public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//points
arraylength = rand.Next(10);
if (points == null)
{
points = new Point32[arraylength];
}
else
{
Array.Resize(ref points, arraylength);
}
for (int i = 0; i < points.Length; i++)
{
//points[i]
points[i] = new Point32();
points[i].Randomize();
}
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
object __thing;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
//points
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (points == null)
{
points = new Point32[arraylength];
}
else
{
Array.Resize(ref points, arraylength);
}
for (int i = 0; i < points.Length; i++)
{
//points[i]
points[i] = new Point32(SERIALIZEDSTUFF, ref currentIndex);
}
}
public override byte[] Serialize(bool partofsomethingelse)
{
int currentIndex = 0, length = 0;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
List <byte[]> pieces = new List <byte[]>();
GCHandle h;
//points
hasmetacomponents |= true;
if (points == null)
{
points = new Point32[0];
}
pieces.Add(BitConverter.GetBytes(points.Length));
for (int i = 0; i < points.Length; i++)
{
//points[i]
if (points[i] == null)
{
points[i] = new Point32();
}
pieces.Add(points[i].Serialize(true));
}
//combine every array in pieces into one array and return it
int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length);
int __a_b__e = 0;
byte[] __a_b__d = new byte[__a_b__f];
foreach (var __p__ in pieces)
{
Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length);
__a_b__e += __p__.Length;
}
return(__a_b__d);
}
/// <summary>
/// 订阅更新话题
/// </summary>
/// <param name="topic"></param>
public void SubscribeToFootprint(string topic)
{
lock (this)
{
if (foothandle == null)
{
foothandle = new NodeHandle();
}
if (footSub != null && footSub.topic != topic)
{
footSub.shutdown();
footSub = null;
}
if (footSub != null)
{
return;
}
if (tfer == null)
{
tfer = new Transformer(false);
}
Console.WriteLine("Subscribing to footprint at:= " + topic);
footSub = foothandle.subscribe <gm.PolygonStamped>(topic, 1, i => owner.BeginInvoke(new Action(() =>
{
if (i.polygon.points.Length == 0)
{
return;
}
//if (!tfer.waitForTransform("/map", "/base", i.header.stamp, new m.Duration(new Messages.TimeData(1, 0)), null))
// return ;
//tfer.transformVector("/map",)
//emTransform ret = new emTransform();
//if (tfer.lookupTransform("/map", "/base", i.header.stamp, out ret))
//{
pointArray.Clear();
int length = i.polygon.points.Length;
for (int index = 0; index < length; index++)
{
gm.Point32 p = i.polygon.points[index];
//Stamped<emVector3> stampVector_in = new Stamped<emVector3>(i.header.stamp, i.header.frame_id, new emVector3(p.x,p.y,p.z));
//Stamped<emVector3> stamVector_out = new Stamped<emVector3>();
//tfer.transformVector("map", stampVector_in, ref stamVector_out);
Point worldPoint = owner.Map2World(new PointF(p.x, p.y));
pointArray.Add(worldPoint);
}
pointArray.Add(pointArray[0]);
if (length > 0)
{
startPoint = (Point)pointArray[0];
endPoint = (Point)pointArray[length - 1];
}
Invalidate();
owner.LastDataUpdateTime = DateTime.Now;
//owner.Invalidate();
//}
})));
}
}
