CoLaBProtocolHandler.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 CoLaBProtocolHandler : public IProtocolHandler
{
public:
  CoLaBProtocolHandler(ITransport& rTransport);
  ~CoLaBProtocolHandler() override;
 
  bool openSession(std::uint8_t sessionTimeout /*secs*/) override;
  void closeSession() override;
 
  CoLaCommand send(CoLaCommand cmd) override;
 
private:
  using ByteBuffer = std::vector<std::uint8_t>;
 
  std::uint8_t calculateChecksum(ByteBuffer::const_iterator begin, ByteBuffer::const_iterator end) const;
  ByteBuffer readProtocol();
  ByteBuffer readResponse();
 
  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;
};
 
} // namespace visionary