private bool GetRobotEvent(byte mode, out byte[] data)
{
byte[] header = UBT.V2_GetEventHeader(mode);
if (header == null)
{
data = null;
return(false);
}
int evtCount = header[CONST.EH.OFFSET.COUNT];
data = new byte[evtCount * BLOCKLY.EVENT.SIZE];
byte startIdx = 0;
while (startIdx < evtCount)
{
byte[] result = UBT.V2_GetEventData(mode, startIdx);
if (result == null)
{
return(false);
}
byte count = result[CONST.ED.OFFSET.COUNT];
if (count > CONST.ED.BATCH_SIZE)
{
return(false); // Abnormal case
}
if (startIdx + count > evtCount)
{
return(false);
}
int startPos = startIdx * BLOCKLY.EVENT.SIZE;
int bytes = count * BLOCKLY.EVENT.SIZE;
for (int i = 0; i < bytes; i++)
{
data[startPos + i] = result[CONST.ED.OFFSET.DATA + i];
}
startIdx += count;
}
return(true);
}