FieldHeaderVariableCommand.cpp

Go to the documentation of this file.

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

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

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

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

#include <sick_safetyscanners/cola2/FieldHeaderVariableCommand.h>

#include <sick_safetyscanners/cola2/Cola2Session.h>
#include <sick_safetyscanners/cola2/Command.h>

namespace sick {
namespace cola2 {

FieldHeaderVariableCommand::FieldHeaderVariableCommand(Cola2Session& session,
                                                       datastructure::FieldData& field_data,
                                                       const uint16_t index)
  : VariableCommand(session, 0x2710 + index)
  , m_field_data(field_data)
{
  m_writer_ptr              = std::make_shared<sick::data_processing::ReadWriteHelper>();
  m_field_header_parser_ptr = std::make_shared<sick::data_processing::ParseFieldHeaderData>();
}

void FieldHeaderVariableCommand::addTelegramData(
  sick::datastructure::PacketBuffer::VectorBuffer& telegram) const
{
  base_class::addTelegramData(telegram);
}

bool FieldHeaderVariableCommand::canBeExecutedWithoutSessionID() const
{
  return true;
}

bool FieldHeaderVariableCommand::processReply()
{
  if (!base_class::processReply())
  {
    return false;
  }

  m_field_header_parser_ptr->parseTCPSequence(getDataVector(), m_field_data);
  return true;
}


} // namespace cola2
} // namespace sick