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;
//header
if (header == null)
{
header = new Header();
}
pieces.Add(header.Serialize(true));
//height
scratch1 = new byte[Marshal.SizeOf(typeof(uint))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(height, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//width
scratch1 = new byte[Marshal.SizeOf(typeof(uint))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(width, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//fields
hasmetacomponents |= true;
if (fields == null)
{
fields = new Messages.sensor_msgs.PointField[0];
}
pieces.Add(BitConverter.GetBytes(fields.Length));
for (int i = 0; i < fields.Length; i++)
{
//fields[i]
if (fields[i] == null)
{
fields[i] = new Messages.sensor_msgs.PointField();
}
pieces.Add(fields[i].Serialize(true));
}
//is_bigendian
thischunk = new byte[1];
thischunk[0] = (byte)((bool)is_bigendian ? 1 : 0);
pieces.Add(thischunk);
//point_step
scratch1 = new byte[Marshal.SizeOf(typeof(uint))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(point_step, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//row_step
scratch1 = new byte[Marshal.SizeOf(typeof(uint))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(row_step, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//data
hasmetacomponents |= false;
if (data == null)
{
data = new byte[0];
}
pieces.Add(BitConverter.GetBytes(data.Length));
pieces.Add((byte[])data);
//is_dense
thischunk = new byte[1];
thischunk[0] = (byte)((bool)is_dense ? 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);
}
