ParseFieldHeaderData.cpp

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------

// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------

#include <sick_safetyscanners/data_processing/ParseFieldHeaderData.h>

#include <sick_safetyscanners/cola2/Command.h>

namespace sick {
namespace data_processing {

ParseFieldHeaderData::ParseFieldHeaderData()
{
  m_reader_ptr = std::make_shared<sick::data_processing::ReadWriteHelper>();
}


bool ParseFieldHeaderData::parseTCPSequence(const datastructure::PacketBuffer& buffer,
                                            datastructure::FieldData& field_data) const
{
  const uint8_t* data_ptr(buffer.getBuffer().data());
  bool valid = isValid(data_ptr);
  field_data.setIsValid(valid);

  if (valid)
  {
    setFieldType(data_ptr, field_data);
    uint16_t set_index = readSetIndex(data_ptr);
    field_data.setFieldSetIndex(set_index);
  }
  return true;
}

bool ParseFieldHeaderData::isValid(const uint8_t*& data_ptr) const
{
  bool res     = false;
  uint8_t byte = m_reader_ptr->readuint8_t(data_ptr, 0);
  if (byte == 'R' || byte == 'Y')
  {
    res = true;
  }

  return res;
}

void ParseFieldHeaderData::setFieldType(const uint8_t*& data_ptr,
                                        datastructure::FieldData& field_data) const
{
  uint8_t field_type = readFieldType(data_ptr);
  field_data.setIsWarningField(false);
  field_data.setIsProtectiveField(false);
  if (field_type == 4 || field_type == 14)
  {
    field_data.setIsProtectiveField(true);
  }
  else if (field_type == 5 || field_type == 15)
  {
    field_data.setIsWarningField(true);
  }
}


uint8_t ParseFieldHeaderData::readFieldType(const uint8_t*& data_ptr) const
{
  return m_reader_ptr->readuint8_t(data_ptr, 73);
}

uint16_t ParseFieldHeaderData::readSetIndex(const uint8_t*& data_ptr) const
{
  return m_reader_ptr->readuint16_tLittleEndian(data_ptr, 82);
}


} // namespace data_processing
} // namespace sick