private StepperPosition GetStepperPosition(MessageHeader messageHeader)
{
var deviceNumber = messageHeader.MessageBuffer[3];
var stepsNum = NumberExtensions.decode32BitSignedInteger((byte)messageHeader.MessageBuffer[4], (byte)messageHeader.MessageBuffer[5], (byte)messageHeader.MessageBuffer[6], (byte)messageHeader.MessageBuffer[7], (byte)messageHeader.MessageBuffer[8]);
var currentState = new StepperPosition
{
DeviceNumber = deviceNumber,
StepsNum = stepsNum
};
return(currentState);
}
private IFirmataMessage HeaderReturnInt(MessageHeader messageHeader)
{
var value = (int)NumberExtensions.decode32BitSignedInteger((byte)messageHeader.MessageBuffer[3], (byte)messageHeader.MessageBuffer[4], (byte)messageHeader.MessageBuffer[5], (byte)messageHeader.MessageBuffer[6], (byte)messageHeader.MessageBuffer[7]);
var currentState = new GenericResponse <int>
{
MessageType = (byte)messageHeader.MessageBuffer[1],
MessageSubType = (byte)messageHeader.MessageBuffer[2],
Value = value
};
return(new FirmataMessage <GenericResponse <int> >(currentState));
}