CloseSession.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/cola2/CloseSession.h>

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

namespace sick {
namespace cola2 {

CloseSession::CloseSession(Cola2Session& session)
  : Command(session, 0x43, 0x58) // see cola2 manual 0x43 = C, 0x58 = X
{
}

std::vector<uint8_t> CloseSession::addTelegramData(const std::vector<uint8_t>& telegram) const
{
  return telegram;
}

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

bool CloseSession::processReply()
{
  bool result = false;
  if ((getCommandType() == 'C' && getCommandMode() == 'A') ||
      (getCommandType() == 0x43 && getCommandMode() == 0x41))
  {
    m_session.setSessionID(getSessionID());
    ROS_INFO("Successfully closed Cola2 session with sessionID: %u", m_session.getSessionID());
    result = true;
  }
  else
  {
    ROS_WARN("Could not close Cola2 session with sessionID: %u", m_session.getSessionID());
  }
  return result;
}

} // namespace cola2
} // namespace sick