ControlSession.cpp

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// -- BEGIN LICENSE BLOCK ----------------------------------------------
// -- END LICENSE BLOCK ------------------------------------------------
 
#include "sick_safevisionary_base/ControlSession.h"
#include "sick_safevisionary_base/CoLaParameterWriter.h"
 
namespace visionary {
 
ControlSession::ControlSession(IProtocolHandler& ProtocolHandler)
  : m_ProtocolHandler(ProtocolHandler)
{
}
 
ControlSession::~ControlSession() {}
 
CoLaCommand ControlSession::prepareRead(const std::string& varname)
{
  CoLaCommand cmd = CoLaParameterWriter(CoLaCommandType::READ_VARIABLE, varname.c_str()).build();
  return cmd;
}
 
CoLaCommand ControlSession::prepareWrite(const std::string& varname)
{
  CoLaCommand cmd = CoLaParameterWriter(CoLaCommandType::WRITE_VARIABLE, varname.c_str()).build();
  return cmd;
}
 
CoLaCommand ControlSession::prepareCall(const std::string& varname)
{
  CoLaCommand cmd =
    CoLaParameterWriter(CoLaCommandType::METHOD_INVOCATION, varname.c_str()).build();
  return cmd;
}
 
CoLaCommand ControlSession::send(const CoLaCommand& cmd)
{
  // ToDo: send command via CoLaProtocolHandler?
  // ProcolHandler needs to add e.g. header and checksum
  // Afterwards send to socket and receive the response.
  // return the response.
  return m_ProtocolHandler.send(cmd);
}
 
} // namespace visionary