FieldGeometryVariableCommand.h

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

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

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#ifndef SICK_SAFETYSCANNERS_COLA2_FIELDGEOMETRYVARIABLECOMMAND_H
#define SICK_SAFETYSCANNERS_COLA2_FIELDGEOMETRYVARIABLECOMMAND_H


#include <sick_safetyscanners/cola2/VariableCommand.h>
#include <sick_safetyscanners/data_processing/ParseFieldGeometryData.h>
#include <sick_safetyscanners/datastructure/CommSettings.h>

namespace sick {
namespace cola2 {

class FieldGeometryVariableCommand : public VariableCommand
{
public:
  typedef sick::cola2::VariableCommand base_class;

  FieldGeometryVariableCommand(Cola2Session& session,
                               datastructure::FieldData& field_data,
                               const uint16_t index);

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

  bool canBeExecutedWithoutSessionID() const;

  bool processReply();


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

  sick::datastructure::FieldData& m_field_data;
};

} // namespace cola2
} // namespace sick

#endif // SICK_SAFETYSCANNERS_COLA2_FIELDGEOMETRYVARIABLECOMMAND_H