CanOpenObject.cpp

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#include "CanOpenObject.h"
//#include "BuildingAutomationTypeIds.h"
#include "Ids.h"
#include "CanObject.h"
#include "UaCanTrace.h"

namespace CanOpen
{
        #define gl_Timeout 2000;
        
//      using namespace AddressSpace;

        CanOpenObject::CanOpenObject(
                pUserDeviceStruct *par,
                        ::xml_schema::type *conf,UaNode *blink, int code
                        )  : InterfaceUserDataBase(par,conf,blink,code),
//                      m_waitMessage(0, (code == Ba_PDOType) ? ((((PDO *)conf)->numch() == 0) ? 1 : ((PDO *)conf)->numch()) : 1)
                        m_waitMessage(0, 1)
        {
//              m_iTimeout = 0;
        }

        CanOpenObject::~CanOpenObject(void)
        {
        }

        bool  CanOpenObject::isMsgForObject(const CanMsgStruct *cmg)
        {
                return (getCobId() == cmg->c_id);
        }
        
        CCanAccess *CanOpenObject::getCanBus()
        { 
                return ((CanObject *)getParentDevice())->getCanBusInterface();
        }

        UaStatus CanOpenObject::waitOperation(OpcUa_UInt tout)
        {
                UaStatus ret = OpcUa_Good;

                while ( m_iMaxCount - m_iCount > 0) {
                        OpcUa_StatusCode status = m_waitMessage.timedWait(tout);
                        if (status ==  OpcUa_GoodNonCriticalTimeout) {
                                LOG(Log::DBG, SdoMessage) << "bus=" << getBusName() << " node=" << std::hex << (int)getCobId() <<" status=Timeout expire " << std::dec << tout ;
                                ret.setStatus(OpcUa_BadTimeout," Timeout expire");
                                return ret;
                        }
                        else ret = status;
                }
                m_iCount = 0;
                return ret;
        }
        UaStatus CanOpenObject::waitOperation()
        {
                UaStatus ret = OpcUa_Good;
                OpcUa_UInt32 timeout = m_iTimeout > 0 ? m_iTimeout : gl_Timeout;
                ret = waitOperation(timeout);
                return ret;
        }

        UaStatus CanOpenObject::releaseOperation()
        {
                OpcUa_StatusCode status = m_waitMessage.timedWait(0);
                return status;
        }

}