Initial commit

srcs/RobotNet10/RobotApp/Communication/Sick.ColaB/Commands/CommandBase.cs

@@ -0,0 +1,31 @@
+using System.Text;
+
+namespace Sick.ColaB.Commands;
+
+/// <summary>
+/// Base class for ColaB commands
+/// </summary>
+public abstract class CommandBase(string commandString)
+{
+    private readonly string _commandString = commandString ?? throw new ArgumentNullException(nameof(commandString));
+    private bool _wasSuccessful;
+
+    public ReadOnlyMemory<byte> GetCommandData()
+    {
+        return Encoding.ASCII.GetBytes(_commandString);
+    }
+
+    public bool WasSuccessful
+    {
+        get => _wasSuccessful;
+        protected set => _wasSuccessful = value;
+    }
+
+    public abstract bool ProcessReply(ReadOnlyMemory<byte> replyData);
+
+    /// <summary>
+    /// Gets the command string
+    /// </summary>
+    protected string CommandString => _commandString;
+}
+

srcs/RobotNet10/RobotApp/Communication/Sick.ColaB/Commands/MethodCommand.cs

@@ -0,0 +1,60 @@
+using System.Text;
+
+namespace Sick.ColaB.Commands;
+
+/// <summary>
+/// Command to call a method on the scanner (sMN - Method by Name)
+/// </summary>
+public sealed class MethodCommand(string methodName, params string[] parameters) : CommandBase($"sMN {methodName} {string.Join(" ", parameters)}")
+{
+    public string MethodName { get; } = methodName;
+    public string[] Parameters { get; } = parameters;
+
+    public string? ReplyValue { get; private set; }
+
+    public override bool ProcessReply(ReadOnlyMemory<byte> replyData)
+    {
+        // Parse reply: "sAN <methodName> <result>" or "sMA <methodName> <result>" or "sFA <errorCode>" (Error)
+        var replyString = Encoding.ASCII.GetString(replyData.Span);
+        
+        // Check if reply starts with "sFA" (Error) - scanner rejected the command
+        if (replyString.StartsWith("sFA", StringComparison.Ordinal))
+        {
+            // Extract error code if present
+            var errorParts = replyString.Split(' ', StringSplitOptions.RemoveEmptyEntries);
+            var errorInfo = errorParts.Length > 1 ? $" (error code: {string.Join(" ", errorParts.Skip(1))})" : "";
+            WasSuccessful = false;
+            ReplyValue = null;
+            return false;
+        }
+
+        // Check if reply starts with "sAN" (Answer) or "sMA" (Method Answer)
+        if (!replyString.StartsWith("sAN", StringComparison.Ordinal) &&
+            !replyString.StartsWith("sMA", StringComparison.Ordinal))
+        {
+            WasSuccessful = false;
+            return false;
+        }
+
+        // Extract result after method name
+        var parts = replyString.Split(' ', StringSplitOptions.RemoveEmptyEntries);
+        
+        if (parts.Length >= 2 && parts[1] == MethodName)
+        {
+            if (parts.Length > 2)
+            {
+                ReplyValue = string.Join(" ", parts.Skip(2));
+            }
+            else
+            {
+                ReplyValue = string.Empty;
+            }
+            WasSuccessful = true;
+            return true;
+        }
+
+        WasSuccessful = false;
+        return false;
+    }
+}
+

srcs/RobotNet10/RobotApp/Communication/Sick.ColaB/Commands/ReadCommand.cs

@@ -0,0 +1,71 @@
+using System.Text;
+
+namespace Sick.ColaB.Commands;
+
+/// <summary>
+/// Command to read a value from the scanner (sRN - Read by Name)
+/// </summary>
+public sealed class ReadCommand(string variableName) : CommandBase($"sRN {variableName}")
+{
+    public string VariableName { get; } = variableName;
+
+    public string? ReplyValue { get; private set; }
+    
+    public byte[]? RawReplyData { get; private set; }
+
+    public override bool ProcessReply(ReadOnlyMemory<byte> replyData)
+    {
+        // Store raw reply data for binary parsing
+        RawReplyData = replyData.ToArray();
+
+        // Parse reply: "sAN <variableName> <value>" or "sRA <variableName> <value>"
+        // For binary data, only the header is ASCII, the rest is binary
+        // Try to find where ASCII header ends
+        var asciiHeaderEnd = -1;
+        for (int i = 0; i < replyData.Length && i < 100; i++)
+        {
+            if (replyData.Span[i] == 0 || replyData.Span[i] > 127)
+            {
+                // Found non-ASCII byte, header ends here
+                asciiHeaderEnd = i;
+                break;
+            }
+        }
+
+        // If we found where ASCII ends, only decode that part
+        var headerLength = asciiHeaderEnd > 0 ? asciiHeaderEnd : Math.Min(replyData.Length, 100);
+        var replyString = Encoding.ASCII.GetString(replyData.Span[..headerLength]);
+        
+        // Check if reply starts with "sAN" (Answer) or "sRA" (Read Answer)
+        if (!replyString.StartsWith("sAN", StringComparison.Ordinal) &&
+            !replyString.StartsWith("sRA", StringComparison.Ordinal))
+        {
+            WasSuccessful = false;
+            return false;
+        }
+
+        // Extract value after variable name
+        var parts = replyString.Split(' ', StringSplitOptions.RemoveEmptyEntries);
+        
+        if (parts.Length >= 2 && parts[1] == VariableName)
+        {
+            // For binary data, ReplyValue will contain ASCII header only
+            // The actual binary data is in RawReplyData
+            if (parts.Length >= 3)
+            {
+                ReplyValue = string.Join(" ", parts.Skip(2));
+            }
+            else
+            {
+                // Binary data follows immediately after header
+                ReplyValue = string.Empty;
+            }
+            WasSuccessful = true;
+            return true;
+        }
+
+        WasSuccessful = false;
+        return false;
+    }
+}
+

srcs/RobotNet10/RobotApp/Communication/Sick.ColaB/Commands/WriteCommand.cs

@@ -0,0 +1,41 @@
+using System.Text;
+
+namespace Sick.ColaB.Commands;
+
+/// <summary>
+/// Command to write a value to the scanner (sWN - Write by Name)
+/// </summary>
+public sealed class WriteCommand(string variableName, string value) : CommandBase($"sWN {variableName} {value}")
+{
+    public string VariableName { get; } = variableName;
+    public string Value { get; } = value;
+
+    public override bool ProcessReply(ReadOnlyMemory<byte> replyData)
+    {
+        // Parse reply: "sWA <variableName>" (Write Acknowledge), "sEA <eventName> <value>" (Event Acknowledge), "sAN <methodName> <result>" (Answer), or "sFA <errorCode>" (Error)
+        var replyString = Encoding.ASCII.GetString(replyData.Span);
+        
+        // Check if reply starts with "sFA" (Error) - this indicates command failed
+        if (replyString.StartsWith("sFA", StringComparison.Ordinal))
+        {
+            // Extract error code if present
+            var parts = replyString.Split(' ', StringSplitOptions.RemoveEmptyEntries);
+            var errorInfo = parts.Length > 1 ? $" (error code: {string.Join(" ", parts.Skip(1))})" : "";
+            WasSuccessful = false;
+            return false;
+        }
+
+        // Check if reply starts with "sWA" (Write Acknowledge), "sEA" (Event Acknowledge), or "sAN" (Answer)
+        if (replyString.StartsWith("sWA", StringComparison.Ordinal) ||
+            replyString.StartsWith("sEA", StringComparison.Ordinal) ||
+            replyString.StartsWith("sAN", StringComparison.Ordinal))
+        {
+            WasSuccessful = true;
+            return true;
+        }
+
+        WasSuccessful = false;
+        return false;
+    }
+}
+