public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//header
header = new Header();
header.Randomize();
//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);
}
//points
arraylength = rand.Next(10);
if (points == null)
{
points = new Messages.motoman_msgs.DynamicJointPoint[arraylength];
}
else
{
Array.Resize(ref points, arraylength);
}
for (int i = 0; i < points.Length; i++)
{
//points[i]
points[i] = new Messages.motoman_msgs.DynamicJointPoint();
points[i].Randomize();
}
}
public override void Deserialize(byte[] serializedMessage, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
object __thing;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
//header
header = new Header(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;
}
//points
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (points == null)
{
points = new Messages.motoman_msgs.DynamicJointPoint[arraylength];
}
else
{
Array.Resize(ref points, arraylength);
}
for (int i = 0; i < points.Length; i++)
{
//points[i]
points[i] = new Messages.motoman_msgs.DynamicJointPoint(serializedMessage, 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;
IntPtr ptr;
int x__size;
//header
if (header == null)
{
header = new Header();
}
pieces.Add(header.Serialize(true));
//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);
}
//points
hasmetacomponents |= true;
if (points == null)
{
points = new Messages.motoman_msgs.DynamicJointPoint[0];
}
pieces.Add(BitConverter.GetBytes(points.Length));
for (int i = 0; i < points.Length; i++)
{
//points[i]
if (points[i] == null)
{
points[i] = new Messages.motoman_msgs.DynamicJointPoint();
}
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);
}
