public static List <byte[]> ParseG(GcodeCommandFrame gcodeFrame)
{
List <byte[]> listOfTXbuffs = new List <byte[]>();
if (gcodeFrame.G.HasValue)
{
if (gcodeFrame.X.HasValue)
{
//some how got speed and steps from planner
float v = 100f;
uint x = 123;
MovCmd_t cmdTX = new MovCmd_t
{
cw = new controlWord_t()
{
opcode = OpcodeEnum.g
},
drv1 = new axes_t()
{
freq = v, steps = x
}
};
listOfTXbuffs.Add(PackIntoByteArr(cmdTX));
}
}
return(listOfTXbuffs);
}
private static byte[] PackIntoByteArr(MovCmd_t cmdTX)
{
int sizeOfBuffer = Marshal.SizeOf(cmdTX); //suppouse to be 16bytes
byte[] buffer = new byte[sizeOfBuffer];
GCHandle h = GCHandle.Alloc(cmdTX, GCHandleType.Pinned);
Marshal.Copy(h.AddrOfPinnedObject(), buffer, 0, sizeOfBuffer);
h.Free();
return(buffer);
}
