ChangeCommSettingsCommand.h

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

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

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

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#ifndef SICK_SAFETYSCANNERS_COLA2_CHANGECOMMSETTINGSCOMMAND_H
#define SICK_SAFETYSCANNERS_COLA2_CHANGECOMMSETTINGSCOMMAND_H


#include <sick_safetyscanners/cola2/MethodCommand.h>
#include <sick_safetyscanners/datastructure/CommSettings.h>

namespace sick {
namespace cola2 {


class ChangeCommSettingsCommand : public MethodCommand
{
public:
  typedef sick::cola2::MethodCommand base_class;

  ChangeCommSettingsCommand(Cola2Session& session, const datastructure::CommSettings& settings);


  void addTelegramData(sick::datastructure::PacketBuffer::VectorBuffer& telegram) const;


  bool canBeExecutedWithoutSessionID() const;


  bool processReply();


private:
  std::shared_ptr<sick::data_processing::ReadWriteHelper> m_writer_ptr;
  sick::datastructure::CommSettings m_settings;

  uint8_t*
  prepareTelegramAndGetDataPtr(sick::datastructure::PacketBuffer::VectorBuffer& telegram) const;
  void writeDataToDataPtr(uint8_t*& data_ptr) const;
  void writeChannelToDataPtr(uint8_t*& data_ptr) const;
  void writeEnabledToDataPtr(uint8_t*& data_ptr) const;
  void writeEInterfaceTypeToDataPtr(uint8_t*& data_ptr) const;
  void writeIPAddresstoDataPtr(uint8_t*& data_ptr) const;
  void writePortToDataPtr(uint8_t*& data_ptr) const;
  void writeFrequencyToDataPtr(uint8_t*& data_ptr) const;
  void writeStartAngleToDataPtr(uint8_t*& data_ptr) const;
  void writeEndAngleToDataPtr(uint8_t*& data_ptr) const;
  void writeFeaturesToDataPtr(uint8_t*& data_ptr) const;
};

} // namespace cola2
} // namespace sick

#endif // SICK_SAFETYSCANNERS_COLA2_CHANGECOMMSETTINGSCOMMAND_H