public NegotiateProtocolVersion(IURRTDE urRTDE)
{
byte[] payload = IToBytes.FromUshort(2);
var resp = urRTDE.SendReceive(IPackageType.RTDE_REQUEST_PROTOCOL_VERSION, payload);
Accepted = resp[0];
}
public SetupOutput(IURRTDE urRTDE, double frequency, string variables)
{
var bFreq = IToBytes.FromDouble(frequency);
var bVar = IToBytes.FromString(variables);
byte[] payload = new byte[bFreq.Length + bVar.Length];
Buffer.BlockCopy(bFreq, 0, payload, 0, bFreq.Length);
Buffer.BlockCopy(bVar, 0, payload, bFreq.Length, bVar.Length);
var resp = urRTDE.SendReceive(IPackageType.RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS, payload);
OutputRecipeId = resp[0];
byte[] temp = new byte[resp.Length - 1];
Buffer.BlockCopy(resp, 1, temp, 0, temp.Length);
VariableTypes = IFromBytes.ToString(temp);
}
public static byte[] Pack(byte packagetType, byte[] payload)
{
byte[] type = new byte[1];
type[0] = packagetType;
ushort size = Convert.ToUInt16(2 + type.Length + payload.Length);
byte[] package = new byte[size];
byte[] bSize = IToBytes.FromUshort(size);
Buffer.BlockCopy(bSize, 0, package, 0, bSize.Length);
Buffer.BlockCopy(type, 0, package, bSize.Length, type.Length);
if (payload.Length > 0)
{
Buffer.BlockCopy(payload, 0, package, bSize.Length + type.Length, payload.Length);
}
return(package);
}
