CanObject.h

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#ifndef __CANOBJECT_H__
#define __CANOBJECT_H__

//#include "BuildingAutomationTypeIds.h"
#include "Ids.h"
#include "uamutex.h"
#include "InterfaceUserDataBase.h"
#include "CanBusAccess.h"

#include "CANopen.h"
#include "iomanager.h"


using namespace UserDevice;
using namespace CanModule;

namespace CanOpen
{
        class CanObject : public InterfaceUserDataBase
        {
                UA_DISABLE_COPY(CanObject);

        public:
                CanObject(pUserDeviceStruct *parent,::xsd::cxx::tree::type *conf,UaNode *pAS,OpcUa_UInt32 code):
                  InterfaceUserDataBase(parent,conf,pAS,code)
                {
                        m_CanNodeId = 0;
                        m_pCommIf = 0;
                        m_pIOManager = 0;
                }

                virtual ~CanObject(void)
                {
                        if (m_pIOManager) {
                                delete m_pIOManager;
                                m_pIOManager = 0;
                        }
                }
                
                OpcUa_Byte getCanNodeId() { 
                        return m_CanNodeId;
                }
                 
                void sendNMT(enum ::NMTcommand nmt)
                {
                        unsigned char mes[8];
                        mes[1] = getCanNodeId();
                        mes[0] = nmt;
                        if (m_pCommIf) m_pCommIf->sendMessage(0,2,mes);
                }

                virtual void setInitNmt( enum NMTcommand iNMT)
                {       
                        m_initNMTcommand  = iNMT;
                }

                virtual void setInitNmt( std::string sNmt) 
                {
                        if (sNmt.empty()) { setInitNmt(nop); return; }
                        if (sNmt == "start") { setInitNmt(start); return; }
                        if (sNmt == "stop") { setInitNmt(stop); return; }
                        if (sNmt == "reset") { setInitNmt(reset); return; }
                        if (sNmt == "preOperational") { setInitNmt(preOperational); return; }
                        if (sNmt == "none") { setInitNmt(nop); return; }
                }

                virtual void sendInitNmt() { if (m_initNMTcommand != nop ) sendNMT(m_initNMTcommand); }

//              virtual UaStatus connectCode(OpcUa_UInt32 code,UaNode *blink) = 0;

                CCanAccess *getCanBusInterface() { return m_pCommIf; }  
                
                void setCanBusInterface(CCanAccess * ccac) { m_pCommIf = ccac; } 
                
                IOManager * getIOManager() { return  m_pIOManager; }

        protected:

                CCanAccess      *m_pCommIf;                     

                OpcUa_Byte      m_CanNodeId;    
                
                enum NMTcommand         m_initNMTcommand;       
                IOManager       *m_pIOManager;  
        };
}
#endif