public NegotiateProtocolVersion(IURRTDE urRTDE)
{
byte[] payload = IToBytes.FromUshort(2);
var resp = urRTDE.SendReceive(IPackageType.RTDE_REQUEST_PROTOCOL_VERSION, payload);
Accepted = resp[0];
}
public StartSending(IURRTDE urRTDE)
{
byte[] payload = new byte[0];
var resp = urRTDE.SendReceive(IPackageType.RTDE_CONTROL_PACKAGE_START, payload);
Accepted = resp[0];
}
public ControllerVersion(IURRTDE urRTDE)
{
byte[] payload = new byte[0];
var resp = urRTDE.SendReceive(IPackageType.RTDE_GET_URCONTROL_VERSION, payload);
byte[] temp = new byte[4];
Buffer.BlockCopy(resp, 0, temp, 0, 4);
Major = IFromBytes.ToUInt32(temp);
Buffer.BlockCopy(resp, 4, temp, 0, 4);
Minor = IFromBytes.ToUInt32(temp);
Buffer.BlockCopy(resp, 8, temp, 0, 4);
Bugfix = IFromBytes.ToUInt32(temp);
Buffer.BlockCopy(resp, 12, temp, 0, 4);
Build = IFromBytes.ToUInt32(temp);
}
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);
}