SyncInterval.cpp

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#include "SyncInterval.h"
#include "uadatetime.h"
#include "CanBusObject.h"
#include <thread>

namespace CanOpen
{
        SyncInterval::SyncInterval(CanBusObject *pCI,OpcUa::BaseVariableType* pVar )
        {
                m_stop = OpcUa_False;
                m_iSyncIntervalVariable = pVar;         //sync interval
                m_pCanIn = pCI;                                         // can bus
//              start();
        }

        SyncInterval::~SyncInterval()
        {
                // Signal SyncInterval Thread to stop
                m_stop = OpcUa_True;
                // Wait until SyncInterval Thread stopped
                wait(1);
        }


        void SyncInterval::run()
        {
                UaDataValue dSync;
                //    UaDateTime lastSimulation = UaDateTime::now();
                while( m_stop == OpcUa_False )
                {
                        if (m_iSyncIntervalVariable != 0) {
        
                                dSync = m_iSyncIntervalVariable->value(NULL);
                                const OpcUa_Variant *vSync = dSync.value();
                                OpcUa_Int32 tInterval = vSync->Value.Int32;
                                if (tInterval != 0 ) {
                                        m_pCanIn->lock();
                                        m_pCanIn->sendSync();
                                        m_pCanIn->unlock();
                                        if (!m_stop) 
                                                std::this_thread::sleep_for(std::chrono::milliseconds(tInterval));

//                                      if (!m_stop) UaThread::msleep(tInterval);
                                }
                                else if (!m_stop) 
                                        std::this_thread::sleep_for(std::chrono::seconds(10));
//                                      UaThread::sleep(10);
                        }
                        else  
                                if (!m_stop)
                                        std::this_thread::sleep_for(std::chrono::seconds(10));
//                                      UaThread::sleep(10);
                }
        }
}