Initial commit

srcs/RobotNet10/RobotApp/Communication/Sick.Tim781s.Colab/ColaB/ColaBSession.cs

@@ -0,0 +1,119 @@
+using Sick.Tim781s.Colab.Commands;
+using Sick.Tim781s.Colab.Helpers;
+using Sick.Tim781s.Colab.Interfaces;
+
+namespace Sick.Tim781s.Colab;
+
+/// <summary>
+/// ColaB session manager for handling send, receive and process telegrams
+/// </summary>
+public sealed class ColaBSession : IDisposable
+{
+    private readonly ITcpClient _tcpClient;
+    private readonly object _lock = new();
+    private bool _disposed;
+
+    public bool IsOpen
+    {
+        get
+        {
+            lock (_lock)
+            {
+                return _tcpClient.IsConnected;
+            }
+        }
+    }
+
+    public ColaBSession(ITcpClient tcpClient)
+    {
+        _tcpClient = tcpClient ?? throw new ArgumentNullException(nameof(tcpClient));
+    }
+
+    /// <summary>
+    /// Opens the session (connects to scanner)
+    /// </summary>
+    public void Open(int timeoutMs = 5000)
+    {
+        if (_disposed)
+            throw new ObjectDisposedException(nameof(ColaBSession));
+
+        if (IsOpen)
+            return;
+
+        _tcpClient.Connect(timeoutMs);
+    }
+
+    /// <summary>
+    /// Closes the session (disconnects from scanner)
+    /// </summary>
+    public void Close()
+    {
+        if (_disposed)
+            return;
+
+        _tcpClient.Disconnect();
+    }
+
+    /// <summary>
+    /// Executes a command and waits for reply
+    /// </summary>
+    public void ExecuteCommand(IColaBCommand command, int timeoutMs = 5000)
+    {
+        if (_disposed)
+            throw new ObjectDisposedException(nameof(ColaBSession));
+
+        if (!IsOpen)
+            throw new InvalidOperationException("Session is not open");
+
+        // Create ColaB frame from command
+        var commandData = command.GetCommandData();
+        var frame = ColaBHelper.CreateFrame(commandData.Span);
+
+        // Send frame
+        _tcpClient.Send(frame);
+
+        // Receive reply with retry logic
+        byte[]? replyFrame = null;
+        int retries = 3;
+        for (int i = 0; i < retries; i++)
+        {
+            try
+            {
+                replyFrame = _tcpClient.Receive(timeoutMs);
+                break;
+            }
+            catch (TimeoutException) when (i < retries - 1)
+            {
+                // Retry on timeout
+                System.Threading.Thread.Sleep(100);
+                continue;
+            }
+        }
+
+        if (replyFrame == null || replyFrame.Length == 0)
+        {
+            throw new TimeoutException($"No reply received after {retries} attempts");
+        }
+
+        // Parse frame and extract command data
+        if (ColaBHelper.TryParseFrame(replyFrame, out var replyData, out _))
+        {
+            // Process reply
+            command.ProcessReply(replyData.ToArray());
+        }
+        else
+        {
+            throw new InvalidOperationException($"Failed to parse reply frame. Raw reply: {BitConverter.ToString(replyFrame.Take(64).ToArray())}");
+        }
+    }
+
+    public void Dispose()
+    {
+        if (_disposed)
+            return;
+
+        Close();
+        _disposed = true;
+    }
+}
+