ParseMonitoringCaseData.cpp

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

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

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

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

#include <sick_safetyscanners/data_processing/ParseMonitoringCaseData.h>

#include <sick_safetyscanners/cola2/Command.h>

namespace sick {
namespace data_processing {

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


bool ParseMonitoringCaseData::parseTCPSequence(
  const datastructure::PacketBuffer& buffer,
  sick::datastructure::MonitoringCaseData& monitoring_case_data) const
{
  const uint8_t* data_ptr(buffer.getBuffer().data());
  bool valid = isValid(data_ptr);
  monitoring_case_data.setIsValid(valid);
  if (valid)
  {
    monitoring_case_data.setMonitoringCaseNumber(readMonitoringCaseNumber(data_ptr));

    std::vector<uint16_t> indices;
    std::vector<bool> fields_valid;
    for (uint8_t i = 0; i < 8; i++)
    {
      indices.push_back(readFieldIndex(data_ptr, i));
      fields_valid.push_back(readFieldValid(data_ptr, i));
    }
    monitoring_case_data.setFieldIndices(indices);
    monitoring_case_data.setFieldsValid(fields_valid);
  }
  return true;
}

bool ParseMonitoringCaseData::isValid(const uint8_t*& data_ptr) const
{
  bool res     = false;
  uint8_t byte = m_reader_ptr->readuint8_t(data_ptr, 0);
  if (byte == 'R' || byte == 'Y')
  {
    res = true;
  }
  return res;
}

uint16_t ParseMonitoringCaseData::readMonitoringCaseNumber(const uint8_t*& data_ptr) const
{
  return m_reader_ptr->readuint16_tLittleEndian(data_ptr, 6);
}

uint16_t ParseMonitoringCaseData::readFieldIndex(const uint8_t*& data_ptr,
                                                 const uint8_t index) const
{
  return m_reader_ptr->readuint16_tLittleEndian(data_ptr, 158 + (index * 4));
}

bool ParseMonitoringCaseData::readFieldValid(const uint8_t*& data_ptr, const uint8_t index) const
{
  uint8_t byte = m_reader_ptr->readuint8_t(data_ptr, 157 + (index * 4));

  return byte & (0x01 << 0);
}

} // namespace data_processing
} // namespace sick