Initial commit

srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/Cola2/Commands/MethodCommand.cs

@@ -0,0 +1,47 @@
+using Sick.SafetyScanners.Helpers;
+
+namespace Sick.SafetyScanners.Cola2.Commands;
+
+/// <summary>
+/// Base command for method calls to the sensor
+/// Thread-safe implementation
+/// </summary>
+public abstract class MethodCommand : CommandBase
+{
+    private readonly ushort _methodIndex;
+    
+    protected MethodCommand(ushort methodIndex)
+        : base(0x4D, 0x49) // 'M' and 'I' in ASCII (Method by Index)
+    {
+        _methodIndex = methodIndex;
+    }
+    
+    public ushort MethodIndex => _methodIndex;
+    
+    public override bool CanBeExecutedWithoutSessionId => false;
+    
+    protected override ReadOnlyMemory<byte> AddTelegramData()
+    {
+        var data = new byte[2];
+        var span = data.AsSpan();
+        
+        // Method index (2 bytes, little endian)
+        ReadWriteHelper.WriteUint16LittleEndian(span, 0, _methodIndex);
+        
+        return data;
+    }
+    
+    protected override bool ProcessReplyInternal(ReadOnlyMemory<byte> replyData, 
+        byte replyCommandType, byte replyCommandMode)
+    {
+        // Reply should be 'A' (0x41) and 'I' (0x49) for Acknowledge
+        if ((replyCommandType == 0x41 && replyCommandMode == 0x49) ||
+            (replyCommandType == 'A' && replyCommandMode == 'I'))
+        {
+            return true;
+        }
+        
+        return false;
+    }
+}
+