VisionaryControl.h

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//
// Copyright (c) 2023 SICK AG, Waldkirch
//
// SPDX-License-Identifier: Unlicense
 
#pragma once
 
#include "CoLaCommand.h"
#include "ControlSession.h"
#include "IAuthentication.h"
#include "IProtocolHandler.h"
#include "TcpSocket.h"
#include <cstdint>
#include <memory>
#include <string>
 
namespace visionary {
 
class VisionaryControl
{
public:
  enum ProtocolType
  {
    INVALID_PROTOCOL = -1,
    COLA_A           = 2111,
    COLA_B           = 2112,
    COLA_2           = 2122
  };
 
  static constexpr uint32_t kSessionTimeout_ms = 5000;
 
  VisionaryControl();
  ~VisionaryControl();
 
  bool open(ProtocolType       type,
            const std::string& hostname,
            uint32_t           sessionTimeout_ms = kSessionTimeout_ms,
            bool               autoReconnect     = true,
            uint32_t           connectTimeout_ms = kSessionTimeout_ms);
 
  void close();
 
  bool login(IAuthentication::UserLevel userLevel, const std::string& password);
 
  bool logout();
 
  std::string getDeviceIdent();
 
  uint16_t GetBlobPort();
 
  bool burstAcquisition(uint16_t burstLen);
 
  bool startAcquisition();
 
  bool stepAcquisition();
 
  bool stopAcquisition();
 
  bool getDataStreamConfig();
 
  CoLaCommand sendCommand(const CoLaCommand& command);
 
private:
  std::string receiveCoLaResponse();
  CoLaCommand receiveCoLaCommand();
 
  std::unique_ptr<TcpSocket>        m_pTransport;
  std::unique_ptr<IProtocolHandler> m_pProtocolHandler;
  std::unique_ptr<IAuthentication>  m_pAuthentication;
  std::unique_ptr<ControlSession>   m_pControlSession;
 
  ProtocolType m_protocolType;
  std::string  m_hostname;
  uint32_t     m_sessionTimeout_ms;
  uint32_t     m_connectTimeout_ms;
  bool         m_autoReconnect;
};
 
} // namespace visionary