Initial commit

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;
+    }
+}
+