00001 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*- 00002 00003 // -- BEGIN LICENSE BLOCK ---------------------------------------------- 00004 00024 // -- END LICENSE BLOCK ------------------------------------------------ 00025 00026 //---------------------------------------------------------------------- 00033 //---------------------------------------------------------------------- 00034 00035 #include <sick_safetyscanners/cola2/FieldHeaderVariableCommand.h> 00036 00037 #include <sick_safetyscanners/cola2/Cola2Session.h> 00038 #include <sick_safetyscanners/cola2/Command.h> 00039 00040 namespace sick { 00041 namespace cola2 { 00042 00043 FieldHeaderVariableCommand::FieldHeaderVariableCommand(Cola2Session& session, 00044 datastructure::FieldData& field_data, 00045 const uint16_t index) 00046 : VariableCommand(session, 0x2710 + index) 00047 , m_field_data(field_data) 00048 { 00049 m_writer_ptr = std::make_shared<sick::data_processing::ReadWriteHelper>(); 00050 m_field_header_parser_ptr = std::make_shared<sick::data_processing::ParseFieldHeaderData>(); 00051 } 00052 00053 void FieldHeaderVariableCommand::addTelegramData( 00054 sick::datastructure::PacketBuffer::VectorBuffer& telegram) const 00055 { 00056 base_class::addTelegramData(telegram); 00057 } 00058 00059 bool FieldHeaderVariableCommand::canBeExecutedWithoutSessionID() const 00060 { 00061 return true; 00062 } 00063 00064 bool FieldHeaderVariableCommand::processReply() 00065 { 00066 if (!base_class::processReply()) 00067 { 00068 return false; 00069 } 00070 00071 m_field_header_parser_ptr->parseTCPSequence(getDataVector(), m_field_data); 00072 return true; 00073 } 00074 00075 00076 } // namespace cola2 00077 } // namespace sick