public List <ObjectBlock> GetBlocks(uint maxBlocks)
{
uint checksum, w;
List <ObjectBlock> objectBlocks = new List <ObjectBlock>();
if (!skipStart)
{
if (GetStart() == 0)
{
return(null);
}
}
else
{
skipStart = false;
}
for (int i = 0; i < maxBlocks;)
{
// After the sync sequence, the rest of the block is read in this order
checksum = getWord();
if (checksum == PIXY_START_WORD || checksum == PIXY_START_WORD_CC)
{
skipStart = true;
return(objectBlocks);
}
else if (checksum == 0)
{
return(objectBlocks);
}
ObjectBlock block = getBlock();
// The checksum should be the sum of all the other values
uint calculatedSum = block.Signature + block.X + block.Y + block.Width + block.Height;
// Make sure that the checksum that came with the block and our sum match
if (calculatedSum == checksum)
{
var args = new PixyCamEventArgs();
args.Block = block;
objectBlocks.Add(block);
lastBlockTime = Global.Stopwatch.ElapsedMilliseconds;
i++;
}
w = getWord();
if (w == PIXY_START_WORD || w == PIXY_START_WORD_CC)
{
}
else
{
return(objectBlocks);
}
}
return(objectBlocks);
}
private ObjectBlock getBlock()
{
byte[] readData = getBytes(10);
if (readData != null)
{
ObjectBlock block = new ObjectBlock();
block.Signature = BitConverter.ToUInt16(readData, 0);
block.X = BitConverter.ToUInt16(readData, 2);
block.Y = BitConverter.ToUInt16(readData, 4);
block.Width = BitConverter.ToUInt16(readData, 6);
block.Height = BitConverter.ToUInt16(readData, 8);
return(block);
}
return(null);
}
private Point getPuckPosition(ObjectBlock block)
{
if (block != null)
{
if (block.Signature == 1 && block.Width >= 5 && block.Height >= 5)
{
return CoordinateHelper.TranslatePoint(block.X, block.Y);
}
}
return CoordinateHelper.INVALID_POINT;
}
private ObjectBlock getBlock()
{
byte[] readData = getBytes(10);
if (readData != null)
{
ObjectBlock block = new ObjectBlock();
block.Signature = BitConverter.ToUInt16(readData, 0);
block.X = BitConverter.ToUInt16(readData, 2);
block.Y = BitConverter.ToUInt16(readData, 4);
block.Width = BitConverter.ToUInt16(readData, 6);
block.Height = BitConverter.ToUInt16(readData, 8);
return block;
}
return null;
}