OpcUaCanOpen
CANopen OPC-UA server
CanSDOObject.h
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1 #ifndef __CANSDOOBJECT_H__
2 #define __CANSDOOBJECT_H__
3 #pragma once;
4 #include "uaobjecttypes.h"
5 #include "CanOpenObject.h"
6 #include "uasemaphore.h"
7 #include "CanOpenData.h"
8 
9 namespace CanOpen
10 {
11  class CanSDOItem;
12  class CanNodeObject;
13 
17  class CanSDOObject:
18  public CanOpenObject
19  {
20  public:
21  CanSDOObject(pUserDeviceStruct *par,
22  SDO *conf,UaNode *blink,int code);
23 /*
24  CanSDOObject(InterfaceUserDataBase *par,
25  SDOITEM_TYPE2 *conf,UaNode *blink,int code);
26  */
27  virtual ~CanSDOObject(void);
28 
29  virtual UaStatus getDeviceMessage(OpcUa_UInt32 code) ;
30  virtual UaStatus sendDeviceMessage(OpcUa_UInt32 code, UaDataValue *value = 0) ;
31  virtual void pass(const CanMsgStruct *);
32 
38  virtual UaStatus connectCode(OpcUa_UInt32 code,::xsd::cxx::tree::type *conf,UaNode *blink);
39  virtual UaVariant getPropertyValue(OpcUa_UInt32 code, ::xsd::cxx::tree::type *conf);
40 
41  virtual bool isMsgForObject(const CanMsgStruct *);
42 
43  virtual UaStatus readSdo(UaDataValue&);
44  virtual UaStatus writeSdo(UaDataValue &udv);
45  OpcUa_BuiltInType getItemType();
46  UaDateTime& getLastTimeStamp() { return m_udt; }
47  OpcUa_Byte getSubIndex();
48  OpcUa_UInt16 getIndex() { return m_ind; }
49  void setIndex(OpcUa_UInt16 ind) { m_ind=ind; }
50  CanSDOItem *getSDOItem() { return m_pSDOItem; }
51  OpcUa_UInt32 m_iLength;
52  UaByteArray m_segSdoBuffer;
53  void setSDOItem(CanSDOItem *csdo) ;
54  void freeSDOItem() ;
55  void setTimeout(OpcUa_UInt32 t) { m_iTimeout = t; }
56 
57  private:
58  CanSDOItem * m_pSDOItem;
59  OpcUa_UInt16 m_ind;
60  };
61 }
62 #endif