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.Tim781s.Colab/Commands/ReadCommand.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.Tim781s.Colab/Commands/ReadCommand.cs
@@ -0,0 +1,77 @@
+using System.Text;
+using Sick.Tim781s.Colab.Helpers;
+
+namespace Sick.Tim781s.Colab.Commands;
+
+/// <summary>
+/// Command to read a value from the scanner (sRN - Read by Name)
+/// </summary>
+public sealed class ReadCommand : CommandBase
+{
+    public ReadCommand(string variableName) 
+        : base($"sRN {variableName}")
+    {
+        VariableName = variableName;
+    }
+
+    public string VariableName { get; }
+
+    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.Slice(0, 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;
+    }
+}
+