Initial commit

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;
+    }
+}
+