Initial commit

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

@@ -0,0 +1,46 @@
+using Sick.SafetyScanners.Helpers;
+
+namespace Sick.SafetyScanners.Cola2.Commands;
+
+/// <summary>
+/// Command to read a variable from the sensor by index
+/// </summary>
+public sealed class VariableCommand : CommandBase
+{
+    private readonly ushort _variableIndex;
+    
+    public VariableCommand(ushort variableIndex) 
+        : base(0x52, 0x49) // 'R' and 'I' in ASCII (Read by Index)
+    {
+        _variableIndex = variableIndex;
+    }
+    
+    public ushort VariableIndex => _variableIndex;
+    
+    public override bool CanBeExecutedWithoutSessionId => false;
+    
+    protected override ReadOnlyMemory<byte> AddTelegramData()
+    {
+        var data = new byte[2];
+        var span = data.AsSpan();
+        
+        // Variable index (2 bytes, little endian)
+        ReadWriteHelper.WriteUint16LittleEndian(span, 0, _variableIndex);
+        
+        return data;
+    }
+    
+    protected override bool ProcessReplyInternal(ReadOnlyMemory<byte> replyData, 
+        byte replyCommandType, byte replyCommandMode)
+    {
+        // Reply should be 'R' (0x52) and 'A' (0x41) for Acknowledge
+        if ((replyCommandType == 0x52 && replyCommandMode == 0x41) ||
+            (replyCommandType == 'R' && replyCommandMode == 'A'))
+        {
+            return true;
+        }
+        
+        return false;
+    }
+}
+