Initial commit

srcs/RobotNet10/RobotApp/Communication/Sick.Tim781s.Colab/Tim781sScanner.cs

@@ -0,0 +1,133 @@
+using Sick.Tim781s.Colab;
+using Sick.Tim781s.Colab.Commands;
+using Sick.Tim781s.Colab.Communication;
+
+namespace Sick.Tim781s.Colab;
+
+/// <summary>
+/// Main class for communicating with SICK TiM781s scanner using ColaB protocol
+/// </summary>
+public sealed class Tim781sScanner : IDisposable
+{
+    private readonly ColaBSession _session;
+    private readonly TcpClient _tcpClient;
+    private bool _disposed;
+
+    public Tim781sScanner(string ipAddress, ushort port = 2112)
+    {
+        _tcpClient = new TcpClient(ipAddress, port);
+        _session = new ColaBSession(_tcpClient);
+    }
+
+    /// <summary>
+    /// Connects to the scanner
+    /// </summary>
+    public void Connect(int timeoutMs = 5000)
+    {
+        _session.Open(timeoutMs);
+    }
+
+    /// <summary>
+    /// Disconnects from the scanner
+    /// </summary>
+    public void Disconnect()
+    {
+        _session.Close();
+    }
+
+    /// <summary>
+    /// Gets whether the scanner is connected
+    /// </summary>
+    public bool IsConnected => _session.IsOpen;
+
+    /// <summary>
+    /// Reads device identification
+    /// </summary>
+    public string? ReadDeviceIdent(int timeoutMs = 5000)
+    {
+        var command = new ReadCommand("DeviceIdent");
+        _session.ExecuteCommand(command, timeoutMs);
+        return command.ReplyValue;
+    }
+
+    /// <summary>
+    /// Reads serial number
+    /// </summary>
+    public string? ReadSerialNumber(int timeoutMs = 5000)
+    {
+        var command = new ReadCommand("SerialNumber");
+        _session.ExecuteCommand(command, timeoutMs);
+        return command.ReplyValue;
+    }
+
+    /// <summary>
+    /// Reads firmware version
+    /// </summary>
+    public string? ReadFirmwareVersion(int timeoutMs = 5000)
+    {
+        var command = new ReadCommand("FirmwareVersion");
+        _session.ExecuteCommand(command, timeoutMs);
+        return command.ReplyValue;
+    }
+
+    /// <summary>
+    /// Starts measurement
+    /// </summary>
+    public bool StartMeasurement(int timeoutMs = 5000)
+    {
+        var command = new MethodCommand("mNEVAChangeState", "1"); // 1 = measurement mode
+        _session.ExecuteCommand(command, timeoutMs);
+        return command.WasSuccessful;
+    }
+
+    /// <summary>
+    /// Stops measurement
+    /// </summary>
+    public bool StopMeasurement(int timeoutMs = 5000)
+    {
+        var command = new MethodCommand("mNEVAChangeState", "0"); // 0 = standby mode
+        _session.ExecuteCommand(command, timeoutMs);
+        return command.WasSuccessful;
+    }
+
+    /// <summary>
+    /// Executes a custom read command
+    /// </summary>
+    public string? ExecuteRead(string variableName, int timeoutMs = 5000)
+    {
+        var command = new ReadCommand(variableName);
+        _session.ExecuteCommand(command, timeoutMs);
+        return command.ReplyValue;
+    }
+
+    /// <summary>
+    /// Executes a custom write command
+    /// </summary>
+    public bool ExecuteWrite(string variableName, string value, int timeoutMs = 5000)
+    {
+        var command = new WriteCommand(variableName, value);
+        _session.ExecuteCommand(command, timeoutMs);
+        return command.WasSuccessful;
+    }
+
+    /// <summary>
+    /// Executes a custom method command
+    /// </summary>
+    public string? ExecuteMethod(string methodName, params string[] parameters)
+    {
+        var command = new MethodCommand(methodName, parameters);
+        _session.ExecuteCommand(command);
+        return command.ReplyValue;
+    }
+
+    public void Dispose()
+    {
+        if (_disposed)
+            return;
+
+        _session?.Dispose();
+        _tcpClient?.Dispose();
+        _disposed = true;
+    }
+}
+