Initial commit

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

@@ -0,0 +1,53 @@
+using Sick.SafetyScanners.Helpers;
+
+namespace Sick.SafetyScanners.Cola2.Commands;
+
+/// <summary>
+/// Command to make the scanner flash/blink to help locate it
+/// </summary>
+public sealed class FindMeCommand : MethodCommand
+{
+    private readonly ushort _blinkTime;
+    
+    public FindMeCommand(ushort blinkTime)
+        : base(14) // Method index for FindMe
+    {
+        _blinkTime = blinkTime;
+    }
+    
+    public ushort BlinkTime => _blinkTime;
+    
+    public override bool CanBeExecutedWithoutSessionId => true;
+    
+    protected override ReadOnlyMemory<byte> AddTelegramData()
+    {
+        // Base method index (2 bytes) + blink time (2 bytes)
+        var data = new byte[2 + 2];
+        var span = data.AsSpan();
+        
+        // Write base method index (from MethodCommand.AddTelegramData)
+        ReadWriteHelper.WriteUint16LittleEndian(span, 0, MethodIndex);
+        
+        // Write blink time (offset 2, 2 bytes, little endian)
+        ReadWriteHelper.WriteUint16LittleEndian(span, 2, _blinkTime);
+        
+        return data;
+    }
+    
+    protected override bool ProcessReplyInternal(ReadOnlyMemory<byte> replyData, 
+        byte replyCommandType, byte replyCommandMode)
+    {
+        // According to C++ reference, this inverts the result from base class
+        // Error response: 'E' (0x45) and 'I' (0x49)
+        if ((replyCommandType == 0x45 && replyCommandMode == 0x49) ||
+            (replyCommandType == 'E' && replyCommandMode == 'I'))
+        {
+            return false;
+        }
+        
+        // Success: 'A' (0x41) and 'I' (0x49)
+        return (replyCommandType == 0x41 && replyCommandMode == 0x49) ||
+               (replyCommandType == 'A' && replyCommandMode == 'I');
+    }
+}
+