Initial commit

2026-07-13 09:25:40 +07:00
parent c08ff54676
commit bccfb156d7
1938 changed files with 641646 additions and 0 deletions
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ApplicationData.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ApplicationData.cs
@@ -0,0 +1,22 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Bundles application input and output data
+/// </summary>
+public sealed class ApplicationData
+{
+    /// <summary>
+    /// Gets or sets the application inputs
+    /// </summary>
+    public ApplicationInputs Inputs { get; init; } = new ApplicationInputs();
+    
+    /// <summary>
+    /// Gets or sets the application outputs
+    /// </summary>
+    public ApplicationOutputs Outputs { get; init; } = new ApplicationOutputs();
+    
+    /// <summary>
+    /// Gets whether application data is empty (not enabled)
+    /// </summary>
+    public bool IsEmpty { get; init; }
+}
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ApplicationInputs.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ApplicationInputs.cs
@@ -0,0 +1,62 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains application inputs from a UDP data packet
+/// </summary>
+public sealed class ApplicationInputs
+{
+    /// <summary>
+    /// Gets or sets the unsafe input sources (bits represent current state of static input sources)
+    /// </summary>
+    public IReadOnlyList<bool> UnsafeInputsInputSources { get; init; } = Array.Empty<bool>();
+    
+    /// <summary>
+    /// Gets or sets the flags for unsafe input sources (one flag per static input source)
+    /// </summary>
+    public IReadOnlyList<bool> UnsafeInputsFlags { get; init; } = Array.Empty<bool>();
+    
+    /// <summary>
+    /// Gets or sets the monitoring case numbers
+    /// </summary>
+    public IReadOnlyList<ushort> MonitoringCases { get; init; } = Array.Empty<ushort>();
+    
+    /// <summary>
+    /// Gets or sets the monitoring case flags
+    /// </summary>
+    public IReadOnlyList<bool> MonitoringCaseFlags { get; init; } = Array.Empty<bool>();
+    
+    /// <summary>
+    /// Gets or sets the first linear velocity input
+    /// </summary>
+    public short Velocity0 { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the second linear velocity input
+    /// </summary>
+    public short Velocity1 { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether first linear velocity input is valid
+    /// </summary>
+    public bool IsVelocity0Valid { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether second linear velocity input is valid
+    /// </summary>
+    public bool IsVelocity1Valid { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether first linear velocity input is transmitted safely
+    /// </summary>
+    public bool IsVelocity0TransmittedSafely { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether second linear velocity input is transmitted safely
+    /// </summary>
+    public bool IsVelocity1TransmittedSafely { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the state of the sleep mode input
+    /// </summary>
+    public sbyte SleepModeInput { get; init; }
+}
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ApplicationName.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ApplicationName.cs
@@ -0,0 +1,38 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains the application name from a COLA2 variable command response
+/// </summary>
+public sealed class ApplicationName
+{
+    /// <summary>
+    /// Gets or sets the version indicator (e.g., "V" for version)
+    /// </summary>
+    public string VersionCVersion { get; init; } = string.Empty;
+    
+    /// <summary>
+    /// Gets or sets the major version number
+    /// </summary>
+    public byte VersionMajorVersionNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the minor version number
+    /// </summary>
+    public byte VersionMinorVersionNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the version release number
+    /// </summary>
+    public byte VersionReleaseNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the length of the application name
+    /// </summary>
+    public uint NameLength { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the application name string
+    /// </summary>
+    public string Name { get; init; } = string.Empty;
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ApplicationOutputs.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ApplicationOutputs.cs
@@ -0,0 +1,117 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains application outputs from a UDP data packet
+/// </summary>
+public sealed class ApplicationOutputs
+{
+    /// <summary>
+    /// Gets or sets the state of the non-safe cut-off paths (eval out)
+    /// </summary>
+    public IReadOnlyList<bool> EvalOut { get; init; } = Array.Empty<bool>();
+    
+    /// <summary>
+    /// Gets or sets whether a cut-off path from the output paths is safe
+    /// </summary>
+    public IReadOnlyList<bool> EvalOutIsSafe { get; init; } = Array.Empty<bool>();
+    
+    /// <summary>
+    /// Gets or sets whether the output path is valid
+    /// </summary>
+    public IReadOnlyList<bool> EvalOutIsValid { get; init; } = Array.Empty<bool>();
+    
+    /// <summary>
+    /// Gets or sets the currently active monitoring case numbers
+    /// </summary>
+    public IReadOnlyList<ushort> MonitoringCases { get; init; } = Array.Empty<ushort>();
+    
+    /// <summary>
+    /// Gets or sets whether the corresponding monitoring case number is valid
+    /// </summary>
+    public IReadOnlyList<bool> MonitoringCaseFlags { get; init; } = Array.Empty<bool>();
+    
+    /// <summary>
+    /// Gets or sets the state of the sleep mode output
+    /// </summary>
+    public sbyte SleepModeOutput { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether a contamination warning is present
+    /// </summary>
+    public bool HostErrorFlagContaminationWarning { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether a contamination error is present
+    /// </summary>
+    public bool HostErrorFlagContaminationError { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether a manipulation error is present
+    /// </summary>
+    public bool HostErrorFlagManipulationError { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether glare is present
+    /// </summary>
+    public bool HostErrorFlagGlare { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether a reference contour is intruded
+    /// </summary>
+    public bool HostErrorFlagReferenceContourIntruded { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether a critical error is present
+    /// </summary>
+    public bool HostErrorFlagCriticalError { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the first linear velocity output
+    /// </summary>
+    public short Velocity0 { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the second linear velocity output
+    /// </summary>
+    public short Velocity1 { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether the first linear velocity output is valid
+    /// </summary>
+    public bool IsVelocity0Valid { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether the second linear velocity output is valid
+    /// </summary>
+    public bool IsVelocity1Valid { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether the first linear velocity output is transmitted safely
+    /// </summary>
+    public bool IsVelocity0TransmittedSafely { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether the second linear velocity output is transmitted safely
+    /// </summary>
+    public bool IsVelocity1TransmittedSafely { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the resulting velocity for each monitoring case table
+    /// </summary>
+    public IReadOnlyList<short> ResultingVelocity { get; init; } = Array.Empty<short>();
+    
+    /// <summary>
+    /// Gets or sets whether the resulting velocities are valid
+    /// </summary>
+    public IReadOnlyList<bool> ResultingVelocityIsValid { get; init; } = Array.Empty<bool>();
+    
+    /// <summary>
+    /// Gets or sets whether the sleep mode is valid
+    /// </summary>
+    public bool FlagsSleepModeOutputIsValid { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether the error flags are valid
+    /// </summary>
+    public bool FlagsHostErrorFlagsAreValid { get; init; }
+}
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/CommSettings.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/CommSettings.cs
@@ -0,0 +1,150 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Communication settings used to configure the SICK Safety Scanner
+/// This structure is used with ChangeCommSettingsCommand to configure scanner parameters
+/// </summary>
+public sealed class CommSettings
+{
+    /// <summary>
+    /// Gets or sets the channel number (0-3)
+    /// </summary>
+    public byte Channel { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the publishing frequency (publish every n-th scan)
+    /// Example: 1 = publish every scan, 2 = publish every 2nd scan (half frequency)
+    /// </summary>
+    public ushort PublishingFrequency { get; init; } = 1;
+    
+    /// <summary>
+    /// Gets or sets the interface type
+    /// 0: EFI-pro, 1: EtherNet/IP, 3: Profinet, 4: Non-safe Ethernet
+    /// </summary>
+    public InterfaceType EInterfaceType { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the start angle in radians
+    /// If start and end angles are equal, all angles are regarded
+    /// </summary>
+    public double StartAngle { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the end angle in radians
+    /// If start and end angles are equal, all angles are regarded
+    /// </summary>
+    public double EndAngle { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the enabled features as a bitset (ushort)
+    /// Use SensorDataFeatures constants or SensorDataFeatures.ToFeatureFlags() to set
+    /// </summary>
+    public ushort Features { get; init; } = SensorDataFeatures.All;
+    
+    /// <summary>
+    /// Gets or sets whether general system state feature is enabled
+    /// </summary>
+    public bool GeneralSystemStateEnabled { get; init; } = true;
+    
+    /// <summary>
+    /// Gets or sets whether derived settings feature is enabled
+    /// </summary>
+    public bool DerivedSettingsEnabled { get; init; } = true;
+    
+    /// <summary>
+    /// Gets or sets whether measurement data feature is enabled
+    /// </summary>
+    public bool MeasurementDataEnabled { get; init; } = true;
+    
+    /// <summary>
+    /// Gets or sets whether intrusion data feature is enabled
+    /// </summary>
+    public bool IntrusionDataEnabled { get; init; } = true;
+    
+    /// <summary>
+    /// Gets or sets whether application data feature is enabled
+    /// </summary>
+    public bool ApplicationDataEnabled { get; init; } = true;
+    
+    /// <summary>
+    /// Gets or sets whether the channel is enabled
+    /// </summary>
+    public bool Enabled { get; init; } = true;
+    
+    /// <summary>
+    /// Gets or sets the host UDP port (0 = auto-assign)
+    /// </summary>
+    public ushort HostUdpPort { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the host IP address as a string (e.g., "192.168.1.100")
+    /// </summary>
+    public string HostIp { get; init; } = "192.168.1.100";
+    
+    /// <summary>
+    /// Creates a CommSettings with all features enabled
+    /// </summary>
+    public static CommSettings CreateDefault()
+    {
+        return new CommSettings
+        {
+            Channel = 0,
+            PublishingFrequency = 1,
+            EInterfaceType = InterfaceType.NonSafeEthernet,
+            StartAngle = 0.0,
+            EndAngle = 0.0, // Equal to start angle means all angles
+            Features = SensorDataFeatures.All,
+            GeneralSystemStateEnabled = true,
+            DerivedSettingsEnabled = true,
+            MeasurementDataEnabled = true,
+            IntrusionDataEnabled = true,
+            ApplicationDataEnabled = true,
+            Enabled = true,
+            HostUdpPort = 0,
+            HostIp = "192.168.1.100"
+        };
+    }
+    
+    /// <summary>
+    /// Creates a CommSettings with custom feature flags
+    /// </summary>
+    public static CommSettings Create(
+        byte channel,
+        string hostIp,
+        ushort hostUdpPort,
+        bool generalSystemState = true,
+        bool derivedSettings = true,
+        bool measurementData = true,
+        bool intrusionData = true,
+        bool applicationData = true,
+        ushort publishingFrequency = 1,
+        double startAngle = 0.0,
+        double endAngle = 0.0,
+        InterfaceType interfaceType = InterfaceType.NonSafeEthernet,
+        bool enabled = true)
+    {
+        return new CommSettings
+        {
+            Channel = channel,
+            PublishingFrequency = publishingFrequency,
+            EInterfaceType = interfaceType,
+            StartAngle = startAngle,
+            EndAngle = endAngle,
+            Features = SensorDataFeatures.ToFeatureFlags(
+                generalSystemState,
+                derivedSettings,
+                measurementData,
+                intrusionData,
+                applicationData),
+            GeneralSystemStateEnabled = generalSystemState,
+            DerivedSettingsEnabled = derivedSettings,
+            MeasurementDataEnabled = measurementData,
+            IntrusionDataEnabled = intrusionData,
+            ApplicationDataEnabled = applicationData,
+            Enabled = enabled,
+            HostUdpPort = hostUdpPort,
+            HostIp = hostIp
+        };
+    }
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ConfigData.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ConfigData.cs
@@ -0,0 +1,133 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains the configuration data from a COLA2 variable command response
+/// Used for current and persistent sensor configuration
+/// </summary>
+public sealed class ConfigData
+{
+    /// <summary>
+    /// Gets or sets the version indicator (e.g., "V" for version)
+    /// </summary>
+    public string VersionCVersion { get; init; } = string.Empty;
+    
+    /// <summary>
+    /// Gets or sets the major version number
+    /// </summary>
+    public byte VersionMajorVersionNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the minor version number
+    /// </summary>
+    public byte VersionMinorVersionNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the version release number
+    /// </summary>
+    public byte VersionReleaseNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the host IP address
+    /// </summary>
+    public string HostIp { get; init; } = string.Empty;
+    
+    /// <summary>
+    /// Gets or sets the host UDP port
+    /// </summary>
+    public ushort HostUdpPort { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the channel number (0-3)
+    /// </summary>
+    public byte Channel { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether the channel is enabled
+    /// </summary>
+    public bool Enabled { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the interface type
+    /// </summary>
+    public InterfaceType EInterfaceType { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the publishing frequency (publish every n-th scan)
+    /// </summary>
+    public ushort PublishingFrequency { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the start angle in radians
+    /// </summary>
+    public double StartAngle { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the end angle in radians
+    /// </summary>
+    public double EndAngle { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the enabled features (bit flags)
+    /// Bit 0: GeneralSystemState, Bit 1: DerivedSettings, Bit 2: MeasurementData,
+    /// Bit 3: IntrusionData, Bit 4: ApplicationData
+    /// </summary>
+    public ushort Features { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether general system state feature is enabled
+    /// </summary>
+    public bool GeneralSystemStateEnabled { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether derived settings feature is enabled
+    /// </summary>
+    public bool DerivedSettingsEnabled { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether measurement data feature is enabled
+    /// </summary>
+    public bool MeasurementDataEnabled { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether intrusion data feature is enabled
+    /// </summary>
+    public bool IntrusionDataEnabled { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether application data feature is enabled
+    /// </summary>
+    public bool ApplicationDataEnabled { get; init; }
+    
+    // Derived values (similar to DerivedValues structure)
+    
+    /// <summary>
+    /// Gets or sets the multiplication factor for beam distances
+    /// </summary>
+    public ushort DerivedMultiplicationFactor { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the number of beams
+    /// </summary>
+    public ushort DerivedNumberOfBeams { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the scan time in milliseconds
+    /// </summary>
+    public ushort DerivedScanTime { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the derived start angle in radians
+    /// </summary>
+    public double DerivedStartAngle { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the angular beam resolution in radians
+    /// </summary>
+    public double DerivedAngularBeamResolution { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the interbeam period in microseconds
+    /// </summary>
+    public uint DerivedInterbeamPeriod { get; init; }
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ConfigMetadata.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ConfigMetadata.cs
@@ -0,0 +1,63 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains the configuration metadata from a COLA2 variable command response
+/// </summary>
+public sealed class ConfigMetadata
+{
+    /// <summary>
+    /// Gets or sets the version indicator (e.g., "V" for version)
+    /// </summary>
+    public string VersionCVersion { get; init; } = string.Empty;
+    
+    /// <summary>
+    /// Gets or sets the major version number
+    /// </summary>
+    public byte VersionMajorVersionNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the minor version number
+    /// </summary>
+    public byte VersionMinorVersionNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the version release number
+    /// </summary>
+    public byte VersionReleaseNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the modification time date (days since 1980-01-01)
+    /// </summary>
+    public ushort ModificationTimeDate { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the modification time (milliseconds since midnight)
+    /// </summary>
+    public uint ModificationTimeTime { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the transfer time date (days since 1980-01-01)
+    /// </summary>
+    public ushort TransferTimeDate { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the transfer time (milliseconds since midnight)
+    /// </summary>
+    public uint TransferTimeTime { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the application checksum
+    /// </summary>
+    public uint AppChecksum { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the overall checksum
+    /// </summary>
+    public uint OverallChecksum { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the integrity hash (array of uint32 values)
+    /// </summary>
+    public IReadOnlyList<uint> IntegrityHash { get; init; } = Array.Empty<uint>();
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/DataHeader.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/DataHeader.cs
@@ -0,0 +1,117 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains the content of the data header of a UDP data packet
+/// </summary>
+public sealed class DataHeader
+{
+    /// <summary>
+    /// Gets or sets the version indicator (capital letter 'V' or 'R' for releases)
+    /// </summary>
+    public byte VersionIndicator { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the major version number
+    /// </summary>
+    public byte VersionMajor { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the minor version number
+    /// </summary>
+    public byte VersionMinor { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the release of the version
+    /// </summary>
+    public byte VersionRelease { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the serial number of the device
+    /// </summary>
+    public uint SerialNumberOfDevice { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the serial number of the system plug
+    /// </summary>
+    public uint SerialNumberOfSystemPlug { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the channel number (0-3)
+    /// </summary>
+    public byte ChannelNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the sequence number (increases with each measurement)
+    /// </summary>
+    public uint SequenceNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the scan number
+    /// </summary>
+    public uint ScanNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the timestamp date
+    /// </summary>
+    public ushort TimestampDate { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the timestamp time
+    /// </summary>
+    public uint TimestampTime { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the general system state block offset
+    /// </summary>
+    public ushort GeneralSystemStateBlockOffset { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the general system state block size
+    /// </summary>
+    public ushort GeneralSystemStateBlockSize { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the derived values block offset
+    /// </summary>
+    public ushort DerivedValuesBlockOffset { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the derived values block size
+    /// </summary>
+    public ushort DerivedValuesBlockSize { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the measurement data block offset
+    /// </summary>
+    public ushort MeasurementDataBlockOffset { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the measurement data block size
+    /// </summary>
+    public ushort MeasurementDataBlockSize { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the intrusion data block offset
+    /// </summary>
+    public ushort IntrusionDataBlockOffset { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the intrusion data block size
+    /// </summary>
+    public ushort IntrusionDataBlockSize { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the application data block offset
+    /// </summary>
+    public ushort ApplicationDataBlockOffset { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the application data block size
+    /// </summary>
+    public ushort ApplicationDataBlockSize { get; init; }
+    
+    /// <summary>
+    /// Gets whether the data header is empty
+    /// </summary>
+    public bool IsEmpty { get; init; }
+}
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/DatagramHeader.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/DatagramHeader.cs
@@ -0,0 +1,53 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains the contents of a UDP datagram header
+/// Used to match datagrams together to form a complete data packet
+/// </summary>
+public sealed class DatagramHeader
+{
+    /// <summary>
+    /// Size of the datagram header (24 bytes)
+    /// </summary>
+    public const int HeaderSize = 24;
+    
+    /// <summary>
+    /// Gets or sets the datagram marker
+    /// </summary>
+    public uint DatagramMarker { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the protocol
+    /// </summary>
+    public ushort Protocol { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the major version number
+    /// </summary>
+    public byte MajorVersion { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the minor version number
+    /// </summary>
+    public byte MinorVersion { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the total length of the data packet (excluding headers)
+    /// Total length of the (possibly fragmented) measurement data instance
+    /// </summary>
+    public uint TotalLength { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the identification of the data
+    /// Datagrams (fragments) that belong to the same measurement data output instance share the same identifier
+    /// The number increases with each measurement data instance generated per channel
+    /// </summary>
+    public uint Identification { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the fragment offset (in bytes)
+    /// Offset of the measurement data carried in this datagram (fragment) relative to the start of the overall measurement data output instance
+    /// </summary>
+    public uint FragmentOffset { get; init; }
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/DerivedValues.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/DerivedValues.cs
@@ -0,0 +1,47 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains the derived configuration of the measurement data channel
+/// </summary>
+public sealed class DerivedValues
+{
+    /// <summary>
+    /// Angle resolution constant to convert sensor input to the right frame (4194304.0)
+    /// </summary>
+    public const double AngleResolution = 4194304.0;
+    
+    /// <summary>
+    /// Gets or sets the multiplication factor to be applied to beam distance values to get distance in millimeter
+    /// </summary>
+    public ushort MultiplicationFactor { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the number of beams of the current scan
+    /// </summary>
+    public ushort NumberOfBeams { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the time of the scan (ms)
+    /// </summary>
+    public ushort ScanTime { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the start angle of the scan (radians)
+    /// </summary>
+    public double StartAngle { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the angular resolution between beams (radians)
+    /// </summary>
+    public double AngularBeamResolution { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the time between consecutive beams (microseconds)
+    /// </summary>
+    public uint InterbeamPeriod { get; init; }
+    
+    /// <summary>
+    /// Gets whether derived values are empty (not enabled)
+    /// </summary>
+    public bool IsEmpty { get; init; }
+}
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/DeviceName.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/DeviceName.cs
@@ -0,0 +1,13 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains the device name from a COLA2 variable command response
+/// </summary>
+public sealed class DeviceName
+{
+    /// <summary>
+    /// Gets or sets the device name string
+    /// </summary>
+    public string Name { get; init; } = string.Empty;
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/DeviceStatus.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/DeviceStatus.cs
@@ -0,0 +1,64 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Device status enumeration for SICK Safety Scanner
+/// </summary>
+public enum SopasDeviceStatus : byte
+{
+    /// <summary>
+    /// Unknown status
+    /// </summary>
+    Unknown = 0,
+    
+    /// <summary>
+    /// Start up status
+    /// </summary>
+    StartUp = 1,
+    
+    /// <summary>
+    /// Service mode
+    /// </summary>
+    ServiceMode = 2,
+    
+    /// <summary>
+    /// Normal operation
+    /// </summary>
+    NormalOperation = 3,
+    
+    /// <summary>
+    /// Suspended operation
+    /// </summary>
+    SuspendedOperation = 4,
+    
+    /// <summary>
+    /// Service recommended
+    /// </summary>
+    ServiceRecommended = 5,
+    
+    /// <summary>
+    /// Service required
+    /// </summary>
+    ServiceRequired = 6,
+    
+    /// <summary>
+    /// Recoverable error
+    /// </summary>
+    RecoverableError = 7,
+    
+    /// <summary>
+    /// Fatal error
+    /// </summary>
+    FatalError = 8
+}
+
+/// <summary>
+/// Contains the device status from a COLA2 variable command response
+/// </summary>
+public sealed class DeviceStatus
+{
+    /// <summary>
+    /// Gets or sets the device status value
+    /// </summary>
+    public SopasDeviceStatus Status { get; init; }
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/FieldData.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/FieldData.cs
@@ -0,0 +1,99 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains field data for warning and protective fields from a COLA2 variable command response
+/// </summary>
+public sealed class FieldData
+{
+    /// <summary>
+    /// Gets or sets whether the field data is valid
+    /// </summary>
+    public bool IsValid { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the version indicator (e.g., "V" for version)
+    /// </summary>
+    public string VersionCVersion { get; init; } = string.Empty;
+    
+    /// <summary>
+    /// Gets or sets the major version number
+    /// </summary>
+    public byte VersionMajorVersionNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the minor version number
+    /// </summary>
+    public byte VersionMinorVersionNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the version release number
+    /// </summary>
+    public byte VersionReleaseNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether the field data is defined
+    /// </summary>
+    public bool IsDefined { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the evaluation method
+    /// </summary>
+    public byte EvalMethod { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the multiple sampling value
+    /// </summary>
+    public ushort MultiSampling { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the object resolution
+    /// </summary>
+    public ushort ObjectResolution { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the index of the field set this field belongs to
+    /// </summary>
+    public ushort FieldSetIndex { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the length of the field name
+    /// </summary>
+    public uint NameLength { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the field name string
+    /// </summary>
+    public string FieldName { get; init; } = string.Empty;
+    
+    /// <summary>
+    /// Gets or sets whether this is a warning field
+    /// </summary>
+    public bool IsWarningField { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether this is a protective field
+    /// </summary>
+    public bool IsProtectiveField { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the beam distances vector (in mm)
+    /// One distance value per beam
+    /// </summary>
+    public IReadOnlyList<ushort> BeamDistances { get; init; } = Array.Empty<ushort>();
+    
+    /// <summary>
+    /// Gets or sets the start angle in radians
+    /// </summary>
+    public double StartAngle { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the end angle in radians
+    /// </summary>
+    public double EndAngle { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the angular beam resolution in radians
+    /// </summary>
+    public double AngularBeamResolution { get; init; }
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/FieldSets.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/FieldSets.cs
@@ -0,0 +1,43 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains field sets data from a COLA2 variable command response
+/// </summary>
+public sealed class FieldSets
+{
+    /// <summary>
+    /// Gets or sets the version indicator (e.g., "V" for version)
+    /// </summary>
+    public string VersionCVersion { get; init; } = string.Empty;
+    
+    /// <summary>
+    /// Gets or sets the major version number
+    /// </summary>
+    public byte VersionMajorVersionNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the minor version number
+    /// </summary>
+    public byte VersionMinorVersionNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the version release number
+    /// </summary>
+    public byte VersionReleaseNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the length of each field name (one per field set)
+    /// </summary>
+    public IReadOnlyList<uint> NameLengths { get; init; } = [];
+    
+    /// <summary>
+    /// Gets or sets the field names (one per field set)
+    /// </summary>
+    public IReadOnlyList<string> FieldNames { get; init; } = [];
+    
+    /// <summary>
+    /// Gets or sets whether each field set is defined
+    /// </summary>
+    public IReadOnlyList<bool> IsDefined { get; init; } = [];
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/FirmwareVersion.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/FirmwareVersion.cs
@@ -0,0 +1,13 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains the firmware version from a COLA2 variable command response
+/// </summary>
+public sealed class FirmwareVersion
+{
+    /// <summary>
+    /// Gets or sets the firmware version string
+    /// </summary>
+    public string Version { get; init; } = string.Empty;
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/GeneralSystemState.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/GeneralSystemState.cs
@@ -0,0 +1,87 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains the general system state including run/standby modes, cut-off paths, monitoring cases, and errors
+/// </summary>
+public sealed class GeneralSystemState
+{
+    /// <summary>
+    /// Gets or sets whether run mode is active
+    /// </summary>
+    public bool IsRunModeActive { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether standby mode is active
+    /// </summary>
+    public bool IsStandbyModeActive { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether a contamination warning exists
+    /// </summary>
+    public bool HasContaminationWarning { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether a contamination error exists
+    /// </summary>
+    public bool HasContaminationError { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether the reference contour status is true
+    /// </summary>
+    public bool ReferenceContourStatus { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether manipulation status is set to true
+    /// </summary>
+    public bool ManipulationStatus { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the state for all safe cut-off paths
+    /// </summary>
+    public IReadOnlyList<bool> SafeCutOffPaths { get; init; } = [];
+    
+    /// <summary>
+    /// Gets or sets the state of all non-safe cut-off paths
+    /// </summary>
+    public IReadOnlyList<bool> NonSafeCutOffPaths { get; init; } = [];
+    
+    /// <summary>
+    /// Gets or sets whether a cut-off path has to be reset
+    /// </summary>
+    public IReadOnlyList<bool> ResetRequiredCutOffPaths { get; init; } = [];
+    
+    /// <summary>
+    /// Gets or sets the current monitoring case number for table 1
+    /// </summary>
+    public byte CurrentMonitoringCaseNoTable1 { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the current monitoring case number for table 2
+    /// </summary>
+    public byte CurrentMonitoringCaseNoTable2 { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the current monitoring case number for table 3
+    /// </summary>
+    public byte CurrentMonitoringCaseNoTable3 { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the current monitoring case number for table 4
+    /// </summary>
+    public byte CurrentMonitoringCaseNoTable4 { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether an application error exists
+    /// </summary>
+    public bool HasApplicationError { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether a device error exists
+    /// </summary>
+    public bool HasDeviceError { get; init; }
+    
+    /// <summary>
+    /// Gets whether general system state is empty (not enabled)
+    /// </summary>
+    public bool IsEmpty { get; init; }
+}
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/IntrusionData.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/IntrusionData.cs
@@ -0,0 +1,17 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains all intrusion data
+/// </summary>
+public sealed class IntrusionData
+{
+    /// <summary>
+    /// Gets or sets all intrusion datums
+    /// </summary>
+    public IReadOnlyList<IntrusionDatum> IntrusionDatums { get; init; } = Array.Empty<IntrusionDatum>();
+    
+    /// <summary>
+    /// Gets whether intrusion data is empty (not enabled)
+    /// </summary>
+    public bool IsEmpty { get; init; }
+}
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/IntrusionDatum.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/IntrusionDatum.cs
@@ -0,0 +1,17 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Represents a single intrusion datum
+/// </summary>
+public sealed class IntrusionDatum
+{
+    /// <summary>
+    /// Gets or sets the size of the flag vector
+    /// </summary>
+    public int Size { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the flags vector (one flag per beam indicating intrusion)
+    /// </summary>
+    public IReadOnlyList<bool> Flags { get; init; } = Array.Empty<bool>();
+}
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/MeasurementData.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/MeasurementData.cs
@@ -0,0 +1,29 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains all scan points of a single measurement
+/// </summary>
+public sealed class MeasurementData
+{
+    /// <summary>
+    /// Gets the number of beams in this measurement
+    /// </summary>
+    public uint NumberOfBeams { get; init; }
+    
+    /// <summary>
+    /// Gets all scan points
+    /// </summary>
+    public IReadOnlyList<ScanPoint> ScanPoints { get; init; }
+    
+    /// <summary>
+    /// Gets whether measurement data is empty (not enabled)
+    /// </summary>
+    public bool IsEmpty { get; init; }
+    
+    public MeasurementData(uint numberOfBeams, IReadOnlyList<ScanPoint> scanPoints, bool isEmpty = false)
+    {
+        NumberOfBeams = numberOfBeams;
+        ScanPoints = scanPoints ?? Array.Empty<ScanPoint>();
+        IsEmpty = isEmpty;
+    }
+}
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/MonitoringCaseData.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/MonitoringCaseData.cs
@@ -0,0 +1,28 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains monitoring case data from a COLA2 variable command response
+/// </summary>
+public sealed class MonitoringCaseData
+{
+    /// <summary>
+    /// Gets or sets whether the monitoring case data is valid
+    /// </summary>
+    public bool IsValid { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the monitoring case number
+    /// </summary>
+    public ushort MonitoringCaseNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the field indices associated with this monitoring case
+    /// </summary>
+    public IReadOnlyList<ushort> FieldIndices { get; init; } = Array.Empty<ushort>();
+    
+    /// <summary>
+    /// Gets or sets whether each field is configured and valid
+    /// </summary>
+    public IReadOnlyList<bool> FieldsValid { get; init; } = Array.Empty<bool>();
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/OrderNumber.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/OrderNumber.cs
@@ -0,0 +1,13 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains the order number from a COLA2 variable command response
+/// </summary>
+public sealed class OrderNumber
+{
+    /// <summary>
+    /// Gets or sets the order number string
+    /// </summary>
+    public string Number { get; init; } = string.Empty;
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/PacketBuffer.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/PacketBuffer.cs
@@ -0,0 +1,116 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Packet buffer for COLA2 communication
+/// Thread-safe wrapper around byte buffer - matches C++ shared_ptr<vector const> semantics
+/// </summary>
+public sealed class PacketBuffer : IDisposable
+{
+    private readonly byte[] _buffer;
+    private readonly int _length;
+    private bool _disposed;
+    
+    /// <summary>
+    /// Maximum size of packet buffer (matches C++ MAXSIZE = 10000)
+    /// </summary>
+    public const int MaxSize = 10000;
+    
+    /// <summary>
+    /// Creates a new packet buffer from byte array
+    /// </summary>
+    public PacketBuffer(byte[] buffer, int length)
+    {
+        if (buffer == null)
+            throw new ArgumentNullException(nameof(buffer));
+        
+        if (length < 0 || length > buffer.Length)
+            throw new ArgumentOutOfRangeException(nameof(length));
+        
+        if (length > MaxSize)
+            throw new ArgumentException($"Length {length} exceeds MaxSize {MaxSize}", nameof(length));
+        
+        // Copy buffer to ensure immutability (like C++ shared_ptr<vector const>)
+        _buffer = new byte[length];
+        Array.Copy(buffer, 0, _buffer, 0, length);
+        _length = length;
+    }
+    
+    /// <summary>
+    /// Creates a new packet buffer from ReadOnlyMemory
+    /// </summary>
+    public PacketBuffer(ReadOnlyMemory<byte> memory)
+    {
+        if (memory.Length > MaxSize)
+            throw new ArgumentException($"Length {memory.Length} exceeds MaxSize {MaxSize}", nameof(memory));
+        
+        _buffer = memory.ToArray();
+        _length = _buffer.Length;
+    }
+    
+    /// <summary>
+    /// Creates a new packet buffer from ReadOnlySpan
+    /// </summary>
+    public PacketBuffer(ReadOnlySpan<byte> span)
+    {
+        if (span.Length > MaxSize)
+            throw new ArgumentException($"Length {span.Length} exceeds MaxSize {MaxSize}", nameof(span));
+        
+        _buffer = span.ToArray();
+        _length = _buffer.Length;
+    }
+    
+    /// <summary>
+    /// Gets the buffer as ReadOnlyMemory (zero-copy if possible)
+    /// </summary>
+    public ReadOnlyMemory<byte> GetBuffer()
+    {
+        if (_disposed)
+            throw new ObjectDisposedException(nameof(PacketBuffer));
+        
+        return new ReadOnlyMemory<byte>(_buffer, 0, _length);
+    }
+    
+    /// <summary>
+    /// Gets the buffer as ReadOnlySpan (zero-copy)
+    /// </summary>
+    public ReadOnlySpan<byte> GetBufferSpan()
+    {
+        if (_disposed)
+            throw new ObjectDisposedException(nameof(PacketBuffer));
+        
+        return new ReadOnlySpan<byte>(_buffer, 0, _length);
+    }
+    
+    /// <summary>
+    /// Gets the length of the buffer
+    /// </summary>
+    public int Length
+    {
+        get
+        {
+            if (_disposed)
+                throw new ObjectDisposedException(nameof(PacketBuffer));
+            
+            return _length;
+        }
+    }
+    
+    /// <summary>
+    /// Gets a copy of the buffer as byte array
+    /// </summary>
+    public byte[] ToArray()
+    {
+        if (_disposed)
+            throw new ObjectDisposedException(nameof(PacketBuffer));
+        
+        var result = new byte[_length];
+        Array.Copy(_buffer, 0, result, 0, _length);
+        return result;
+    }
+    
+    public void Dispose()
+    {
+        _disposed = true;
+    }
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ParsedPacketBuffer.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ParsedPacketBuffer.cs
@@ -0,0 +1,37 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Represents a PacketBuffer with a parsed DatagramHeader
+/// Used for merging fragmented UDP packets
+/// </summary>
+public sealed class ParsedPacketBuffer
+{
+    /// <summary>
+    /// Gets the packet buffer
+    /// </summary>
+    public PacketBuffer PacketBuffer { get; init; }
+    
+    /// <summary>
+    /// Gets the parsed datagram header
+    /// </summary>
+    public DatagramHeader DatagramHeader { get; init; }
+    
+    public ParsedPacketBuffer(PacketBuffer packetBuffer, DatagramHeader datagramHeader)
+    {
+        PacketBuffer = packetBuffer ?? throw new ArgumentNullException(nameof(packetBuffer));
+        DatagramHeader = datagramHeader ?? throw new ArgumentNullException(nameof(datagramHeader));
+    }
+    
+    /// <summary>
+    /// Compares two ParsedPacketBuffer instances by fragment offset for sorting
+    /// </summary>
+    public static int CompareByOffset(ParsedPacketBuffer x, ParsedPacketBuffer y)
+    {
+        if (x == null && y == null) return 0;
+        if (x == null) return -1;
+        if (y == null) return 1;
+        
+        return x.DatagramHeader.FragmentOffset.CompareTo(y.DatagramHeader.FragmentOffset);
+    }
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ProjectName.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ProjectName.cs
@@ -0,0 +1,13 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains the project name from a COLA2 variable command response
+/// </summary>
+public sealed class ProjectName
+{
+    /// <summary>
+    /// Gets or sets the project name string
+    /// </summary>
+    public string Name { get; init; } = string.Empty;
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/RequiredUserAction.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/RequiredUserAction.cs
@@ -0,0 +1,49 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains the required user action information from a COLA2 variable command response
+/// Provides additional information about the SOPAS state
+/// </summary>
+public sealed class RequiredUserAction
+{
+    /// <summary>
+    /// Gets or sets whether the configuration has to be confirmed
+    /// </summary>
+    public bool ConfirmConfiguration { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether the configuration has to be checked
+    /// </summary>
+    public bool CheckConfiguration { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether the environment has to be checked
+    /// </summary>
+    public bool CheckEnvironment { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether the application interfaces have to be checked
+    /// </summary>
+    public bool CheckApplicationInterfaces { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether the device has to be checked
+    /// </summary>
+    public bool CheckDevice { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether the setup procedure has to be run
+    /// </summary>
+    public bool RunSetupProcedure { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether the firmware has to be checked
+    /// </summary>
+    public bool CheckFirmware { get; init; }
+    
+    /// <summary>
+    /// Gets or sets whether the user has to wait
+    /// </summary>
+    public bool Wait { get; init; }
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ScanPoint.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/ScanPoint.cs
@@ -0,0 +1,66 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Represents a single scan point from the SICK Safety Scanner
+/// </summary>
+public sealed class ScanPoint
+{
+    /// <summary>
+    /// Gets the angle in sensor coordinates (radians)
+    /// </summary>
+    public double Angle { get; init; }
+    
+    /// <summary>
+    /// Gets the distance of the measured scanpoint (mm)
+    /// </summary>
+    public ushort Distance { get; init; }
+    
+    /// <summary>
+    /// Gets the reflectivity value (0-255)
+    /// </summary>
+    public byte Reflectivity { get; init; }
+    
+    /// <summary>
+    /// Gets whether the scanpoint is valid
+    /// </summary>
+    public bool IsValid { get; init; }
+    
+    /// <summary>
+    /// Gets whether the scanpoint is infinite (no object detected)
+    /// </summary>
+    public bool IsInfinite { get; init; }
+    
+    /// <summary>
+    /// Gets whether there is glare in the scanpoint
+    /// </summary>
+    public bool HasGlare { get; init; }
+    
+    /// <summary>
+    /// Gets whether the scanpoint detects a reflector
+    /// </summary>
+    public bool IsReflector { get; init; }
+    
+    /// <summary>
+    /// Gets whether the scanpoint is contaminated
+    /// </summary>
+    public bool IsContaminated { get; init; }
+    
+    /// <summary>
+    /// Gets whether there is a contamination warning
+    /// </summary>
+    public bool HasContaminationWarning { get; init; }
+    
+    public ScanPoint(double angle, ushort distance, byte reflectivity, bool isValid, 
+        bool isInfinite, bool hasGlare, bool isReflector, bool isContaminated, bool hasContaminationWarning)
+    {
+        Angle = angle;
+        Distance = distance;
+        Reflectivity = reflectivity;
+        IsValid = isValid;
+        IsInfinite = isInfinite;
+        HasGlare = hasGlare;
+        IsReflector = isReflector;
+        IsContaminated = isContaminated;
+        HasContaminationWarning = hasContaminationWarning;
+    }
+}
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/SensorDataFeatures.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/SensorDataFeatures.cs
@@ -0,0 +1,80 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Sensor data feature flags constants and helper methods
+/// Used to configure which data blocks should be included in scan data output
+/// </summary>
+public static class SensorDataFeatures
+{
+    /// <summary>
+    /// All features enabled (0b11111)
+    /// </summary>
+    public const ushort All = 0b11111;
+    
+    /// <summary>
+    /// No features enabled
+    /// </summary>
+    public const ushort None = 0;
+    
+    /// <summary>
+    /// General system state feature (bit 0)
+    /// </summary>
+    public const ushort GeneralSystemState = 1 << 0;
+    
+    /// <summary>
+    /// Derived settings feature (bit 1)
+    /// </summary>
+    public const ushort DerivedSettings = 1 << 1;
+    
+    /// <summary>
+    /// Measurement data feature (bit 2)
+    /// </summary>
+    public const ushort MeasurementData = 1 << 2;
+    
+    /// <summary>
+    /// Intrusion data feature (bit 3)
+    /// </summary>
+    public const ushort IntrusionData = 1 << 3;
+    
+    /// <summary>
+    /// Application data feature (bit 4)
+    /// </summary>
+    public const ushort ApplicationData = 1 << 4;
+    
+    /// <summary>
+    /// Checks if a certain feature flag is set in the bitset
+    /// </summary>
+    /// <param name="bitset">The bitset expressed as ushort</param>
+    /// <param name="flag">The feature flag to check</param>
+    /// <returns>True if the flag is set, false otherwise</returns>
+    public static bool IsFlagSet(ushort bitset, ushort flag)
+    {
+        return (bitset & flag) == flag;
+    }
+    
+    /// <summary>
+    /// Converts boolean indicators (for the sensor features to be streamed) into a bitset
+    /// </summary>
+    /// <param name="generalSystemState">Indicator for the general system state channel</param>
+    /// <param name="derivedSettings">Turn on/off derived values</param>
+    /// <param name="measurementData">Turn on/off measurement data</param>
+    /// <param name="intrusionData">Turn on/off safety field intrusion data</param>
+    /// <param name="applicationData">Turn on/off application data</param>
+    /// <returns>A bitset containing indication flags for each feature channel</returns>
+    public static ushort ToFeatureFlags(
+        bool generalSystemState,
+        bool derivedSettings,
+        bool measurementData,
+        bool intrusionData,
+        bool applicationData)
+    {
+        return (ushort)(
+            (generalSystemState ? GeneralSystemState : 0) +
+            (derivedSettings ? DerivedSettings : 0) +
+            (measurementData ? MeasurementData : 0) +
+            (intrusionData ? IntrusionData : 0) +
+            (applicationData ? ApplicationData : 0)
+        );
+    }
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/SerialNumber.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/SerialNumber.cs
@@ -0,0 +1,13 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains the serial number from a COLA2 variable command response
+/// </summary>
+public sealed class SerialNumber
+{
+    /// <summary>
+    /// Gets or sets the serial number string
+    /// </summary>
+    public string Number { get; init; } = string.Empty;
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/StatusOverview.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/StatusOverview.cs
@@ -0,0 +1,186 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Device state enumeration for SICK Safety Scanner
+/// </summary>
+public enum DeviceState : byte
+{
+    /// <summary>
+    /// Normal state
+    /// </summary>
+    Normal = 0,
+    
+    /// <summary>
+    /// Error state
+    /// </summary>
+    Error = 1,
+    
+    /// <summary>
+    /// Initialization state
+    /// </summary>
+    Initialization = 2,
+    
+    /// <summary>
+    /// Shutdown state
+    /// </summary>
+    Shutdown = 3,
+    
+    /// <summary>
+    /// Optics cover calibration state
+    /// </summary>
+    OpticsCoverCalibration = 4
+}
+
+/// <summary>
+/// Config state enumeration for SICK Safety Scanner
+/// </summary>
+public enum ConfigState : byte
+{
+    /// <summary>
+    /// Unknown config state
+    /// </summary>
+    Unknown = 0,
+    
+    /// <summary>
+    /// Config required
+    /// </summary>
+    ConfigRequired = 1,
+    
+    /// <summary>
+    /// Config in progress
+    /// </summary>
+    ConfigInProgress = 2,
+    
+    /// <summary>
+    /// Not verified
+    /// </summary>
+    NotVerified = 3,
+    
+    /// <summary>
+    /// Rejected
+    /// </summary>
+    Rejected = 4,
+    
+    /// <summary>
+    /// Verified
+    /// </summary>
+    Verified = 5,
+    
+    /// <summary>
+    /// Internal error
+    /// </summary>
+    InternalError = 6,
+    
+    /// <summary>
+    /// Verification in progress
+    /// </summary>
+    VerificationInProgress = 7
+}
+
+/// <summary>
+/// Application state enumeration for SICK Safety Scanner
+/// </summary>
+public enum ApplicationState : byte
+{
+    /// <summary>
+    /// Application stopped
+    /// </summary>
+    Stopped = 0,
+    
+    /// <summary>
+    /// Application starting
+    /// </summary>
+    Starting = 1,
+    
+    /// <summary>
+    /// Waiting for partners
+    /// </summary>
+    WaitingForPartners = 2,
+    
+    /// <summary>
+    /// Waiting for inputs
+    /// </summary>
+    WaitingForInputs = 3,
+    
+    /// <summary>
+    /// Application started
+    /// </summary>
+    Started = 4,
+    
+    /// <summary>
+    /// Sleep mode
+    /// </summary>
+    SleepMode = 5
+}
+
+/// <summary>
+/// Contains the status overview from a COLA2 variable command response
+/// </summary>
+public sealed class StatusOverview
+{
+    /// <summary>
+    /// Gets or sets the version indicator (e.g., "V" for version)
+    /// </summary>
+    public string VersionCVersion { get; init; } = string.Empty;
+    
+    /// <summary>
+    /// Gets or sets the major version number
+    /// </summary>
+    public byte VersionMajorVersionNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the minor version number
+    /// </summary>
+    public byte VersionMinorVersionNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the version release number
+    /// </summary>
+    public byte VersionReleaseNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the device state
+    /// </summary>
+    public DeviceState DeviceState { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the config state
+    /// </summary>
+    public ConfigState ConfigState { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the application state
+    /// </summary>
+    public ApplicationState ApplicationState { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the current time power on count
+    /// </summary>
+    public uint CurrentTimePowerOnCount { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the current time (milliseconds since midnight)
+    /// </summary>
+    public uint CurrentTimeTime { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the current date (days since 1980-01-01)
+    /// </summary>
+    public ushort CurrentTimeDate { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the error info code
+    /// </summary>
+    public uint ErrorInfoCode { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the error info time (milliseconds since midnight)
+    /// </summary>
+    public uint ErrorInfoTime { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the error info date (days since 1980-01-01)
+    /// </summary>
+    public ushort ErrorInfoDate { get; init; }
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/TypeCode.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/TypeCode.cs
@@ -0,0 +1,65 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Interface type enumeration for SICK Safety Scanner
+/// </summary>
+public enum InterfaceType : byte
+{
+    /// <summary>
+    /// EFI-pro interface
+    /// </summary>
+    EfiPro = 0,
+    
+    /// <summary>
+    /// EtherNet/IP interface
+    /// </summary>
+    EthernetIp = 1,
+    
+    /// <summary>
+    /// Profinet interface
+    /// </summary>
+    Profinet = 3,
+    
+    /// <summary>
+    /// Non-safe Ethernet interface
+    /// </summary>
+    NonSafeEthernet = 4
+}
+
+/// <summary>
+/// Range enumeration for SICK Safety Scanner
+/// </summary>
+public enum RangeType
+{
+    /// <summary>
+    /// Normal range (40m)
+    /// </summary>
+    NormalRange = 40,
+    
+    /// <summary>
+    /// Long range (64m)
+    /// </summary>
+    LongRange = 64
+}
+
+/// <summary>
+/// Contains the type code from a COLA2 variable command response
+/// </summary>
+public sealed class TypeCode
+{
+    /// <summary>
+    /// Gets or sets the type code string
+    /// </summary>
+    public string Code { get; init; } = string.Empty;
+    
+    /// <summary>
+    /// Gets or sets the interface type
+    /// </summary>
+    public InterfaceType InterfaceType { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the maximum range in meters
+    /// </summary>
+    public double MaxRange { get; init; }
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/UdpScanData.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/UdpScanData.cs
@@ -0,0 +1,141 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains all data blocks from a UDP scan data packet
+/// </summary>
+public sealed class UdpScanData
+{
+    /// <summary>
+    /// Gets or sets the data header
+    /// </summary>
+    public DataHeader Header { get; init; } = new DataHeader();
+    
+    /// <summary>
+    /// Gets or sets the general system state
+    /// </summary>
+    public GeneralSystemState? GeneralSystemState { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the derived values (configuration of data output)
+    /// </summary>
+    public DerivedValues? DerivedValues { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the measurement data (scan points)
+    /// </summary>
+    public MeasurementData? MeasurementData { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the intrusion data (field interruption)
+    /// </summary>
+    public IntrusionData? IntrusionData { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the application data (inputs and outputs)
+    /// </summary>
+    public ApplicationData? ApplicationData { get; init; }
+    
+    /// <summary>
+    /// Gets the timestamp from the header as DateTime (if available)
+    /// Returns UTC DateTime to ensure consistency with Cartographer timestamp handling
+    /// 
+    /// SICK Timestamp Format (according to official documentation):
+    /// - TimestampDate (ushort, offset 24): 
+    ///   * If UTC server is time master: Days since 1972-01-01
+    ///   * If Safety Designer device is time master: Number of full 24-hour cycles of time master
+    ///   * If no time sync: Number of full 24-hour cycles since device was switched on
+    /// - TimestampTime (uint, offset 28): Milliseconds since midnight (or start of 24-hour cycle)
+    /// 
+    /// Since we cannot detect time sync status from UDP packet, we try both base dates:
+    /// 1. Try 1972-01-01 (UTC server case) - most common in production
+    /// 2. If result is unreasonable, try 1980-01-01 (legacy/fallback)
+    /// 3. If TimestampDate = 0: Use current date as base
+    /// </summary>
+    public DateTime? Timestamp
+    {
+        get
+        {
+            if (Header.TimestampDate == 0 && Header.TimestampTime == 0)
+                return null;
+            
+            DateTime baseDate;
+            string baseDateSource = "unknown";
+            
+            if (Header.TimestampDate == 0)
+            {
+                // Date not set on device - use current date as base
+                var now = DateTime.UtcNow;
+                baseDate = new DateTime(now.Year, now.Month, now.Day, 0, 0, 0, DateTimeKind.Utc);
+                baseDateSource = "current_date";
+            }
+            else
+            {
+                // Try 1972-01-01 first (UTC server case - most common according to documentation)
+                var baseDate1972 = new DateTime(1972, 1, 1, 0, 0, 0, DateTimeKind.Utc);
+                var time1972 = baseDate1972.AddDays(Header.TimestampDate).AddMilliseconds(Header.TimestampTime);
+                
+                // Check if timestamp with 1972 base is reasonable (within 1 day of now)
+                var currentTimeTicks = DateTime.UtcNow.Ticks;
+                var time1972Ticks = time1972.Ticks;
+                var diff1972Ms = Math.Abs(time1972Ticks - currentTimeTicks) / TimeSpan.TicksPerMillisecond;
+                
+                if (diff1972Ms <= 86400000) // Within 1 day - reasonable
+                {
+                    baseDate = baseDate1972;
+                    baseDateSource = "1972-01-01 (UTC server)";
+                }
+                else
+                {
+                    // Try 1980-01-01 as fallback (legacy format or no UTC sync)
+                    var baseDate1980 = new DateTime(1980, 1, 1, 0, 0, 0, DateTimeKind.Utc);
+                    var time1980 = baseDate1980.AddDays(Header.TimestampDate).AddMilliseconds(Header.TimestampTime);
+                    var time1980Ticks = time1980.Ticks;
+                    var diff1980Ms = Math.Abs(time1980Ticks - currentTimeTicks) / TimeSpan.TicksPerMillisecond;
+                    
+                    if (diff1980Ms <= diff1972Ms) // 1980 is closer to now
+                    {
+                        baseDate = baseDate1980;
+                        baseDateSource = "1980-01-01 (legacy/fallback)";
+                    }
+                    else
+                    {
+                        // 1972 is closer, use it even if not perfect
+                        baseDate = baseDate1972;
+                        baseDateSource = "1972-01-01 (best match)";
+                    }
+                }
+            }
+            
+            // Add days and milliseconds to base date
+            var time = baseDate.AddDays(Header.TimestampDate).AddMilliseconds(Header.TimestampTime);
+            
+            // Validate: timestamp should not be too far in the past or future
+            var nowTicks = DateTime.UtcNow.Ticks;
+            var timeTicks = time.Ticks;
+            var diffMs = Math.Abs(timeTicks - nowTicks) / TimeSpan.TicksPerMillisecond;
+            
+            // Debug logging for timestamp calculation
+            if (diffMs > 3600000) // Log if more than 1 hour off
+            {
+                var timestampDateStr = Header.TimestampDate == 0 ? "0 (using current date)" : Header.TimestampDate.ToString();
+                var timestampTimeStr = $"{Header.TimestampTime}ms ({Header.TimestampTime / 3600000.0:F2} hours)";
+                var calculatedTime = time.ToString("yyyy-MM-dd HH:mm:ss.fff");
+                System.Diagnostics.Debug.WriteLine(
+                    $"[SICK Timestamp Debug] TimestampDate={timestampDateStr}, TimestampTime={timestampTimeStr}, " +
+                    $"BaseDateSource={baseDateSource}, CalculatedTime={calculatedTime}, " +
+                    $"DiffFromNow={diffMs / 3600000.0:F2} hours");
+            }
+            
+            // If timestamp is more than 1 day off, it's likely incorrect
+            // This can happen if device date is not set correctly or wrong base date
+            if (diffMs > 86400000) // 1 day in milliseconds
+            {
+                // Use current time instead of potentially incorrect device timestamp
+                return DateTime.UtcNow;
+            }
+            
+            // Ensure the result is marked as UTC
+            return DateTime.SpecifyKind(time, DateTimeKind.Utc);
+        }
+    }
+}
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/UdpScanDataEventArgs.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/UdpScanDataEventArgs.cs
@@ -0,0 +1,24 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// EventArgs for UdpScanDataReceived event
+/// </summary>
+public sealed class UdpScanDataEventArgs : EventArgs
+{
+    /// <summary>
+    /// Gets the timestamp when scan data was received
+    /// </summary>
+    public DateTime Timestamp { get; init; }
+
+    /// <summary>
+    /// Gets the parsed UDP scan data
+    /// </summary>
+    public UdpScanData ScanData { get; init; }
+
+    public UdpScanDataEventArgs(DateTime timestamp, UdpScanData scanData)
+    {
+        Timestamp = timestamp;
+        ScanData = scanData ?? throw new ArgumentNullException(nameof(scanData));
+    }
+}
+
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/UserName.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/UserName.cs
@@ -0,0 +1,38 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Contains the user name from a COLA2 variable command response
+/// </summary>
+public sealed class UserName
+{
+    /// <summary>
+    /// Gets or sets the version indicator (e.g., "V" for version)
+    /// </summary>
+    public string VersionCVersion { get; init; } = string.Empty;
+    
+    /// <summary>
+    /// Gets or sets the major version number
+    /// </summary>
+    public byte VersionMajorVersionNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the minor version number
+    /// </summary>
+    public byte VersionMinorVersionNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the version release number
+    /// </summary>
+    public byte VersionReleaseNumber { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the length of the user name
+    /// </summary>
+    public uint NameLength { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the user name string
+    /// </summary>
+    public string Name { get; init; } = string.Empty;
+}
+