—
B-ALWS Advanced Lighting Workstation	planned	—	—	—	—	—
B-LCS Lighting Control Station	planned	—	—	—	—	—
B-ALCS Advanced Lighting Control Station	planned	—	—	—	—	—
B-ED Elevator Display	planned	—	—	—	—	—
B-EWS Elevator Workstation	planned	—	—	—	—	—
B-AEWS Advanced Elevator Workstation	planned	—	—	—	—	—

🚧 = in progress. ⛔ = Blocked Example (blocked on the named stack gap). "Ask" = not yet built for that language; contact Chipkin if you need it. Profile definitions: ANSI/ASHRAE 135-2024 Annex L. BIBB definitions: Annex K. Get the stack: https://store.chipkin.com/services/stacks/bacnet-stack.

References

ANSI/ASHRAE Standard 135 (BACnet) - the protocol standard. Object model (Clause 12), services (Clause 15), BACnet/IP (Annex J), device profiles (Annex L). Purchase / preview via the ASHRAE store.
What is BACnet? - Chipkin's introduction: https://docs.chipkin.com/protocols/bacnet/.
CAS BACnet Stack - product page and documentation: https://store.chipkin.com/services/stacks/bacnet-stack.
CAS BACnet Explorer - client for testing this device: https://store.chipkin.com/products/tools/cas-bacnet-explorer.
B-SS (Smart Sensor) example - the read-only sibling this builds on: https://github.com/chipkin/BACnetProfileExample-B-SS-CPP.
Shared helper used by this example - common/README.md.

See also TUTORIAL.md, docs/PICS.md, CHANGELOG.md, and AGENTS.md.

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BACnet B-SA (Smart Actuator) - C++ example

What is the B-SA (Smart Actuator) profile?

Commandable outputs (the heart of B-SA)

The device this example creates

The scenario: an actuator a controller commands

The actuator Simulation

What this example supports

BIBBs (BACnet Interoperability Building Blocks)

Services (executed / B-side)

Object types

Requires the CAS BACnet Stack (licensed product)

What's in this repository

Prerequisites

Windows

Linux / macOS

Build

Run

Command-line options

Interactive commands

Verify

Wire Tests

The BACnet profile example series

Controllers (Annex L.4)

Life safety controllers (Annex L.5)

Access control controllers (Annex L.6)

Lighting controllers (Annex L.11)

Elevator controllers (Annex L.13)

Authentication and authorization (Annex L.14)

Miscellaneous (Annex L.7, combinable with any one family)

Operator interfaces and workstations (Annex L.1–L.3, L.9–L.10, L.12)

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.github/workflows		.github/workflows
common		common
docs		docs
submodules		submodules
tests		tests
wiretest		wiretest
.gitignore		.gitignore
.gitmodules		.gitmodules
AGENTS.md		AGENTS.md
CHANGELOG.md		CHANGELOG.md
CMakeLists.txt		CMakeLists.txt
LICENSE		LICENSE
README.md		README.md
TUTORIAL.md		TUTORIAL.md
main.cpp		main.cpp

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BACnet B-SA (Smart Actuator) - C++ example

What is the B-SA (Smart Actuator) profile?

Commandable outputs (the heart of B-SA)

The device this example creates

The scenario: an actuator a controller commands

The actuator Simulation

What this example supports

BIBBs (BACnet Interoperability Building Blocks)

Services (executed / B-side)

Object types

Requires the CAS BACnet Stack (licensed product)

What's in this repository

Prerequisites

Windows

Linux / macOS

Build

Run

Command-line options

Interactive commands

Verify

Wire Tests

The BACnet profile example series

Controllers (Annex L.4)

Life safety controllers (Annex L.5)

Access control controllers (Annex L.6)

Lighting controllers (Annex L.11)

Elevator controllers (Annex L.13)

Authentication and authorization (Annex L.14)

Miscellaneous (Annex L.7, combinable with any one family)

Operator interfaces and workstations (Annex L.1–L.3, L.9–L.10, L.12)

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