MethodCommand.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/MethodCommand.h>

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

namespace sick {
namespace cola2 {

MethodCommand::MethodCommand(Cola2Session& session, const uint16_t& method_index)
  : Command(session, 0x4D, 0x49) // see cola2 manual 0x4D = 'M' and  0x49 = 'I'
  , m_method_index(method_index)
{
  m_writer_ptr = std::make_shared<sick::data_processing::ReadWriteHelper>();
}

void MethodCommand::addTelegramData(sick::datastructure::PacketBuffer::VectorBuffer& telegram) const
{
  uint16_t prevSize = telegram.size();
  telegram.resize(prevSize + 2);
  uint8_t* data_ptr = telegram.data() + prevSize;
  m_writer_ptr->writeuint16_tLittleEndian(data_ptr, m_method_index, 0);
}

bool MethodCommand::canBeExecutedWithoutSessionID() const
{
  return false;
}

bool MethodCommand::processReply()
{
  if ((getCommandType() == 'A' && getCommandMode() == 'I') ||
      (getCommandType() == 0x41 && getCommandMode() == 0x49))
  {
    ROS_INFO("Command Method Acknowledged.");
    return true;
  }
  else
  {
    ROS_WARN("Command Method Not Accepted.");
    return false;
  }
}

uint16_t MethodCommand::getMethodIndex() const
{
  return m_method_index;
}

void MethodCommand::setMethodIndex(const uint16_t& method_index)
{
  m_method_index = method_index;
}

} // namespace cola2
} // namespace sick