fix: adjust transmitted KRC data length

Author: mika-engineering

OC.OfficeLite/OfficeLite.cs

@@ -8,8 +8,15 @@ namespace OC.OfficeLite;
 [PluginIoType(IoType.Struct)]
 public class OfficeLite : PluginBase
 {
-    private const uint DATA_SIZE_FROM_KRC = 1160;
-    private const uint DATA_SIZE_TO_KRC = 1040;
+    /// <summary>
+    /// Output[1024] + Axis[48] + Position[24] + Tool[24] + Base[24]
+    /// </summary>
+    private const uint DATA_SIZE_FROM_KRC = 1144;
+    
+    /// <summary>
+    /// Input[1024]
+    /// </summary>
+    private const uint DATA_SIZE_TO_KRC = 1024;
 
     [PluginParameter("IP Address of the\nOfficeLite VM")]
     private readonly string _iPAddress = "192.168.0.1";
@@ -29,14 +36,17 @@ public class OfficeLite : PluginBase
     protected override bool OnSave()
     {
         InputStructure.AddVariable("Input", TcType.Byte, 1024);
-        InputStructure.AddVariable("StandardSafety", TcType.Dword);
+        //InputStructure.AddVariable("StandardSafety", TcType.Dword);
 
         OutputStructure.AddVariable("Output", TcType.Byte, 1024);
         OutputStructure.AddVariable("Axis", TcType.Real, 12);
-        OutputStructure.AddVariable("StandardSafety", TcType.Dword);
-        OutputStructure.AddVariable("Sop1", TcType.Dword);
-        OutputStructure.AddVariable("Sop2", TcType.Dword);
-        OutputStructure.AddVariable("Reserve", TcType.Dword);
+        //OutputStructure.AddVariable("Position", TcType.Real, 6);
+        //OutputStructure.AddVariable("Tool", TcType.Real, 6);
+        //OutputStructure.AddVariable("Base", TcType.Real, 6);
+        //OutputStructure.AddVariable("StandardSafety", TcType.Dword);
+        //OutputStructure.AddVariable("Sop1", TcType.Dword);
+        //OutputStructure.AddVariable("Sop2", TcType.Dword);
+        //OutputStructure.AddVariable("Reserve", TcType.Dword);
 
         return true;
     }
@@ -63,24 +73,12 @@ protected override void OnUpdate()
     {
         try
         {
-            Array.Copy(InputBuffer, _sendData, 1028);
-
-            if (_interpolationTime == 0)
-            {
-                Array.Copy(_receiveData, 0, OutputBuffer, 0, 1072);
-                Array.Copy(_receiveData, 1144, OutputBuffer, 1072, 16);
-                return;
-            }
+            Array.Copy(InputBuffer, 0, _sendData, 0, 1024);
+            //Array.Copy(InputBuffer, 1024, _sendData, 1024, 4);
 
             Array.Copy(_receiveData, 0, OutputBuffer, 0, 1024);
-            for (var i = 0; i < 12; i++)
-            {
-                var offset = 1024 + i * 4;
-                var rawValue = BitConverter.ToSingle(_receiveData, offset);
-                var interpolatedValue = BitConverter.GetBytes((float)_interpolator[i].Calculate(rawValue));
-                Array.Copy(interpolatedValue, 0, OutputBuffer, offset, 4);
-            }
-            Array.Copy(_receiveData, 1144, OutputBuffer, 1072, 16);
+            AxisCopy();
+            //Array.Copy(_receiveData, 1144, OutputBuffer, 1072, 16);
         }
         catch (Exception e)
         {
@@ -89,6 +87,23 @@ protected override void OnUpdate()
         }
     }
 
+    private void AxisCopy()
+    {
+        if (_interpolationTime == 0)
+        {
+            Array.Copy(_receiveData, 1024, OutputBuffer, 1024, 48);
+            return;
+        }
+        
+        for (var i = 0; i < 12; i++)
+        {
+            var offset = 1024 + i * 4;
+            var rawValue = BitConverter.ToSingle(_receiveData, offset);
+            var interpolatedValue = BitConverter.GetBytes((float)_interpolator[i].Calculate(rawValue));
+            Array.Copy(interpolatedValue, 0, OutputBuffer, offset, 4);
+        }
+    }
+
     protected override void OnStop()
     {
         try

OC.OfficeLiteServer/Y200Server.cs

@@ -7,8 +7,16 @@ namespace OC.OfficeLiteServer;
 
 public class Y200Server(Settings settings)
 {
-    private const uint DATA_SIZE_FROM_KRC = 1160;
-    private const uint DATA_SIZE_TO_KRC = 1040;
+    /// <summary>
+    /// Output[1024] + Axis[48] + Position[24] + Tool[24] + Base[24]
+    /// </summary>
+    private const uint DATA_SIZE_FROM_KRC = 1144;
+    
+    /// <summary>
+    /// Input[1024]
+    /// </summary>
+    private const uint DATA_SIZE_TO_KRC = 1024;
+    
     private readonly Assistant.Sdk.TcpIp.Server _tcpListener = new(IPAddress.Any, settings.Port);
     private readonly byte[] _sendBuffer = new byte[DATA_SIZE_FROM_KRC];
     private int _handle;