FieldGeometryVariableCommand.cpp

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------

// -- END LICENSE BLOCK ------------------------------------------------

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#include <sick_safetyscanners/cola2/FieldGeometryVariableCommand.h>

#include <sick_safetyscanners/cola2/Cola2Session.h>
#include <sick_safetyscanners/cola2/Command.h>

namespace sick {
namespace cola2 {

FieldGeometryVariableCommand::FieldGeometryVariableCommand(Cola2Session& session,
                                                           datastructure::FieldData& field_data,
                                                           const uint16_t& index)
  : VariableCommand(session, 0x2810 + index)
  , m_field_data(field_data)
{
  m_field_geometry_parser_ptr = std::make_shared<sick::data_processing::ParseFieldGeometryData>();
}

bool FieldGeometryVariableCommand::canBeExecutedWithoutSessionID() const
{
  return true;
}

bool FieldGeometryVariableCommand::processReply()
{
  if (!base_class::processReply())
  {
    return false;
  }
  m_field_geometry_parser_ptr->parseTCPSequence(getDataVector(), m_field_data);
  return true;
}


} // namespace cola2
} // namespace sick