Initial commit

srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataProcessing/ParseFieldSetsData.cs

@@ -0,0 +1,93 @@
+using Sick.SafetyScanners.DataStructures;
+using Sick.SafetyScanners.Helpers;
+using System.Text;
+
+namespace Sick.SafetyScanners.DataProcessing;
+
+/// <summary>
+/// Parser for FieldSetsData response from COLA2 variable command
+/// Thread-safe implementation
+/// </summary>
+public sealed class ParseFieldSetsData
+{
+    /// <summary>
+    /// Parses the field sets data from a TCP sequence (COLA2 response)
+    /// Matches: ParseFieldSetsData::parseTCPSequence in C++
+    /// </summary>
+    public FieldSets ParseTcpSequence(PacketBuffer buffer)
+    {
+        var span = buffer.GetBufferSpan();
+        uint arrayLength = ReadArrayLength(span);
+        
+        var nameLengths = new List<uint>((int)arrayLength);
+        var fieldNames = new List<string>((int)arrayLength);
+        var isDefined = new List<bool>((int)arrayLength);
+        
+        for (uint i = 0; i < arrayLength; i++)
+        {
+            uint nameLength = ReadWriteHelper.ReadUint32LittleEndian(span, 8 + (int)(i * 104));
+            nameLengths.Add(nameLength);
+            
+            var nameBuilder = new StringBuilder((int)nameLength);
+            for (uint j = 0; j < nameLength; j++)
+            {
+                byte ch = ReadWriteHelper.ReadUint8(span, 12 + (int)(i * 104) + (int)j);
+                nameBuilder.Append((char)ch);
+            }
+            fieldNames.Add(nameBuilder.ToString());
+            
+            byte byteValue = ReadWriteHelper.ReadUint8(span, 44 + (int)(i * 104));
+            isDefined.Add((byteValue & (0x01 << 0)) != 0);
+        }
+        
+        return new FieldSets
+        {
+            VersionCVersion = ReadVersionIndicator(span),
+            VersionMajorVersionNumber = ReadMajorNumber(span),
+            VersionMinorVersionNumber = ReadMinorNumber(span),
+            VersionReleaseNumber = ReadReleaseNumber(span),
+            NameLengths = nameLengths,
+            FieldNames = fieldNames,
+            IsDefined = isDefined
+        };
+    }
+    
+    /// <summary>
+    /// Matches: ParseFieldSetsData::readVersionIndicator in C++
+    /// </summary>
+    private string ReadVersionIndicator(ReadOnlySpan<byte> span)
+    {
+        byte ch = ReadWriteHelper.ReadUint8(span, 0);
+        return ((char)ch).ToString();
+    }
+    
+    /// <summary>
+    /// Matches: ParseFieldSetsData::readMajorNumber in C++
+    /// </summary>
+    private byte ReadMajorNumber(ReadOnlySpan<byte> span)
+    {
+        return ReadWriteHelper.ReadUint8(span, 1);
+    }
+    
+    /// <summary>
+    /// Matches: ParseFieldSetsData::readMinorNumber in C++
+    /// </summary>
+    private byte ReadMinorNumber(ReadOnlySpan<byte> span)
+    {
+        return ReadWriteHelper.ReadUint8(span, 2);
+    }
+    
+    /// <summary>
+    /// Matches: ParseFieldSetsData::readReleaseNumber in C++
+    /// </summary>
+    private byte ReadReleaseNumber(ReadOnlySpan<byte> span)
+    {
+        return ReadWriteHelper.ReadUint8(span, 3);
+    }
+    
+    private uint ReadArrayLength(ReadOnlySpan<byte> span)
+    {
+        return ReadWriteHelper.ReadUint32LittleEndian(span, 4);
+    }
+}
+