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); }