CoLa2ProtocolHandler.h

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//
// Copyright (c) 2023 SICK AG, Waldkirch
//
// SPDX-License-Identifier: Unlicense
 
#pragma once
#include <cstddef> // for size_t
#include <cstdint>
#include <vector>
 
#include "CoLaCommand.h"
#include "IProtocolHandler.h"
#include "ITransport.h"
 
namespace visionary {
 
class CoLa2ProtocolHandler : public IProtocolHandler
{
public:
  CoLa2ProtocolHandler(ITransport& rTransport);
  ~CoLa2ProtocolHandler() override;
 
  bool openSession(std::uint8_t sessionTimeout /*secs*/) override;
  void closeSession() override;
 
  // send cola cmd and receive cola response
  CoLaCommand send(CoLaCommand cmd) override;
 
  std::uint16_t getReqId() const
  {
    return m_reqID;
  }
  std::uint32_t getSessionId() const
  {
    return m_sessionID;
  }
 
private:
  using ByteBuffer = std::vector<std::uint8_t>;
 
  std::uint16_t createReqId();
 
  ByteBuffer readProtocol();
  ByteBuffer readResponse(std::uint32_t& rSessionId, uint16_t& rReqId);
 
  ByteBuffer createProtocolHeader(std::size_t payloadSize, std::size_t extraReserve = 0u);
  ByteBuffer createCommandHeader(std::size_t payloadSize, std::size_t extraReserve = 0u);
 
  ITransport&   m_rtransport;
  std::uint16_t m_reqID;
  std::uint32_t m_sessionID;
};
 
} // namespace visionary