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;
//solution
if (solution == null)
{
solution = new Messages.trajectory_msgs.JointTrajectory();
}
pieces.Add(solution.Serialize(true));
//error_code
if (error_code == null)
{
error_code = new Messages.moveit_msgs.MoveItErrorCodes();
}
pieces.Add(error_code.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;
//trajectory
if (trajectory == null)
{
trajectory = new Messages.trajectory_msgs.JointTrajectory();
}
pieces.Add(trajectory.Serialize(true));
//check_collision
thischunk = new byte[1];
thischunk[0] = (byte)((bool)check_collision ? 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;
object __thing;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
//trajectory
trajectory = new Messages.trajectory_msgs.JointTrajectory(serializedMessage, ref currentIndex);
//check_collision
check_collision = serializedMessage[currentIndex++] == 1;
//veloctiy_scaling
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");
}
veloctiy_scaling = (double)Marshal.PtrToStructure(h, typeof(double));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//model_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
model_name = Encoding.ASCII.GetString(strbuf);
//joint_trajectory
joint_trajectory = new Messages.trajectory_msgs.JointTrajectory();
joint_trajectory.Randomize();
//model_pose
model_pose = new Pose();
model_pose.Randomize();
//set_model_pose
set_model_pose = rand.Next(2) == 1;
//disable_physics_updates
disable_physics_updates = rand.Next(2) == 1;
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
object __thing;
int piecesize = 0;
IntPtr h;
//model_name
model_name = "";
piecesize = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += 4;
model_name = Encoding.ASCII.GetString(SERIALIZEDSTUFF, currentIndex, piecesize);
currentIndex += piecesize;
//joint_trajectory
joint_trajectory = new Messages.trajectory_msgs.JointTrajectory(SERIALIZEDSTUFF, ref currentIndex);
//model_pose
model_pose = new Pose(SERIALIZEDSTUFF, ref currentIndex);
//set_model_pose
set_model_pose = SERIALIZEDSTUFF[currentIndex++] == 1;
//disable_physics_updates
disable_physics_updates = SERIALIZEDSTUFF[currentIndex++] == 1;
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//trajectory
trajectory = new Messages.trajectory_msgs.JointTrajectory();
trajectory.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;
//trajectory
trajectory = new Messages.trajectory_msgs.JointTrajectory(SERIALIZEDSTUFF, ref currentIndex);
//path_tolerance
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (path_tolerance == null)
{
path_tolerance = new Messages.control_msgs.JointTolerance[arraylength];
}
else
{
Array.Resize(ref path_tolerance, arraylength);
}
for (int i = 0; i < path_tolerance.Length; i++)
{
//path_tolerance[i]
path_tolerance[i] = new Messages.control_msgs.JointTolerance(SERIALIZEDSTUFF, ref currentIndex);
}
//goal_tolerance
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (goal_tolerance == null)
{
goal_tolerance = new Messages.control_msgs.JointTolerance[arraylength];
}
else
{
Array.Resize(ref goal_tolerance, arraylength);
}
for (int i = 0; i < goal_tolerance.Length; i++)
{
//goal_tolerance[i]
goal_tolerance[i] = new Messages.control_msgs.JointTolerance(SERIALIZEDSTUFF, ref currentIndex);
}
//goal_time_tolerance
goal_time_tolerance = new Duration(new TimeData(
BitConverter.ToUInt32(SERIALIZEDSTUFF, currentIndex),
BitConverter.ToUInt32(SERIALIZEDSTUFF, currentIndex + Marshal.SizeOf(typeof(System.Int32)))));
currentIndex += 2 * Marshal.SizeOf(typeof(System.Int32));
}
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;
//model_name
if (model_name == null)
{
model_name = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)model_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_trajectory
if (joint_trajectory == null)
{
joint_trajectory = new Messages.trajectory_msgs.JointTrajectory();
}
pieces.Add(joint_trajectory.Serialize(true));
//model_pose
if (model_pose == null)
{
model_pose = new Pose();
}
pieces.Add(model_pose.Serialize(true));
//set_model_pose
thischunk = new byte[1];
thischunk[0] = (byte)((bool)set_model_pose ? 1 : 0);
pieces.Add(thischunk);
//disable_physics_updates
thischunk = new byte[1];
thischunk[0] = (byte)((bool)disable_physics_updates ? 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;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
object __thing;
//trajectory
trajectory = new Messages.trajectory_msgs.JointTrajectory(serializedMessage, ref currentIndex);
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//trajectory
trajectory = new Messages.trajectory_msgs.JointTrajectory();
trajectory.Randomize();
//check_collision
check_collision = rand.Next(2) == 1;
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//solution
solution = new Messages.trajectory_msgs.JointTrajectory();
solution.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;
//solution
solution = new Messages.trajectory_msgs.JointTrajectory(serializedMessage, ref currentIndex);
//error_code
error_code = new Messages.moveit_msgs.MoveItErrorCodes(serializedMessage, ref currentIndex);
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//trajectory
trajectory = new Messages.trajectory_msgs.JointTrajectory();
trajectory.Randomize();
//path_tolerance
arraylength = rand.Next(10);
if (path_tolerance == null)
{
path_tolerance = new Messages.control_msgs.JointTolerance[arraylength];
}
else
{
Array.Resize(ref path_tolerance, arraylength);
}
for (int i = 0; i < path_tolerance.Length; i++)
{
//path_tolerance[i]
path_tolerance[i] = new Messages.control_msgs.JointTolerance();
path_tolerance[i].Randomize();
}
//goal_tolerance
arraylength = rand.Next(10);
if (goal_tolerance == null)
{
goal_tolerance = new Messages.control_msgs.JointTolerance[arraylength];
}
else
{
Array.Resize(ref goal_tolerance, arraylength);
}
for (int i = 0; i < goal_tolerance.Length; i++)
{
//goal_tolerance[i]
goal_tolerance[i] = new Messages.control_msgs.JointTolerance();
goal_tolerance[i].Randomize();
}
//goal_time_tolerance
goal_time_tolerance = new Duration(new TimeData(
Convert.ToUInt32(rand.Next()),
Convert.ToUInt32(rand.Next())));
}
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;
//trajectory
if (trajectory == null)
{
trajectory = new Messages.trajectory_msgs.JointTrajectory();
}
pieces.Add(trajectory.Serialize(true));
//check_collision
thischunk = new byte[1];
thischunk[0] = (byte)((bool)check_collision ? 1 : 0);
pieces.Add(thischunk);
//veloctiy_scaling
scratch1 = new byte[Marshal.SizeOf(typeof(double))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(veloctiy_scaling, 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 byte[] Serialize(bool partofsomethingelse)
{
int currentIndex = 0, length = 0;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
List <byte[]> pieces = new List <byte[]>();
GCHandle h;
//trajectory
if (trajectory == null)
{
trajectory = new Messages.trajectory_msgs.JointTrajectory();
}
pieces.Add(trajectory.Serialize(true));
//path_tolerance
hasmetacomponents |= true;
if (path_tolerance == null)
{
path_tolerance = new Messages.control_msgs.JointTolerance[0];
}
pieces.Add(BitConverter.GetBytes(path_tolerance.Length));
for (int i = 0; i < path_tolerance.Length; i++)
{
//path_tolerance[i]
if (path_tolerance[i] == null)
{
path_tolerance[i] = new Messages.control_msgs.JointTolerance();
}
pieces.Add(path_tolerance[i].Serialize(true));
}
//goal_tolerance
hasmetacomponents |= true;
if (goal_tolerance == null)
{
goal_tolerance = new Messages.control_msgs.JointTolerance[0];
}
pieces.Add(BitConverter.GetBytes(goal_tolerance.Length));
for (int i = 0; i < goal_tolerance.Length; i++)
{
//goal_tolerance[i]
if (goal_tolerance[i] == null)
{
goal_tolerance[i] = new Messages.control_msgs.JointTolerance();
}
pieces.Add(goal_tolerance[i].Serialize(true));
}
//goal_time_tolerance
pieces.Add(BitConverter.GetBytes(goal_time_tolerance.data.sec));
pieces.Add(BitConverter.GetBytes(goal_time_tolerance.data.nsec));
//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);
}
