private Response parseAsync() { Response asyncSensorDatum; Byte item = _rawData[2]; Byte num = _rawData[3]; Byte item1 = _rawData[4]; Int32 num1 = Value.IntForBytes(item1, num) - 1; Int32 num2 = num1 + 6; if (_rawData.Count >= num2) { Byte[] numArray = new Byte[num1]; _rawData.CopyTo(5, numArray, 0, num1); _rawData.RemoveRange(0, num2); if (item == 3) { asyncSensorDatum = new AsyncSensorData(_robot, ResponseCode.OK, 0, numArray, AsynchronousId.SENSOR_DATA_STREAMING, num1, _robot.SensorControl.Mask); } else if (item != 7) { asyncSensorDatum = null; } else { asyncSensorDatum = new CollisionData(_robot, ResponseCode.OK, 0, numArray, AsynchronousId.COLLISION_DETECTED, num1); } } else { asyncSensorDatum = null; } return(asyncSensorDatum); }
private Response parseAsync() { Response asyncSensorDatum; Byte item = _rawData[2]; Byte num = _rawData[3]; Byte item1 = _rawData[4]; Int32 num1 = Value.IntForBytes(item1, num) - 1; Int32 num2 = num1 + 6; if (_rawData.Count >= num2) { Byte[] numArray = new Byte[num1]; _rawData.CopyTo(5, numArray, 0, num1); _rawData.RemoveRange(0, num2); if (item == 3) { asyncSensorDatum = new AsyncSensorData(_robot, ResponseCode.OK, 0, numArray, AsynchronousId.SENSOR_DATA_STREAMING, num1, _robot.SensorControl.Mask); } else if (item != 7) { asyncSensorDatum = null; } else { asyncSensorDatum = new CollisionData(_robot, ResponseCode.OK, 0, numArray, AsynchronousId.COLLISION_DETECTED, num1); } } else { asyncSensorDatum = null; } return asyncSensorDatum; }