Initial commit

srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/Cola2/Commands/CreateSessionCommand.cs

@@ -0,0 +1,50 @@
+using Sick.SafetyScanners.Helpers;
+
+namespace Sick.SafetyScanners.Cola2.Commands;
+
+/// <summary>
+/// Command to create a new COLA2 session
+/// </summary>
+public sealed class CreateSessionCommand : CommandBase
+{
+    private const byte HeartbeatTimeoutSeconds = 60;
+    private const uint ClientId = 1;
+    
+    public CreateSessionCommand() 
+        : base(0x4F, 0x58) // 'O' and 'X' in ASCII
+    {
+    }
+    
+    public override bool CanBeExecutedWithoutSessionId => true;
+    
+    protected override ReadOnlyMemory<byte> AddTelegramData()
+    {
+        var data = new byte[5];
+        var span = data.AsSpan();
+        
+        // Heartbeat timeout (1 byte)
+        ReadWriteHelper.WriteUint8BigEndian(span, 0, HeartbeatTimeoutSeconds);
+        
+        // Client ID (4 bytes)
+        ReadWriteHelper.WriteUint32BigEndian(span, 1, ClientId);
+        
+        return data;
+    }
+    
+    protected override bool ProcessReplyInternal(ReadOnlyMemory<byte> replyData, 
+        byte replyCommandType, byte replyCommandMode)
+    {
+        // Reply should be 'O' (0x4F) and 'A' (0x41) for Acknowledge
+        // Note: Session ID is NOT in reply data, it's in the packet header (offset 10)
+        // In C++ reference, ParseTCPPacket reads session ID from header and sets it to Command
+        // In C# implementation, Cola2Session extracts it from parseResult.SessionId
+        if ((replyCommandType == 0x4F && replyCommandMode == 0x41) ||
+            (replyCommandType == 'O' && replyCommandMode == 'A'))
+        {
+            return true;
+        }
+        
+        return false;
+    }
+}
+