public byte[] GetBytes()
{
SendPacket packet = new SendPacket(steppers.Count * BytesPerStepper + 4 + 2);
packet.SetPacketId(commandId);
packet.SetData(0, (byte)Protocol.CncCommands.CNC_RUN);
packet.SetData(1, (byte)steppers.Count);
int i = 0;
foreach (var stepper in steppers.Keys)
{
packet.SetData(i * BytesPerStepper + 2, (byte)stepper);
byte[] speedBytes = BitConverter.GetBytes(steppers[stepper]);
packet.SetData(i * BytesPerStepper + 3, speedBytes);
i++;
}
packet.SetData(steppers.Count * BytesPerStepper + 2, (byte)sensor);
byte[] valueBytes = BitConverter.GetBytes((ushort)value);
packet.SetData(steppers.Count * BytesPerStepper + 3, valueBytes);
packet.SetData(steppers.Count * BytesPerStepper + 5, (byte)valueEdge);
return(packet.GetBytes());
}
public byte[] GetBytes()
{
SendPacket packet = new SendPacket(1);
packet.SetPacketId(commandId);
packet.SetData(0, (byte)Protocol.AdditionalCommands.ABORT_EXECUTION);
return(packet.GetBytes());
}
public byte[] GetBytes()
{
SendPacket packet = new SendPacket(1);
packet.SetPacketId(commandId);
packet.SetData(0, (byte)Protocol.AdditionalCommands.GET_FIRMWARE_VERSION);
return(packet.GetBytes());
}
public byte[] GetBytes()
{
SendPacket packet = new SendPacket(2);
packet.SetPacketId(commandId);
packet.SetData(0, (byte)Protocol.AdditionalCommands.START_BARCODE_SCAN);
packet.SetData(1, _scanner);
return(packet.GetBytes());
}
public byte[] GetBytes()
{
SendPacket packet = new SendPacket(3);
packet.SetPacketId(commandId);
packet.SetData(0, (byte)Protocol.StepperCommands.STOP);
packet.SetData(1, stepper);
packet.SetData(2, stopType);
return(packet.GetBytes());
}
public byte[] GetBytes()
{
SendPacket packet = new SendPacket(3);
packet.SetPacketId(commandId);
packet.SetData(0, (byte)Protocol.AdditionalCommands.SET_DEVICE_STATE);
packet.SetData(1, device);
packet.SetData(2, state);
return(packet.GetBytes());
}
public byte[] GetBytes()
{
byte[] stepsBytes = BitConverter.GetBytes(countSteps);
SendPacket packet = new SendPacket(6);
packet.SetPacketId(commandId);
packet.SetData(0, (byte)Protocol.StepperCommands.MOVE);
packet.SetData(1, stepper);
packet.SetData(2, stepsBytes);
return(packet.GetBytes());
}
public byte[] GetBytes()
{
byte[] speedBytes = BitConverter.GetBytes(speed);
SendPacket packet = new SendPacket(6);
packet.SetPacketId(commandId);
packet.SetData(0, (byte)Protocol.StepperCommands.SET_SPEED);
packet.SetData(1, stepper);
packet.SetData(2, speedBytes);
return(packet.GetBytes());
}
public byte[] GetBytes()
{
SendPacket packet = new SendPacket(devices.Count + 2);
packet.SetPacketId(commandId);
packet.SetData(0, (byte)Protocol.CncCommands.CNC_ON_DEVICE);
packet.SetData(1, (byte)devices.Count);
int i = 0;
foreach (var device in devices)
{
packet.SetData(i + 2, (byte)device);
i++;
}
return(packet.GetBytes());
}
public byte[] GetBytes()
{
SendPacket packet = new SendPacket(steppers.Count * BytesPerStepper + 2);
packet.SetPacketId(commandId);
packet.SetData(0, (byte)commandCode);
packet.SetData(1, (byte)steppers.Count);
int i = 0;
foreach (var stepper in steppers.Keys)
{
packet.SetData(i * BytesPerStepper + 2, (byte)stepper);
byte[] speedBytes = BitConverter.GetBytes(steppers[stepper]);
packet.SetData(i * BytesPerStepper + 3, speedBytes);
i++;
}
return(packet.GetBytes());
}
