.. _program_listing_file__tmp_ws_src_sick_safetyscanners_base_include_sick_safetyscanners_base_cola2_Command.h:

Program Listing for File Command.h
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_sick_safetyscanners_base_include_sick_safetyscanners_base_cola2_Command.h>` (``/tmp/ws/src/sick_safetyscanners_base/include/sick_safetyscanners_base/cola2/Command.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
   
   // -- BEGIN LICENSE BLOCK ----------------------------------------------
   
   // -- END LICENSE BLOCK ------------------------------------------------
   
   //----------------------------------------------------------------------
   //----------------------------------------------------------------------
   
   #ifndef SICK_SAFETYSCANNERS_BASE_COLA2_COMMAND_H
   #define SICK_SAFETYSCANNERS_BASE_COLA2_COMMAND_H
   
   #include <vector>
   
   #include "sick_safetyscanners_base/datastructure/PacketBuffer.h"
   
   #include "sick_safetyscanners_base/Logging.h"
   #include "sick_safetyscanners_base/data_processing/ParseTCPPacket.h"
   #include "sick_safetyscanners_base/data_processing/ReadWriteHelper.hpp"
   
   #include <boost/thread/mutex.hpp>
   
   namespace sick {
   namespace cola2 {
   
   class Cola2Session;
   
   class Command
   {
   public:
     Command(sick::cola2::Cola2Session& session, uint16_t command_type, uint16_t command_mode);
   
     virtual ~Command() {}
   
     void lockExecutionMutex();
   
     std::vector<uint8_t> constructTelegram(const std::vector<uint8_t>& telegram) const;
   
     void processReplyBase(const std::vector<uint8_t>& packet);
   
     void waitForCompletion();
   
     uint32_t getSessionID() const;
   
     void setSessionID(uint32_t session_id);
   
     bool wasSuccessful() const;
   
     uint8_t getCommandType() const;
   
     void setCommandType(const uint8_t& command_type);
   
     uint8_t getCommandMode() const;
   
     void setCommandMode(const uint8_t& command_mode);
   
     uint16_t getRequestID() const;
   
     void setRequestID(const uint16_t& request_id);
   
     std::vector<uint8_t> getDataVector() const;
   
     void setDataVector(const std::vector<uint8_t>& data);
   
   protected:
     sick::cola2::Cola2Session& m_session;
   
     std::vector<uint8_t> expandTelegram(const std::vector<uint8_t>& telegram,
                                         size_t additional_bytes) const;
   
   private:
     std::shared_ptr<sick::data_processing::ParseTCPPacket> m_tcp_parser_ptr;
   
     boost::mutex m_execution_mutex;
   
     bool m_was_successful;
   
     uint8_t m_command_mode;
     uint8_t m_command_type;
   
     uint32_t m_session_id;
     uint16_t m_request_id;
   
     std::vector<uint8_t> m_data_vector;
   
     virtual bool processReply()                                                              = 0;
     virtual std::vector<uint8_t> addTelegramData(const std::vector<uint8_t>& telegram) const = 0;
   
     std::vector<uint8_t> addTelegramHeader(const std::vector<uint8_t>& telegram) const;
     std::vector<uint8_t> prepareHeader() const;
     void writeCola2StxToDataPtr(std::vector<uint8_t>::iterator data_ptr) const;
     void writeLengthToDataPtr(std::vector<uint8_t>::iterator data_ptr,
                               const std::vector<uint8_t>& telegram) const;
     void writeCola2HubCntrToDataPtr(std::vector<uint8_t>::iterator data_ptr) const;
     void writeCola2NoCToDataPtr(std::vector<uint8_t>::iterator data_ptr) const;
     void writeSessionIdToDataPtr(std::vector<uint8_t>::iterator data_ptr) const;
     void writeRequestIdToDataPtr(std::vector<uint8_t>::iterator data_ptr) const;
     void writeCommandTypeToDataPtr(std::vector<uint8_t>::iterator data_ptr) const;
     void writeCommandModeToDataPtr(std::vector<uint8_t>::iterator data_ptr) const;
     void writeDataToDataPtr(std::vector<uint8_t>::iterator data_ptr,
                             const std::vector<uint8_t>& telegram) const;
   };
   
   } // namespace cola2
   } // namespace sick
   
   #endif // SICK_SAFETYSCANNERS_BASE_COLA2_COMMAND_H