CreateSession.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_CREATESESSION_H
#define SICK_SAFETYSCANNERS_COLA2_CREATESESSION_H


#include <sick_safetyscanners/cola2/Command.h>

namespace sick {
namespace cola2 {

class CreateSession : public Command
{
public:
  explicit CreateSession(Cola2Session& session);

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

  bool canBeExecutedWithoutSessionID() const;

  bool processReply();

private:
  std::shared_ptr<sick::data_processing::ReadWriteHelper> m_writer_ptr;

  uint8_t*
  prepareTelegramAndGetDataPtr(sick::datastructure::PacketBuffer::VectorBuffer& telegram) const;
  void writeHeartbeatTimeoutToDataPtr(uint8_t*& data_ptr) const;
  void writeClientIdToDataPtr(uint8_t*& data_ptr) const;
};

} // namespace cola2
} // namespace sick

#endif // SICK_SAFETYSCANNERS_COLA2_CREATESESSION_H