CreateSession.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/CreateSession.h>

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

namespace sick {
namespace cola2 {

CreateSession::CreateSession(Cola2Session& session)
  : Command(session, 0x4F, 0x58) // see cola2 manual 0x4F = O, 0x58 = X
{
}

std::vector<uint8_t> CreateSession::addTelegramData(const std::vector<uint8_t>& telegram) const
{
  auto output = expandTelegram(telegram, 5);
  // Add new values after telegram
  auto new_data_offset_it = output.begin() + telegram.size();
  writeHeartbeatTimeoutToDataPtr(new_data_offset_it);
  writeClientIdToDataPtr(new_data_offset_it);
  return output;
}

bool CreateSession::canBeExecutedWithoutSessionID() const
{
  return true;
}

bool CreateSession::processReply()
{
  bool result = false;
  if ((getCommandType() == 'O' && getCommandMode() == 'A') ||
      (getCommandType() == 0x4F && getCommandMode() == 0x41))
  {
    m_session.setSessionID(getSessionID());
    ROS_INFO("Successfully opened Cola2 session with sessionID: %u", m_session.getSessionID());
    result = true;
  }
  else
  {
    ROS_WARN("Could not open Cola2 session");
  }
  return result;
}

void CreateSession::writeHeartbeatTimeoutToDataPtr(std::vector<uint8_t>::iterator it) const
{
  uint8_t heart_beat_time_out_seconds = 60;
  read_write_helper::writeUint8BigEndian(it + 0, heart_beat_time_out_seconds);
}

void CreateSession::writeClientIdToDataPtr(std::vector<uint8_t>::iterator it) const
{
  uint32_t client_id = 1; // can be any random number
  read_write_helper::writeUint32BigEndian(it + 1, client_id);
}

} // namespace cola2
} // namespace sick