CCanUACallback.h

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#ifndef _CCanUACallback_H_
#define _CCanUACallback_H_

#include "uaobjecttypes.h"
#include "CCanAccess.h"
#include <map>

namespace CanOpen
{
        class CanBusObject;
        class CanNodeObject;
        class CanPDOObject;

        typedef std::map<OpcUa_UInt32,CanPDOObject * > busPdos;
        typedef std::map<OpcUa_UInt16,CanNodeObject * > busNodes;

        class CCanUACallback
        {
        public:
                CCanUACallback(CanBusObject *cB);
                virtual ~CCanUACallback(void);

                virtual void FireOnChange(const CanMsgStruct &);                                
                virtual void FireOnError(const int, const char * , timeval &);

                void addPDO(CanPDOObject *pdoObject);
                void addCanNode(CanNodeObject *cno);
                busNodes& getListNodes() { return  NODEs; }
                
                void ConnectCallback(); 
//              void initialize();   //!< to initialize the device on the bus

                void sendInitNodeNmt();  
                void waitAllData();             
                void waitRTRData();    

                void executeRTR();

        private:
                CanBusObject *cBus; 

                busPdos PDOs;   
                busNodes NODEs;  
        };
}
#endif