public static Robotics.HAL.Sensors.Telemetric.LaserReading[] Deserialize(string serializedString)
{
if ((serializedString == null) || (serializedString.Length < 20) || ((serializedString.Length % 2) != 0))
{
return(null);
}
int count;
bool mistaken;
double min;
double step;
double angle;
double distance;
ushort distanceMM;
Robotics.HAL.Sensors.Telemetric.LaserReading[] readings;
int ix;
byte[] bytes;
ix = serializedString.StartsWith("0x", StringComparison.InvariantCultureIgnoreCase) ? 2 : 0;
bytes = new byte[(serializedString.Length / 2) - ix];
for (int i = 0; i < bytes.Length; ++i, ix += 2)
{
bytes[i] = Byte.Parse(serializedString.Substring(ix), System.Globalization.NumberStyles.HexNumber, System.Globalization.CultureInfo.InvariantCulture);
}
ix = 0;
count = BitConverter.ToInt32(bytes, ix);
ix += 4;
if ((count < 0) || (((serializedString.Length - 40) / 4) != count))
{
return(null);
}
min = BitConverter.ToDouble(bytes, ix);
ix += 8;
step = BitConverter.ToDouble(bytes, ix);
ix += 8;
angle = min;
readings = new Robotics.HAL.Sensors.Telemetric.LaserReading[count];
for (int i = 0; i < count; ++i, angle += step)
{
distanceMM = BitConverter.ToUInt16(bytes, ix);
if (mistaken = ((distanceMM & 0x8000) != 0))
{
distanceMM &= 0x7FFF;
}
ix += 2;
distance = distanceMM / 1000.0;
readings[i] = new Robotics.HAL.Sensors.Telemetric.LaserReading(null, angle, distance, mistaken);
}
return(readings);
}
public static Robotics.HAL.Sensors.Telemetric.LaserReading[] Deserialize(string serializedString)
{
if ((serializedString == null) || (serializedString.Length < 20) || ((serializedString.Length % 2) != 0))
return null;
int count;
bool mistaken;
double min;
double step;
double angle;
double distance;
ushort distanceMM;
Robotics.HAL.Sensors.Telemetric.LaserReading[] readings;
int ix;
byte[] bytes;
ix = serializedString.StartsWith("0x", StringComparison.InvariantCultureIgnoreCase) ? 2 : 0;
bytes = new byte[(serializedString.Length / 2) - ix];
for (int i = 0; i < bytes.Length; ++i, ix+=2)
bytes[i] = Byte.Parse(serializedString.Substring(ix), System.Globalization.NumberStyles.HexNumber, System.Globalization.CultureInfo.InvariantCulture);
ix = 0;
count = BitConverter.ToInt32(bytes, ix);
ix += 4;
if ((count < 0) || (((serializedString.Length - 40) / 4) != count))
return null;
min = BitConverter.ToDouble(bytes, ix);
ix += 8;
step = BitConverter.ToDouble(bytes, ix);
ix += 8;
angle = min;
readings = new Robotics.HAL.Sensors.Telemetric.LaserReading[count];
for (int i = 0; i < count; ++i, angle += step)
{
distanceMM = BitConverter.ToUInt16(bytes, ix);
if (mistaken = ((distanceMM & 0x8000) != 0))
distanceMM &= 0x7FFF;
ix += 2;
distance = distanceMM / 1000.0;
readings[i] = new Robotics.HAL.Sensors.Telemetric.LaserReading(null, angle, distance, mistaken);
}
return readings;
}
