Fixed Pixy Buffer Length Being Max

Author: Otake

build.gradle

@@ -51,7 +51,7 @@ publishing {
             artifact javadocJar
         	groupId = 'pw.otake.pseudoresonance'
             artifactId = 'pixy2-java-api'
-            version = '1.1'
+            version = '1.2'
             pom {
                 name = 'Pixy2JavaAPI'
                 description = 'Java port of Pixy2 API for FIRST Robotics'

src/main/java/io/github/pseudoresonance/pixy2api/Pixy2.java

@@ -85,6 +85,7 @@ public enum LinkType {
 	protected int length = 0;
 	protected int type = 0;
 	protected byte[] bufferPayload = null;
+	protected int receiveLength = 0;
 
 	protected int frameWidth = -1;
 	protected int frameHeight = -1;
@@ -389,6 +390,7 @@ protected int receivePacket() {
 			csSerial = ((buffer[3] & 0xff) << 8) | (buffer[2] & 0xff);
 
 			res = link.receive(buffer, length, csCalc);
+			receiveLength = length;
 
 			if (res < 0)
 				return res;
@@ -403,6 +405,8 @@ protected int receivePacket() {
 			length = buffer[1];
 
 			res = link.receive(buffer, length);
+			receiveLength = length;
+
 			if (res < 0)
 				return res;
 		}

src/main/java/io/github/pseudoresonance/pixy2api/Pixy2CCC.java

@@ -94,7 +94,7 @@ public int getBlocks(boolean wait, int sigmap, int maxBlocks) {
 			if (pixy.receivePacket() == 0) {
 				if (pixy.type == CCC_RESPONSE_BLOCKS) {
 					blocks = new ArrayList<Block>();
-					for (int i = 0; i + 13 < pixy.buffer.length; i += 14) {
+					for (int i = 0; i + 13 < pixy.receiveLength; i += 14) {
 						Block b = new Block(((pixy.buffer[i + 1] & 0xff) << 8) | (pixy.buffer[i] & 0xff),
 								((pixy.buffer[i + 3] & 0xff) << 8) | (pixy.buffer[i + 2] & 0xff),
 								((pixy.buffer[i + 5] & 0xff) << 8) | (pixy.buffer[i + 4] & 0xff),

src/main/java/io/github/pseudoresonance/pixy2api/Pixy2Line.java

@@ -120,7 +120,7 @@ public byte getFeatures(byte type, byte features, boolean wait) {
 					for (offset = 0, res = 0; pixy.length > offset; offset += fsize + 2) {
 						ftype = pixy.buffer[offset];
 						fsize = pixy.buffer[offset + 1];
-						fdata = Arrays.copyOfRange(pixy.buffer, offset + 2, pixy.buffer.length);
+						fdata = Arrays.copyOfRange(pixy.buffer, offset + 2, pixy.receiveLength);
 						if (ftype == LINE_VECTOR) {
 							vectors = new Vector[(int) Math.floor(fdata.length / 6)];
 							for (int i = 0; (i + 1) * 6 < fdata.length; i++) {