private bool SendRobotCommand(byte[] cmd, CONST.CB.CMD_INFO info)
{
// Default as standard UBT command with 10 bytes return
if (info.minBytes < 0)
{
throw new Exception(string.Format("Command {0:X2}, expectCnt not configed", info.code));
}
return(SendRobotCommand(cmd, (uint)info.minBytes, (info.maxMs <= 0 ? DEFAULT_COMMAND_TIMEOUT : info.maxMs)));
}
public bool V2_SaveEventHeader(byte mode, byte count, byte action)
{
CONST.CB.CMD_INFO info = CONST.CB.SAVE_EVENT_HEADER;
byte[] command = { 0xA9, 0x9A, 0x0C, info.code, mode, RobotHandler.version, count, action, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xED };
if (!V2_SendCommandWithSingleReturn(command))
{
UpdateInfo(String.Format("Fail saving event header"), MyUtil.UTIL.InfoType.error);
return(false);
}
return(true);
}
public byte[] V2_GetEventData(byte mode, byte startIdx)
{
CONST.CB.CMD_INFO info = CONST.CB.GET_EVENT_DATA;
byte[] command = { 0xA9, 0x9A, 0x04, info.code, mode, startIdx, 00, 0xED };
if (!SendRobotCommand(command, info) ||
(receiveBuffer.Count != info.minBytes) || (receiveBuffer[2] != info.dataLen) ||
(receiveBuffer[CONST.ED.OFFSET.MODE] != mode) ||
(receiveBuffer[CONST.ED.OFFSET.START_IDX] != startIdx))
{
UpdateInfo(String.Format("Fail getting event header"), MyUtil.UTIL.InfoType.error);
return(null);
}
return(receiveBuffer.ToArray());
}
public bool V2_SaveEventData(byte mode, byte startIdx, byte count, byte[] data)
{
if (count > 8)
{
return(false);
}
int startPos = startIdx * BLOCKLY.EVENT.SIZE;
int size = count * BLOCKLY.EVENT.SIZE;
if (startPos > data.Length)
{
return(false);
}
if (startPos + size > data.Length)
{
return(false);
}
CONST.CB.CMD_INFO info = CONST.CB.SAVE_EVENT_DATA;
byte[] command = new byte[128];
for (int i = 0; i < 128; i++)
{
command[i] = 0;
}
command[2] = 124;
command[3] = info.code;
command[4] = mode;
command[5] = startIdx;
command[6] = count;
for (int i = 0; i < size; i++)
{
command[16 + i] = data[startPos + i];
}
if (!V2_SendCommandWithSingleReturn(command))
{
UpdateInfo(String.Format("Fail saving event data"), MyUtil.UTIL.InfoType.error);
return(false);
}
return(true);
}
// Some operation has variable result (e.g. lock servo which can lock / unlock multiple servo
private bool SendRobotCommand(byte[] cmd, CONST.CB.CMD_INFO info, uint expectCnt)
{
return(SendRobotCommand(cmd, expectCnt, (info.maxMs <= 0 ? DEFAULT_COMMAND_TIMEOUT : info.maxMs)));
}