/// <summary>
/// Transfers message data to a byte array for transfer.
/// </summary>
/// <returns>
/// Command Structure:
/// [Type XYZ P] [SpeedUpper7 P] [SpeedLower7 P] [0000 0 SU1 SL1 P] [Parity]
/// - Type: 5
/// - XYZ: 110 would set the speed for X and Y, but not Z
/// - Speed: 16 bit unsigned int, a range of about 64k
/// </returns>
public override byte[] toSerial()
{
// Build first byte [Type 0 XYZ] --> [0101 0XYZ]
byte TypeAndAxis = getMsgTypeByte();
if (_X)
{
TypeAndAxis |= 0x08;
} // Set X bit [0000 1000]
if (_Y)
{
TypeAndAxis |= 0x04;
} // Set Y bit [0000 0100]
if (_Z)
{
TypeAndAxis |= 0x02;
} // Set Z bit [0000 0010]
byte[] speedBytes = CNCRTools.generateThreeBytesFromUInt16(_speed);
byte[] result = { TypeAndAxis, speedBytes[0],
speedBytes[1], speedBytes[2], 0 };
CNCRTools.generateParity(ref result);
return(result);
}
/// <summary>
/// Transfers CNCRMsgEStop to a byte array for transfer.
/// </summary>
/// <returns>
/// Command Structure:
/// [Type 000 P] [Parity]
/// </returns>
public override byte[] toSerial()
{
// [0010 000 P] [Parity]
byte Type = getMsgTypeByte();
byte[] result = { Type, 0 };
CNCRTools.generateParity(ref result);
return(result);
}
/// <summary>
/// Converts message data to a byte array for transfer over serial.
/// </summary>
/// <returns>
/// Command Structure:
/// [Type 000 P] [#Cmds P] [255]
/// - Type: 3
/// - #Cmds: 7 bits, gives a range of 1 to 128.
/// </returns>
public override byte[] toSerial()
{
byte Type = getMsgTypeByte();
byte CmdCount = Convert.ToByte(_cmdCnt << 1);
byte[] result = { Type, CmdCount, 0 }; // Build the result array.
// generate parity
CNCRTools.generateParity(ref result);
return(result);
}
/// <summary>
/// Transfers the message data to a byte array for transfer.
/// </summary>
/// <returns>
/// Command Structure:
/// [Type 00 isEndQueue P] [Parity]
/// - Type: 4
/// - isStopQueue: Set to 1 to indicate an end of the build process.
/// </returns>
public override byte[] toSerial()
{
byte typeEndQueue = getMsgTypeByte();
if (_isEndQueue)
{
typeEndQueue |= 0x02; // Set the EndQueue bit.
}
byte[] result = { typeEndQueue, 0 };
CNCRTools.generateParity(ref result);
return(result);
}
/// <summary>
/// Transfers the message data to a byte array for transfer.
/// </summary>
/// <returns>
/// [Type 00 OnOff P][Parity]
/// - Type: 7
/// - OnOff: 0 for off, 1 for on
/// </returns>
public override byte[] toSerial()
{
byte TypeOnOff = getMsgTypeByte();
if (_toolOn)
{
TypeOnOff |= 0x02;
} // If tool on, set the bit.
byte[] result = { TypeOnOff, 0 };
CNCRTools.generateParity(ref result);
return(result);
}
/// <summary>
/// Outputs the message in a format that can be sent over the
/// serial connection.
/// </summary>
/// <returns>
/// Command Structure:
/// [Type 000] [UpperX] [LowerX] [EndsX]
/// [UpperY] [LowerY] [EndsY]
/// [UpperZ] [LowerZ] [EndsZ]
/// [Parity]
/// </returns>
public override byte[] toSerial()
{
byte Type = getMsgTypeByte();
byte[] xBits = CNCRTools.generateThreeBytesFromInt16(getX());
byte[] yBits = CNCRTools.generateThreeBytesFromInt16(getY());
byte[] zBits = CNCRTools.generateThreeBytesFromInt16(getZ());
byte[] result = { Type,
xBits[0],xBits[1], xBits[2],
yBits[0],yBits[1], yBits[2],
zBits[0],zBits[1], zBits[2],
0 };
CNCRTools.generateParity(ref result);
return(result);
}
/// <summary>
/// Transfers CNCRMsgCmdAck data to a byte array for transfer.
/// </summary>
/// <returns>
/// Structure of result:
/// 0001 001 0 | 0000 000 0 | Parity
/// type err P | firmware P | Parity
/// </returns>
public override byte[] toSerial()
{
// Set top 4 bits to "0001"
byte TypeAndErr = getMsgTypeByte();
// Set the error flag.
if (_isError)
{
TypeAndErr |= 0x02;
}
byte[] result = { TypeAndErr, Convert.ToByte(_firmware << 1), 0 };
// Set the parity bits and byte.
CNCRTools.generateParity(ref result);
return(result);
}
