FindMeCommand.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/FindMeCommand.h>

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

namespace sick {
namespace cola2 {

FindMeCommand::FindMeCommand(Cola2Session& session, uint16_t blink_time)
  : MethodCommand(session, 14)
  , m_blink_time(blink_time)
{
}

std::vector<uint8_t> FindMeCommand::addTelegramData(const std::vector<uint8_t>& telegram) const
{
  auto base_output   = base_class::addTelegramData(telegram);
  size_t base_length = base_output.size();
  auto output        = expandTelegram(base_output, 2);

  // Add new values after telegram
  const auto new_data_offset_it = output.begin() + base_length + telegram.size();

  writeDataToDataPtr(new_data_offset_it);

  return output;
}

void FindMeCommand::writeDataToDataPtr(std::vector<uint8_t>::iterator data_ptr) const
{
  read_write_helper::writeUint16LittleEndian(data_ptr + 0, m_blink_time);
}

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

bool FindMeCommand::processReply()
{
  return (!base_class::processReply());
}


} // namespace cola2
} // namespace sick