public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//path
arraylength = rand.Next(10);
if (path == null)
{
path = new Messages.xamlamoveit_msgs.JointPathPoint[arraylength];
}
else
{
Array.Resize(ref path, arraylength);
}
for (int i = 0; i < path.Length; i++)
{
//path[i]
path[i] = new Messages.xamlamoveit_msgs.JointPathPoint();
path[i].Randomize();
}
//error_code
error_code = new Messages.moveit_msgs.MoveItErrorCodes();
error_code.Randomize();
}
public override void Deserialize(byte[] serializedMessage, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
object __thing;
//path
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (path == null)
{
path = new Messages.xamlamoveit_msgs.JointPathPoint[arraylength];
}
else
{
Array.Resize(ref path, arraylength);
}
for (int i = 0; i < path.Length; i++)
{
//path[i]
path[i] = new Messages.xamlamoveit_msgs.JointPathPoint(serializedMessage, ref currentIndex);
}
//error_code
error_code = new Messages.moveit_msgs.MoveItErrorCodes(serializedMessage, ref currentIndex);
}
public override void Deserialize(byte[] serializedMessage, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
object __thing;
int piecesize = 0;
IntPtr h;
//point
point = new Messages.xamlamoveit_msgs.JointPathPoint(serializedMessage, ref currentIndex);
//joint_names
hasmetacomponents |= false;
arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (joint_names == null)
{
joint_names = new string[arraylength];
}
else
{
Array.Resize(ref joint_names, arraylength);
}
for (int i = 0; i < joint_names.Length; i++)
{
//joint_names[i]
joint_names[i] = "";
piecesize = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += 4;
joint_names[i] = Encoding.ASCII.GetString(serializedMessage, currentIndex, piecesize);
currentIndex += piecesize;
}
}
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;
IntPtr ptr;
int x__size;
//group_name
if (group_name == null)
group_name = "";
scratch1 = Encoding.ASCII.GetBytes((string)group_name);
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);
//joint_names
hasmetacomponents |= false;
if (joint_names == null)
joint_names = new string[0];
pieces.Add(BitConverter.GetBytes(joint_names.Length));
for (int i=0;i<joint_names.Length; i++) {
//joint_names[i]
if (joint_names[i] == null)
joint_names[i] = "";
scratch1 = Encoding.ASCII.GetBytes((string)joint_names[i]);
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);
}
//waypoints
hasmetacomponents |= true;
if (waypoints == null)
waypoints = new Messages.xamlamoveit_msgs.JointPathPoint[0];
pieces.Add(BitConverter.GetBytes(waypoints.Length));
for (int i=0;i<waypoints.Length; i++) {
//waypoints[i]
if (waypoints[i] == null)
waypoints[i] = new Messages.xamlamoveit_msgs.JointPathPoint();
pieces.Add(waypoints[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;
}
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;
IntPtr ptr;
int x__size;
//solutions
hasmetacomponents |= true;
if (solutions == null)
{
solutions = new Messages.xamlamoveit_msgs.JointPathPoint[0];
}
pieces.Add(BitConverter.GetBytes(solutions.Length));
for (int i = 0; i < solutions.Length; i++)
{
//solutions[i]
if (solutions[i] == null)
{
solutions[i] = new Messages.xamlamoveit_msgs.JointPathPoint();
}
pieces.Add(solutions[i].Serialize(true));
}
//error_codes
hasmetacomponents |= false;
if (error_codes == null)
{
error_codes = new Messages.moveit_msgs.MoveItErrorCodes[0];
}
pieces.Add(BitConverter.GetBytes(error_codes.Length));
for (int i = 0; i < error_codes.Length; i++)
{
//error_codes[i]
if (error_codes[i] == null)
{
error_codes[i] = new Messages.moveit_msgs.MoveItErrorCodes();
}
pieces.Add(error_codes[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);
}
public override void Randomize()
{
int arraylength=-1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//group_name
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
strbuf[__x__] = (byte)(rand.Next(254) + 1);
strbuf[strlength - 1] = 0; //null terminate
group_name = Encoding.ASCII.GetString(strbuf);
//joint_names
arraylength = rand.Next(10);
if (joint_names == null)
joint_names = new string[arraylength];
else
Array.Resize(ref joint_names, arraylength);
for (int i=0;i<joint_names.Length; i++) {
//joint_names[i]
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
strbuf[__x__] = (byte)(rand.Next(254) + 1);
strbuf[strlength - 1] = 0; //null terminate
joint_names[i] = Encoding.ASCII.GetString(strbuf);
}
//waypoints
arraylength = rand.Next(10);
if (waypoints == null)
waypoints = new Messages.xamlamoveit_msgs.JointPathPoint[arraylength];
else
Array.Resize(ref waypoints, arraylength);
for (int i=0;i<waypoints.Length; i++) {
//waypoints[i]
waypoints[i] = new Messages.xamlamoveit_msgs.JointPathPoint();
waypoints[i].Randomize();
}
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//solutions
arraylength = rand.Next(10);
if (solutions == null)
{
solutions = new Messages.xamlamoveit_msgs.JointPathPoint[arraylength];
}
else
{
Array.Resize(ref solutions, arraylength);
}
for (int i = 0; i < solutions.Length; i++)
{
//solutions[i]
solutions[i] = new Messages.xamlamoveit_msgs.JointPathPoint();
solutions[i].Randomize();
}
//error_codes
arraylength = rand.Next(10);
if (error_codes == null)
{
error_codes = new Messages.moveit_msgs.MoveItErrorCodes[arraylength];
}
else
{
Array.Resize(ref error_codes, arraylength);
}
for (int i = 0; i < error_codes.Length; i++)
{
//error_codes[i]
error_codes[i] = new Messages.moveit_msgs.MoveItErrorCodes();
error_codes[i].Randomize();
}
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//end_effector_name
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
{
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{
strbuf[__x__] = (byte)(rand.Next(254) + 1);
}
}
strbuf[strlength - 1] = 0; //null terminate
end_effector_name = Encoding.ASCII.GetString(strbuf);
//waypoints
arraylength = rand.Next(10);
if (waypoints == null)
{
waypoints = new Messages.geometry_msgs.PoseStamped[arraylength];
}
else
{
Array.Resize(ref waypoints, arraylength);
}
for (int i = 0; i < waypoints.Length; i++)
{
//waypoints[i]
waypoints[i] = new Messages.geometry_msgs.PoseStamped();
waypoints[i].Randomize();
}
//max_xyz_velocity
max_xyz_velocity = (rand.Next() + rand.NextDouble());
//max_xyz_acceleration
max_xyz_acceleration = (rand.Next() + rand.NextDouble());
//max_angular_velocity
max_angular_velocity = (rand.Next() + rand.NextDouble());
//max_angular_acceleration
max_angular_acceleration = (rand.Next() + rand.NextDouble());
//dt
dt = (rand.Next() + rand.NextDouble());
//ik_jump_threshold
ik_jump_threshold = (rand.Next() + rand.NextDouble());
//max_deviation
max_deviation = (rand.Next() + rand.NextDouble());
//joint_names
arraylength = rand.Next(10);
if (joint_names == null)
{
joint_names = new string[arraylength];
}
else
{
Array.Resize(ref joint_names, arraylength);
}
for (int i = 0; i < joint_names.Length; i++)
{
//joint_names[i]
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
{
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{
strbuf[__x__] = (byte)(rand.Next(254) + 1);
}
}
strbuf[strlength - 1] = 0; //null terminate
joint_names[i] = Encoding.ASCII.GetString(strbuf);
}
//seed
seed = new Messages.xamlamoveit_msgs.JointPathPoint();
seed.Randomize();
//collision_check
collision_check = rand.Next(2) == 1;
}
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;
IntPtr ptr;
int x__size;
//end_effector_name
if (end_effector_name == null)
{
end_effector_name = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)end_effector_name);
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);
//waypoints
hasmetacomponents |= true;
if (waypoints == null)
{
waypoints = new Messages.geometry_msgs.PoseStamped[0];
}
pieces.Add(BitConverter.GetBytes(waypoints.Length));
for (int i = 0; i < waypoints.Length; i++)
{
//waypoints[i]
if (waypoints[i] == null)
{
waypoints[i] = new Messages.geometry_msgs.PoseStamped();
}
pieces.Add(waypoints[i].Serialize(true));
}
//max_xyz_velocity
scratch1 = new byte[Marshal.SizeOf(typeof(double))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(max_xyz_velocity, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//max_xyz_acceleration
scratch1 = new byte[Marshal.SizeOf(typeof(double))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(max_xyz_acceleration, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//max_angular_velocity
scratch1 = new byte[Marshal.SizeOf(typeof(double))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(max_angular_velocity, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//max_angular_acceleration
scratch1 = new byte[Marshal.SizeOf(typeof(double))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(max_angular_acceleration, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//dt
scratch1 = new byte[Marshal.SizeOf(typeof(double))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(dt, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//ik_jump_threshold
scratch1 = new byte[Marshal.SizeOf(typeof(double))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(ik_jump_threshold, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//max_deviation
scratch1 = new byte[Marshal.SizeOf(typeof(double))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(max_deviation, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//joint_names
hasmetacomponents |= false;
if (joint_names == null)
{
joint_names = new string[0];
}
pieces.Add(BitConverter.GetBytes(joint_names.Length));
for (int i = 0; i < joint_names.Length; i++)
{
//joint_names[i]
if (joint_names[i] == null)
{
joint_names[i] = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)joint_names[i]);
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);
}
//seed
if (seed == null)
{
seed = new Messages.xamlamoveit_msgs.JointPathPoint();
}
pieces.Add(seed.Serialize(true));
//collision_check
thischunk = new byte[1];
thischunk[0] = (byte)((bool)collision_check ? 1 : 0);
pieces.Add(thischunk);
//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);
}
public override void Deserialize(byte[] serializedMessage, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
object __thing;
int piecesize = 0;
IntPtr h;
//end_effector_name
end_effector_name = "";
piecesize = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += 4;
end_effector_name = Encoding.ASCII.GetString(serializedMessage, currentIndex, piecesize);
currentIndex += piecesize;
//waypoints
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (waypoints == null)
{
waypoints = new Messages.geometry_msgs.PoseStamped[arraylength];
}
else
{
Array.Resize(ref waypoints, arraylength);
}
for (int i = 0; i < waypoints.Length; i++)
{
//waypoints[i]
waypoints[i] = new Messages.geometry_msgs.PoseStamped(serializedMessage, ref currentIndex);
}
//max_xyz_velocity
piecesize = Marshal.SizeOf(typeof(double));
h = IntPtr.Zero;
if (serializedMessage.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(serializedMessage, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Memory allocation failed");
}
max_xyz_velocity = (double)Marshal.PtrToStructure(h, typeof(double));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//max_xyz_acceleration
piecesize = Marshal.SizeOf(typeof(double));
h = IntPtr.Zero;
if (serializedMessage.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(serializedMessage, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Memory allocation failed");
}
max_xyz_acceleration = (double)Marshal.PtrToStructure(h, typeof(double));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//max_angular_velocity
piecesize = Marshal.SizeOf(typeof(double));
h = IntPtr.Zero;
if (serializedMessage.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(serializedMessage, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Memory allocation failed");
}
max_angular_velocity = (double)Marshal.PtrToStructure(h, typeof(double));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//max_angular_acceleration
piecesize = Marshal.SizeOf(typeof(double));
h = IntPtr.Zero;
if (serializedMessage.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(serializedMessage, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Memory allocation failed");
}
max_angular_acceleration = (double)Marshal.PtrToStructure(h, typeof(double));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//dt
piecesize = Marshal.SizeOf(typeof(double));
h = IntPtr.Zero;
if (serializedMessage.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(serializedMessage, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Memory allocation failed");
}
dt = (double)Marshal.PtrToStructure(h, typeof(double));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//ik_jump_threshold
piecesize = Marshal.SizeOf(typeof(double));
h = IntPtr.Zero;
if (serializedMessage.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(serializedMessage, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Memory allocation failed");
}
ik_jump_threshold = (double)Marshal.PtrToStructure(h, typeof(double));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//max_deviation
piecesize = Marshal.SizeOf(typeof(double));
h = IntPtr.Zero;
if (serializedMessage.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(serializedMessage, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Memory allocation failed");
}
max_deviation = (double)Marshal.PtrToStructure(h, typeof(double));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//joint_names
hasmetacomponents |= false;
arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (joint_names == null)
{
joint_names = new string[arraylength];
}
else
{
Array.Resize(ref joint_names, arraylength);
}
for (int i = 0; i < joint_names.Length; i++)
{
//joint_names[i]
joint_names[i] = "";
piecesize = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += 4;
joint_names[i] = Encoding.ASCII.GetString(serializedMessage, currentIndex, piecesize);
currentIndex += piecesize;
}
//seed
seed = new Messages.xamlamoveit_msgs.JointPathPoint(serializedMessage, ref currentIndex);
//collision_check
collision_check = serializedMessage[currentIndex++] == 1;
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//group_name
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
{
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{
strbuf[__x__] = (byte)(rand.Next(254) + 1);
}
}
strbuf[strlength - 1] = 0; //null terminate
group_name = Encoding.ASCII.GetString(strbuf);
//joint_names
arraylength = rand.Next(10);
if (joint_names == null)
{
joint_names = new string[arraylength];
}
else
{
Array.Resize(ref joint_names, arraylength);
}
for (int i = 0; i < joint_names.Length; i++)
{
//joint_names[i]
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
{
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{
strbuf[__x__] = (byte)(rand.Next(254) + 1);
}
}
strbuf[strlength - 1] = 0; //null terminate
joint_names[i] = Encoding.ASCII.GetString(strbuf);
}
//end_effector_link
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
{
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{
strbuf[__x__] = (byte)(rand.Next(254) + 1);
}
}
strbuf[strlength - 1] = 0; //null terminate
end_effector_link = Encoding.ASCII.GetString(strbuf);
//seed
seed = new Messages.xamlamoveit_msgs.JointPathPoint();
seed.Randomize();
//const_seed
const_seed = rand.Next(2) == 1;
//points
arraylength = rand.Next(10);
if (points == null)
{
points = new Messages.geometry_msgs.PoseStamped[arraylength];
}
else
{
Array.Resize(ref points, arraylength);
}
for (int i = 0; i < points.Length; i++)
{
//points[i]
points[i] = new Messages.geometry_msgs.PoseStamped();
points[i].Randomize();
}
//collision_check
collision_check = rand.Next(2) == 1;
//attempts
attempts = rand.Next();
//timeout
timeout = new Duration(new TimeData(
Convert.ToInt32(rand.Next()),
Convert.ToInt32(rand.Next())));
}
public override void Deserialize(byte[] serializedMessage, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
object __thing;
int piecesize = 0;
IntPtr h;
//group_name
group_name = "";
piecesize = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += 4;
group_name = Encoding.ASCII.GetString(serializedMessage, currentIndex, piecesize);
currentIndex += piecesize;
//joint_names
hasmetacomponents |= false;
arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (joint_names == null)
{
joint_names = new string[arraylength];
}
else
{
Array.Resize(ref joint_names, arraylength);
}
for (int i = 0; i < joint_names.Length; i++)
{
//joint_names[i]
joint_names[i] = "";
piecesize = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += 4;
joint_names[i] = Encoding.ASCII.GetString(serializedMessage, currentIndex, piecesize);
currentIndex += piecesize;
}
//end_effector_link
end_effector_link = "";
piecesize = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += 4;
end_effector_link = Encoding.ASCII.GetString(serializedMessage, currentIndex, piecesize);
currentIndex += piecesize;
//seed
seed = new Messages.xamlamoveit_msgs.JointPathPoint(serializedMessage, ref currentIndex);
//const_seed
const_seed = serializedMessage[currentIndex++] == 1;
//points
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (points == null)
{
points = new Messages.geometry_msgs.PoseStamped[arraylength];
}
else
{
Array.Resize(ref points, arraylength);
}
for (int i = 0; i < points.Length; i++)
{
//points[i]
points[i] = new Messages.geometry_msgs.PoseStamped(serializedMessage, ref currentIndex);
}
//collision_check
collision_check = serializedMessage[currentIndex++] == 1;
//attempts
piecesize = Marshal.SizeOf(typeof(int));
h = IntPtr.Zero;
if (serializedMessage.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(serializedMessage, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Memory allocation failed");
}
attempts = (int)Marshal.PtrToStructure(h, typeof(int));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//timeout
timeout = new Duration(new TimeData(
BitConverter.ToInt32(serializedMessage, currentIndex),
BitConverter.ToInt32(serializedMessage, currentIndex + Marshal.SizeOf(typeof(System.Int32)))));
currentIndex += 2 * Marshal.SizeOf(typeof(System.Int32));
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//joint_names
arraylength = rand.Next(10);
if (joint_names == null)
{
joint_names = new string[arraylength];
}
else
{
Array.Resize(ref joint_names, arraylength);
}
for (int i = 0; i < joint_names.Length; i++)
{
//joint_names[i]
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
{
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{
strbuf[__x__] = (byte)(rand.Next(254) + 1);
}
}
strbuf[strlength - 1] = 0; //null terminate
joint_names[i] = Encoding.ASCII.GetString(strbuf);
}
//waypoints
arraylength = rand.Next(10);
if (waypoints == null)
{
waypoints = new Messages.xamlamoveit_msgs.JointPathPoint[arraylength];
}
else
{
Array.Resize(ref waypoints, arraylength);
}
for (int i = 0; i < waypoints.Length; i++)
{
//waypoints[i]
waypoints[i] = new Messages.xamlamoveit_msgs.JointPathPoint();
waypoints[i].Randomize();
}
//max_velocity
arraylength = rand.Next(10);
if (max_velocity == null)
{
max_velocity = new double[arraylength];
}
else
{
Array.Resize(ref max_velocity, arraylength);
}
for (int i = 0; i < max_velocity.Length; i++)
{
//max_velocity[i]
max_velocity[i] = (rand.Next() + rand.NextDouble());
}
//max_acceleration
arraylength = rand.Next(10);
if (max_acceleration == null)
{
max_acceleration = new double[arraylength];
}
else
{
Array.Resize(ref max_acceleration, arraylength);
}
for (int i = 0; i < max_acceleration.Length; i++)
{
//max_acceleration[i]
max_acceleration[i] = (rand.Next() + rand.NextDouble());
}
//max_deviation
max_deviation = (rand.Next() + rand.NextDouble());
//dt
dt = (rand.Next() + rand.NextDouble());
}
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;
IntPtr ptr;
int x__size;
//joint_names
hasmetacomponents |= false;
if (joint_names == null)
{
joint_names = new string[0];
}
pieces.Add(BitConverter.GetBytes(joint_names.Length));
for (int i = 0; i < joint_names.Length; i++)
{
//joint_names[i]
if (joint_names[i] == null)
{
joint_names[i] = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)joint_names[i]);
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);
}
//waypoints
hasmetacomponents |= true;
if (waypoints == null)
{
waypoints = new Messages.xamlamoveit_msgs.JointPathPoint[0];
}
pieces.Add(BitConverter.GetBytes(waypoints.Length));
for (int i = 0; i < waypoints.Length; i++)
{
//waypoints[i]
if (waypoints[i] == null)
{
waypoints[i] = new Messages.xamlamoveit_msgs.JointPathPoint();
}
pieces.Add(waypoints[i].Serialize(true));
}
//max_velocity
hasmetacomponents |= false;
if (max_velocity == null)
{
max_velocity = new double[0];
}
pieces.Add(BitConverter.GetBytes(max_velocity.Length));
// Start Xamla
//max_velocity
x__size = Marshal.SizeOf(typeof(double)) * max_velocity.Length;
scratch1 = new byte[x__size];
Buffer.BlockCopy(max_velocity, 0, scratch1, 0, x__size);
pieces.Add(scratch1);
// End Xamla
//max_acceleration
hasmetacomponents |= false;
if (max_acceleration == null)
{
max_acceleration = new double[0];
}
pieces.Add(BitConverter.GetBytes(max_acceleration.Length));
// Start Xamla
//max_acceleration
x__size = Marshal.SizeOf(typeof(double)) * max_acceleration.Length;
scratch1 = new byte[x__size];
Buffer.BlockCopy(max_acceleration, 0, scratch1, 0, x__size);
pieces.Add(scratch1);
// End Xamla
//max_deviation
scratch1 = new byte[Marshal.SizeOf(typeof(double))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(max_deviation, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//dt
scratch1 = new byte[Marshal.SizeOf(typeof(double))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(dt, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//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);
}
public override void Deserialize(byte[] serializedMessage, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
object __thing;
int piecesize = 0;
IntPtr h;
//joint_names
hasmetacomponents |= false;
arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (joint_names == null)
{
joint_names = new string[arraylength];
}
else
{
Array.Resize(ref joint_names, arraylength);
}
for (int i = 0; i < joint_names.Length; i++)
{
//joint_names[i]
joint_names[i] = "";
piecesize = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += 4;
joint_names[i] = Encoding.ASCII.GetString(serializedMessage, currentIndex, piecesize);
currentIndex += piecesize;
}
//waypoints
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (waypoints == null)
{
waypoints = new Messages.xamlamoveit_msgs.JointPathPoint[arraylength];
}
else
{
Array.Resize(ref waypoints, arraylength);
}
for (int i = 0; i < waypoints.Length; i++)
{
//waypoints[i]
waypoints[i] = new Messages.xamlamoveit_msgs.JointPathPoint(serializedMessage, ref currentIndex);
}
//max_velocity
hasmetacomponents |= false;
arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (max_velocity == null)
{
max_velocity = new double[arraylength];
}
else
{
Array.Resize(ref max_velocity, arraylength);
}
// Start Xamla
//max_velocity
piecesize = Marshal.SizeOf(typeof(double)) * max_velocity.Length;
if (currentIndex + piecesize > serializedMessage.Length)
{
throw new Exception("Memory allocation failed: Ran out of bytes to read.");
}
Buffer.BlockCopy(serializedMessage, currentIndex, max_velocity, 0, piecesize);
currentIndex += piecesize;
// End Xamla
//max_acceleration
hasmetacomponents |= false;
arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (max_acceleration == null)
{
max_acceleration = new double[arraylength];
}
else
{
Array.Resize(ref max_acceleration, arraylength);
}
// Start Xamla
//max_acceleration
piecesize = Marshal.SizeOf(typeof(double)) * max_acceleration.Length;
if (currentIndex + piecesize > serializedMessage.Length)
{
throw new Exception("Memory allocation failed: Ran out of bytes to read.");
}
Buffer.BlockCopy(serializedMessage, currentIndex, max_acceleration, 0, piecesize);
currentIndex += piecesize;
// End Xamla
//max_deviation
piecesize = Marshal.SizeOf(typeof(double));
h = IntPtr.Zero;
if (serializedMessage.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(serializedMessage, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Memory allocation failed");
}
max_deviation = (double)Marshal.PtrToStructure(h, typeof(double));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//dt
piecesize = Marshal.SizeOf(typeof(double));
h = IntPtr.Zero;
if (serializedMessage.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(serializedMessage, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Memory allocation failed");
}
dt = (double)Marshal.PtrToStructure(h, typeof(double));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
}
