示例#1
0
        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);
        }