CanPDOObject.h

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#ifndef __CANPDOOBJECT_H__
#define __CANPDOOBJECT_H__

#include "uaobjecttypes.h"
#include "uasemaphore.h"
#include "CanOpenObject.h"
#include "uabytearray.h"
#include "Ids.h"
//#include "BuildingAutomationTypeIds.h"
#include "CanOpenData.h"
#include <vector>
#include <map>
#include <opcua_basedatavariabletype.h>

namespace CanOpen
{
        class CanPDOItem;

        class CanPDOObject: public CanOpenObject
        {
        public:

                CanPDOObject(pUserDeviceStruct *par,
                        PDO *conf,UaNode *blink,OpcUa_UInt32 code);

                virtual ~CanPDOObject(void)
                {
//                      cout << "Delete " << getCobId() << endl;
                };

                virtual void pass(const CanMsgStruct *);

//              UaStatus pack(const OpcUa_Variant *sData,CanPDOItem *item);
                void setItem(OpcUa_Byte ch,CanPDOItem *pdoi);
                virtual UaStatus getDeviceMessage(OpcUa_UInt32 commandCode)
                { 
                        OpcUa_ReferenceParameter(commandCode);
                        return OpcUa_Good;
                } 
                virtual UaStatus sendDeviceMessage(OpcUa_UInt32 code, UaDataValue *value = 0) ;
                OpcUa_UInt32    getNumberChennal() { return m_iMaxCount; }
                UaByteArray& getBuffer(OpcUa_Byte ch) { return m_pdoBuffer[ch]; } 
                void setBuffer( UaByteArray& buf,OpcUa_Byte ch) { m_pdoBuffer[ch] = buf; } 
                virtual void getInitRTRData();

                virtual UaStatus connectCode(OpcUa_UInt32 code, ::xsd::cxx::tree::type *conf, UaNode *blink);
                virtual UaVariant getPropertyValue(OpcUa_UInt32 code, ::xsd::cxx::tree::type *conf);

                virtual void sendRTR() 
                { 
                        getCanBus()->sendRemoteRequest(getCobId());
                }
                

                void addNodeId(bool type); 
                

                virtual void waitRTRData() 
                { 
                        if (m_bInitRTR) {
                                waitOperation(0);
                        }
                }

        protected:
                OpcUa_Boolean           m_bInitRTR;             
                OpcUa::BaseVariableType *m_pRTRCommand;         


                vector<UaByteArray> m_pdoBuffer;  
                multimap<OpcUa_Byte,CanPDOItem *> m_cPDOs;  

        };

}
#endif