ParseFieldGeometryData.cpp

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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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#include <sick_safetyscanners/data_processing/ParseFieldGeometryData.h>

#include <sick_safetyscanners/cola2/Command.h>

namespace sick {
namespace data_processing {

ParseFieldGeometryData::ParseFieldGeometryData()
{
  m_reader_ptr = std::make_shared<sick::data_processing::ReadWriteHelper>();
}


bool ParseFieldGeometryData::parseTCPSequence(const datastructure::PacketBuffer& buffer,
                                              sick::datastructure::FieldData& field_data) const
{
  const uint8_t* data_ptr(buffer.getBuffer().data());
  uint32_t array_length = readArrayLength(data_ptr);
  std::vector<uint16_t> geometry_distance_mm;
  for (uint32_t i = 0; i < array_length; i++)
  {
    geometry_distance_mm.push_back(readArrayElement(data_ptr, i));
  }
  field_data.setBeamDistances(geometry_distance_mm);

  return true;
}

uint32_t ParseFieldGeometryData::readArrayLength(const uint8_t*& data_ptr) const
{
  return m_reader_ptr->readuint32_tLittleEndian(data_ptr, 4);
}

uint16_t ParseFieldGeometryData::readArrayElement(const uint8_t*& data_ptr,
                                                  uint32_t elem_number) const
{
  return m_reader_ptr->readuint16_tLittleEndian(data_ptr, 8 + elem_number * 2);
}


} // namespace data_processing
} // namespace sick