CanBusObject.h

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#ifndef __CANBUSOBJECT_H__
#define __CANBUSOBJECT_H__

#include "CanObject.h"
#include <opcua_basedatavariabletype.h>
#include "CCanUACallback.h"

#include "CANOpenServerConfig.h"

#include "SyncInterval.h"
#include "NodeGuardingInterval.h"
#include "CanBusAccess.h"
//#include "IOManagerPDO.h"
#include <time.h>
#include <list>

namespace CanOpen 
{

        class CanNodeObject;
        class CanPDOOBject;

        class CanBusObject:
                public CanObject
        {
                UA_DISABLE_COPY(CanBusObject);

        public:

                CanBusObject(pUserDeviceStruct *interf,CANBUS *ca,UaNode *link,int code);

                virtual ~CanBusObject(void);
                virtual void setPortError(const int err, const char *errmsg, timeval &tv);

                virtual UaStatus getDeviceMessage(OpcUa_UInt32 code)
                {
                        OpcUa_ReferenceParameter(code);
                        return OpcUa_Good;
                } 

                void openCanBus();

                void closeCanBus();

                virtual UaStatus sendDeviceMessage(OpcUa_UInt32 code, UaDataValue *value = 0);

                void sendSync()  
                {
                        if( m_pCommIf )
                                m_pCommIf->sendMessage(CANOPEN_SYNC_COBID,0,0);
                }
                
                virtual UaStatus connectCode(OpcUa_UInt32 code,::xsd::cxx::tree::type *conf,UaNode *blink);
                virtual UaVariant getPropertyValue(OpcUa_UInt32 code, ::xsd::cxx::tree::type *conf);


                CCanUACallback *getCanUACallback() { return m_pCallback; }

                void addPDO(CanPDOObject * pdoo)
                { 
                        m_pCallback->addPDO(pdoo); 
                }
                busNodes & getListNodes()
                { 
                        return m_pCallback->getListNodes();
                }

                void addNode(CanNodeObject *pnode) { m_pCallback->addCanNode(pnode); }
                void sendInitNodeNmt() { m_pCallback->sendInitNodeNmt(); }
                void initialize();
                
                void startSyncInterval() { m_pSyncIn->startSyncInterval(); }

                void startNodeGuardingInterval() { m_pNgIn->startNodeGuardingInterval(); }

                string &getCanBusName() { return m_sBusName; }
                string &getCanBusAddress() { return m_sBusAddress; }

                void waitData(); 

        private:

                CCanUACallback  *       m_pCallback;    

                SyncInterval    *       m_pSyncIn;              
                NodeGuardingInterval * m_pNgIn;         

                OpcUa::BaseVariableType *m_iPortError;          
                OpcUa::BaseVariableType *m_sPortErrorDescription; 

                string m_sBusName;  
                string m_sBusParameters;  
                string m_sBusAddress;  
        };
}
#endif