45 , m_method_index(method_index)
53 auto new_data_offset_it = output.begin() + telegram.size();
69 ROS_INFO(
"Command Method Acknowledged.");
74 ROS_WARN(
"Command Method Not Accepted.");
uint8_t getCommandType() const
Returns the command type.
Base class for commands. Defines the base interface and does the common tasks.
uint16_t getMethodIndex() const
void setMethodIndex(const uint16_t &method_index)
std::vector< uint8_t > expandTelegram(const std::vector< uint8_t > &telegram, size_t additional_bytes) const
MethodCommand(Cola2Session &session, const uint16_t &method_index)
Constructor of the method command.
uint8_t getCommandMode() const
Returns the command mode.
bool processReply()
Processes the return from the sensor.
std::vector< uint8_t > addTelegramData(const std::vector< uint8_t > &telegram) const
Adds the data to the telegram.
void writeUint16LittleEndian(std::vector< uint8_t >::iterator it, const uint16_t v)
Writes an unsigned 16-bit integer to a buffer at offset in little endian encoding.
bool canBeExecutedWithoutSessionID() const
Returns if the command can be executed without a session ID. Will return false for most commands exce...
Establishes a cola2 session with a sensor and enables execution of commands in this session...