ua_mapped_class.cpp

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/*
 * This file is part of ChimeraTKs ControlSystem-OPC-UA-Adapter.
 *
 * ChimeraTKs ControlSystem-OPC-UA-Adapter is free software: you can
 * redistribute it and/or modify it under the terms of the Lesser GNU
 * General Public License as published by the Free Software Foundation,
 * either version 3 of the License, or (at your option) any later version.
 *
 * ChimeraTKs ControlSystem-OPC-UA-Adapter is distributed in the hope
 * that it will be useful, but WITHOUT ANY WARRANTY; without even the
 * implied warranty ofMERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the Lesser GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Foobar.  If not, see https://www.gnu.org/licenses/lgpl.html
 *
 * Copyright (c) 2016 Chris Iatrou <Chris_Paul.Iatrou@tu-dresden.de>
 * Copyright (c) 2016 Julian Rahm  <Julian.Rahm@tu-dresden.de>
 * Copyright (c) 2021-2023 Andreas Ebner <Andreas.Ebner@iosb.fraunhofer.de>
 */
 
#include "ua_mapped_class.h"
 
#include <iostream>
 
using namespace std;
 
namespace ChimeraTK {
  ua_mapped_class::ua_mapped_class() {
    this->baseNodeId = UA_NODEID_NUMERIC(0, 0);
    this->mappedServer = nullptr;
 
    ua_mapSelfToNamespace();
  }
 
  ua_mapped_class::ua_mapped_class(UA_Server* server, UA_NodeId baseNodeId) {
    UA_NodeId_copy(&baseNodeId, &this->baseNodeId);
    this->mappedServer = server;
 
    ua_mapSelfToNamespace();
  }
 
  ua_mapped_class::~ua_mapped_class() {
    this->ua_unmapSelfFromNamespace();
    this->mappedServer = nullptr;
    UA_NodeId_clear(&this->baseNodeId);
  }
 
  UA_StatusCode ua_mapped_class::ua_mapSelfToNamespace() {
    UA_StatusCode retval = UA_STATUSCODE_GOOD;
    UA_NodeId nullId = UA_NODEID_NULL;
    if(UA_NodeId_equal(&this->baseNodeId, &nullId)) {
      return -1;
    }
    if(this->mappedServer == nullptr) {
      return -2;
    }
 
    return retval;
  }
 
  UA_StatusCode ua_mapped_class::ua_unmapSelfFromNamespace() {
    while(!this->ownedNodes.empty()) {
      UA_NodeId_pair* p = *(this->ownedNodes.begin());
      // Node is deleted by UA_Server_delete
      UA_NodeId_clear(&p->sourceNodeId);
      UA_NodeId_clear(&p->targetNodeId);
      this->ownedNodes.remove(p);
      delete p;
    }
    return UA_STATUSCODE_GOOD;
  }
} // namespace ChimeraTK