ParseTCPPacket.h

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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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#ifndef SICK_SAFETYSCANNERS_DATA_PROCESSING_PARSETCPPACKET_H
#define SICK_SAFETYSCANNERS_DATA_PROCESSING_PARSETCPPACKET_H

#include <sick_safetyscanners/datastructure/Data.h>
#include <sick_safetyscanners/datastructure/DerivedValues.h>
#include <sick_safetyscanners/datastructure/PacketBuffer.h>

#include <sick_safetyscanners/data_processing/ReadWriteHelper.h>

namespace sick {

namespace cola2 {
class Command;
} // namespace cola2

namespace data_processing {


class ParseTCPPacket
{
public:
  ParseTCPPacket();

  bool parseTCPSequence(const datastructure::PacketBuffer& buffer,
                        sick::cola2::Command& command) const;

  uint32_t getExpectedPacketLength(const datastructure::PacketBuffer& buffer);

  uint16_t getRequestID(const datastructure::PacketBuffer& buffer) const;

private:
  std::shared_ptr<sick::data_processing::ReadWriteHelper> m_reader_ptr;
  uint32_t readSTx(const uint8_t*& data_ptr) const;
  uint32_t readLength(const uint8_t*& data_ptr) const;
  uint16_t readRequestID(const uint8_t*& data_ptr) const;
  uint8_t readHubCntr(const uint8_t*& data_ptr) const;
  uint8_t readNoC(const uint8_t*& data_ptr) const;
  uint32_t readSessionID(const uint8_t*& data_ptr) const;
  uint8_t readCommandType(const uint8_t*& data_ptr) const;
  uint8_t readCommandMode(const uint8_t*& data_ptr) const;
  uint16_t readErrorCode(const uint8_t*& data_ptr) const;
  void readData(const datastructure::PacketBuffer& buffer, std::vector<uint8_t>& byteVector) const;
  void setCommandValuesFromPacket(const sick::datastructure::PacketBuffer& buffer,
                                  sick::cola2::Command& command) const;
};

} // namespace data_processing
} // namespace sick

#endif // SICK_SAFETYSCANNERS_DATA_PROCESSING_PARSETCPPACKET_H