Initial commit

2026-07-03 16:37:12 +07:00
commit 63b8c1ea8b
1931 changed files with 640587 additions and 0 deletions
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataProcessing/ParseDataHeader.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataProcessing/ParseDataHeader.cs
@@ -0,0 +1,53 @@
+using Sick.SafetyScanners.DataStructures;
+using Sick.SafetyScanners.Helpers;
+
+namespace Sick.SafetyScanners.DataProcessing;
+
+/// <summary>
+/// Parser for the data header from UDP packets
+/// Thread-safe implementation
+/// </summary>
+public sealed class ParseDataHeader
+{
+    /// <summary>
+    /// Parses the data header from a UDP sequence
+    /// </summary>
+    public DataHeader ParseUdpSequence(PacketBuffer buffer)
+    {
+        if (buffer == null)
+            throw new ArgumentNullException(nameof(buffer));
+        
+        var bufferData = buffer.GetBuffer();
+        if (bufferData.Length < 52) // Minimum header size
+            throw new ArgumentException($"Buffer too small (got {bufferData.Length}, expected at least 52)", nameof(buffer));
+        
+        var span = bufferData.Span;
+        
+        return new DataHeader
+        {
+            VersionIndicator = ReadWriteHelper.ReadUint8LittleEndian(span, 0),
+            VersionMajor = ReadWriteHelper.ReadUint8LittleEndian(span, 1),
+            VersionMinor = ReadWriteHelper.ReadUint8LittleEndian(span, 2),
+            VersionRelease = ReadWriteHelper.ReadUint8LittleEndian(span, 3),
+            SerialNumberOfDevice = ReadWriteHelper.ReadUint32LittleEndian(span, 4),
+            SerialNumberOfSystemPlug = ReadWriteHelper.ReadUint32LittleEndian(span, 8),
+            ChannelNumber = ReadWriteHelper.ReadUint8LittleEndian(span, 12),
+            // Offset 13-15 reserved
+            SequenceNumber = ReadWriteHelper.ReadUint32LittleEndian(span, 16),
+            ScanNumber = ReadWriteHelper.ReadUint32LittleEndian(span, 20),
+            TimestampDate = ReadWriteHelper.ReadUint16LittleEndian(span, 24),
+            TimestampTime = ReadWriteHelper.ReadUint32LittleEndian(span, 28),
+            GeneralSystemStateBlockOffset = ReadWriteHelper.ReadUint16LittleEndian(span, 32),
+            GeneralSystemStateBlockSize = ReadWriteHelper.ReadUint16LittleEndian(span, 34),
+            DerivedValuesBlockOffset = ReadWriteHelper.ReadUint16LittleEndian(span, 36),
+            DerivedValuesBlockSize = ReadWriteHelper.ReadUint16LittleEndian(span, 38),
+            MeasurementDataBlockOffset = ReadWriteHelper.ReadUint16LittleEndian(span, 40),
+            MeasurementDataBlockSize = ReadWriteHelper.ReadUint16LittleEndian(span, 42),
+            IntrusionDataBlockOffset = ReadWriteHelper.ReadUint16LittleEndian(span, 44),
+            IntrusionDataBlockSize = ReadWriteHelper.ReadUint16LittleEndian(span, 46),
+            ApplicationDataBlockOffset = ReadWriteHelper.ReadUint16LittleEndian(span, 48),
+            ApplicationDataBlockSize = ReadWriteHelper.ReadUint16LittleEndian(span, 50),
+            IsEmpty = false
+        };
+    }
+}