private static object _deserialize(Type T, Type container, byte[] bytes, out int amountread, bool sizeknown)
{
if (bytes.Length == 0 && !WHAT_IS_HAPPENING)
{
// Console.WriteLine("Deserializing empty array?");
amountread = 0;
return(null);
}
object thestructure = null;
if (T.FullName.Contains("System.") && !T.IsCOMObject && !T.IsArray && T != typeof(string))
{
thestructure = new object();
int size = Marshal.SizeOf(T);
IntPtr mem = IntPtr.Zero;
if (bytes.Length != 0)
{
mem = Marshal.AllocHGlobal(size);
Marshal.Copy(bytes, 0, mem, size);
}
amountread = size;
if (WHAT_IS_HAPPENING)
{
/*
* Console.WriteLine("//deserialize: " + T.FullName);
* /*Console.WriteLine(string.Format(@" $A = new {0}();
* IntPtr $B = Marshal.AllocHGlobal({1})
* Marshal.Copy(bytes, 0, $B, {1});
* $A = Marshal.PtrToStructure($B, typeof({0}));
* ", T.FullName, Marshal.SizeOf(T)));*/
}
return(mem != IntPtr.Zero ? Marshal.PtrToStructure(mem, T) : null);
}
IRosMessage MSG;
int startingpos = 0, currpos = 0;
/*if (container==null)
* currpos = 4;*/
MsgTypes MT = MsgTypes.Unknown;
FieldInfo[] infos = GetFields(T, ref thestructure, out MSG);
if (MSG != null)
{
MT = MSG.msgtype;
}
startingpos = currpos;
int currinfo = 0;
while ((currpos < bytes.Length || WHAT_IS_HAPPENING) && currinfo < infos.Length)
{
// Console.WriteLine(infos[currinfo].Name + "(" + currpos + "/" + bytes.Length + ")");
Type type = GetType(infos[currinfo].FieldType.FullName);
//Console.WriteLine("GetType returned: " + type.FullName);
Type realtype = infos[currinfo].FieldType;
MsgTypes msgtype = GetMessageType(type);
bool knownpiecelength = IsSizeKnown(realtype, true) && MSG.Fields != null && !MSG.Fields[infos[currinfo].Name].IsArray || MSG.Fields[infos[currinfo].Name].Length != -1;
if (knownpiecelength)
{
if (infos[currinfo].FieldType.IsArray && msgtype == MsgTypes.std_msgs__Byte)
{
Array vals = (infos[currinfo].GetValue(thestructure) as Array);
if (vals != null)
{
int num = vals.Length;
byte[] PWNED = new byte[num];
Array.Copy(bytes, currpos, PWNED, 0, num);
currpos += num;
infos[currinfo].SetValue(thestructure, PWNED);
}
}
else if (infos[currinfo].FieldType.IsArray && msgtype != MsgTypes.std_msgs__String)
//must have length defined, or else knownpiecelength would be false... so look it up in the dict!
{
Type TT = GetType(infos[currinfo].FieldType.GetElementType().FullName);
if (TT.IsArray)
{
throw new Exception("ERIC, YOU NEED TO MAKE DESERIALIZATION RECURSE!!!");
}
Array vals = (infos[currinfo].GetValue(thestructure) as Array);
if (vals != null)
{
for (int i = 0; i < vals.Length; i++)
{
MsgTypes mt = GetMessageType(TT);
int leng = 0;
Type et = realtype.GetElementType();
if (mt == MsgTypes.Unknown)
{
leng = Marshal.SizeOf(et);
}
if (leng == 0)
{
leng = Marshal.SizeOf(vals.GetValue(i));
}
if (leng == 0)
{
throw new Exception("LENGTH ENUMERATION FAIL IN DESERIALIZE!");
}
if (leng + currpos <= bytes.Length)
{
IntPtr pIP = Marshal.AllocHGlobal(leng);
Marshal.Copy(bytes, currpos, pIP, leng);
object o = Marshal.PtrToStructure(pIP, TT);
vals.SetValue(o, i);
}
else
{
vals.SetValue(null, i);
}
currpos += leng;
}
}
infos[currinfo].SetValue(thestructure, vals);
}
else
{
if (type.FullName != null && type.FullName.Contains("Message"))
{
if (GetMessageType(realtype) == MsgTypes.std_msgs__Time || GetMessageType(realtype) == MsgTypes.std_msgs__Duration || infos[currinfo].FieldType == typeof(TimeData))
{
TimeData td;
if (currpos + 8 <= bytes.Length)
{
uint u1 = BitConverter.ToUInt32(bytes, currpos);
uint u2 = BitConverter.ToUInt32(bytes, currpos + 4);
td = new TimeData(u1, u2);
}
else
{
td = new TimeData(0, 0);
}
currpos += 8;
if (infos[currinfo].FieldType == typeof(TimeData))
{
infos[currinfo].SetValue(thestructure, td);
}
else if (GetMessageType(realtype) == MsgTypes.std_msgs__Time)
{
infos[currinfo].SetValue(thestructure, (object)new std_msgs.Time(td));
}
else
{
infos[currinfo].SetValue(thestructure, (object)new std_msgs.Duration(td));
}
}
else
{
byte[] piece = new byte[bytes.Length != 0 ? bytes.Length - currpos : 0];
if (bytes.Length != 0)
{
Array.Copy(bytes, currpos, piece, 0, piece.Length);
}
int len = 0;
object obj = _deserialize(realtype, T, piece, out len,
IsSizeKnown(realtype, true));
//if ((int)(infos[currinfo].Attributes & FieldAttributes.InitOnly) != 0)
infos[currinfo].SetValue(thestructure, obj);
currpos += len;
}
}
else
{
int len = Marshal.SizeOf(infos[currinfo].GetValue(thestructure));
IntPtr pIP = Marshal.AllocHGlobal(len);
object obj = null;
if (currpos + len <= bytes.Length)
{
Marshal.Copy(bytes, currpos, pIP, len);
obj = Marshal.PtrToStructure(pIP, infos[currinfo].FieldType);
}
infos[currinfo].SetValue(thestructure, obj);
currpos += len;
}
}
}
else
{
Type ft = realtype;
if (ft.IsArray)
{
Type TT = ft.GetElementType();
Array val = infos[currinfo].GetValue(thestructure) as Array;
int chunklen = 0;
if (val == null)
{
if (currpos + 4 <= bytes.Length)
{
chunklen = BitConverter.ToInt32(bytes, currpos);
currpos += 4;
val = Array.CreateInstance(TT, chunklen);
}
else
{
currpos += 4;
val = Array.CreateInstance(TT, 0);
}
}
else
{
chunklen = val.Length;
}
if (TT == null)
{
throw new Exception("LENGTHLESS ARRAY FAIL -- ELEMENT TYPE IS NULL!");
}
if (TT == typeof(string) || TT.FullName.Contains("Message."))
{
throw new Exception("NOT YET, YOUNG PATAWAN");
}
MsgTypes mt = GetMessageType(TT);
if (mt == MsgTypes.std_msgs__Byte)
{
int num = val.Length;
byte[] PWNED = new byte[num];
if (currpos + num <= bytes.Length)
{
Array.Copy(bytes, currpos, PWNED, 0, num);
}
currpos += num;
infos[currinfo].SetValue(thestructure, PWNED);
}
else if (TT.FullName != null && TT.FullName.Contains("Message"))
{
for (int i = 0; i < chunklen; i++)
{
byte[] chunk = new byte[bytes.Length - currpos];
Array.Copy(bytes, currpos, chunk, 0, chunk.Length);
int len = 0;
object data = _deserialize(TT, T, chunk, out len,
IsSizeKnown(TT, false));
val.SetValue(data, i);
currpos += len;
}
infos[currinfo].SetValue(thestructure, val);
}
else
{
int len = Marshal.SizeOf(TT);
IntPtr pIP = IntPtr.Zero;
if (currpos + len * chunklen <= bytes.Length)
{
pIP = Marshal.AllocHGlobal(len * chunklen);
Marshal.Copy(bytes, currpos, pIP, len * chunklen);
}
object o = null;
for (int i = 0; i < chunklen * len; i += len)
{
if (pIP != IntPtr.Zero)
{
o = Marshal.PtrToStructure(pIP, TT);
}
val.SetValue(o, i / len);
if (pIP != IntPtr.Zero)
{
pIP = new IntPtr(pIP.ToInt32() + len);
}
}
infos[currinfo].SetValue(thestructure, val);
currpos += chunklen * len;
}
}
else
{
if (ft.FullName != null && ft.FullName.Contains("Message"))
{
IRosMessage msg = (IRosMessage)Activator.CreateInstance(ft);
Type t = GetType(msg.GetType().FullName);
bool knownsize = IsSizeKnown(t, false) && MSG.Fields != null && !MSG.Fields[infos[currinfo].Name].IsArray || MSG.Fields[infos[currinfo].Name].Length != -1;
if (!knownsize && t.GetField("data").FieldType == typeof(string))
{
int len = -4;
if (currpos + 4 <= bytes.Length)
{
len = BitConverter.ToInt32(bytes, currpos);
}
byte[] smallerpiece = new byte[len + 4];
if (currpos + 4 <= bytes.Length)
{
Array.Copy(bytes, currpos, smallerpiece, 0, smallerpiece.Length);
}
int dontcare = 0;
msg = _deserialize(t, T, smallerpiece, out dontcare, false) as IRosMessage;
if (bytes.Length != 0 && dontcare != len + 4)
{
throw new Exception("WTF?!");
}
infos[currinfo].SetValue(thestructure, msg);
currpos += len + 4;
}
else // if (!knownsize)
{
byte[] smallerpiece = new byte[bytes.Length != 0 ? bytes.Length - currpos : 0];
if (bytes.Length != 0)
{
Array.Copy(bytes, currpos, smallerpiece, 0, smallerpiece.Length);
}
int len = 0;
msg = _deserialize(t, T, smallerpiece, out len, knownsize) as IRosMessage;
infos[currinfo].SetValue(thestructure, msg);
currpos += len;
}
/*else
* {
* throw new Exception("THIS BROKE SOMEHOW! FIX IT!");
* }*/
}
else
{
if (infos[currinfo].FieldType == typeof(string))
{
int len = 0;
if (currpos + 4 <= bytes.Length)
{
len = BitConverter.ToInt32(bytes, currpos);
}
byte[] piece = new byte[len];
currpos += 4;
if (currpos + len <= bytes.Length)
{
Array.Copy(bytes, currpos, piece, 0, len);
}
string str = Encoding.ASCII.GetString(piece);
infos[currinfo].SetValue(thestructure, str);
currpos += len;
}
else
{
//Console.WriteLine("ZOMG HANDLE: " + infos[currinfo].FieldType.FullName);
amountread = currpos - startingpos;
return(thestructure);
}
}
}
}
currinfo++;
}
amountread = currpos - startingpos;
return(thestructure);
}
private void RandomizeField(Type T, ref object target, int hardcodedarraylength=-1)
{
if (!T.IsArray)
{
if (T != typeof(TimeData) && T.Namespace.Contains("Message"))
{
//Create a new object of the same type as target?
object msg = Activator.CreateInstance(T);
FieldInfo[] infos = GetFields(T, ref target);
if (msg == null)
{
GetFields(T, ref target);
throw new Exception("SOMETHING AIN'T RIGHT");
}
foreach (FieldInfo info in infos)
{
if (info.Name.Contains("(")) continue;
if (msg.GetType().GetField(info.Name).IsLiteral) continue;
if (info.GetValue(target) == null)
{
if (info.FieldType == typeof(string))
info.SetValue(target, "");
else if (info.FieldType.IsArray)
info.SetValue(target, Array.CreateInstance(info.FieldType.GetElementType(), 0));
else if (info.FieldType.FullName != null && !info.FieldType.FullName.Contains("Messages."))
info.SetValue(target, 0);
else
info.SetValue(target, Activator.CreateInstance(info.FieldType));
}
object field = info.GetValue(target);
//Randomize(info.FieldType, ref field, -1);
info.SetValue(target, field);
}
}
else if (target is byte || T == typeof(byte))
{
target = (byte)r.Next(255);
}
else if (target is string || T == typeof(string))
{
//create a string of random length [1,100], composed of random chars
int length = r.Next(100) + 1;
byte[] buf = new byte[length];
r.NextBytes(buf); //fill the whole buffer with random bytes
for (int i = 0; i < length; i++)
if (buf[i] == 0) //replace null chars with non-null random ones
buf[i] = (byte)(r.Next(254) + 1);
buf[length - 1] = 0; //null terminate
target = Encoding.ASCII.GetString(buf);
}
else if (target is bool || T == typeof(bool))
{
target = r.Next(2) == 1;
}
else if (target is int || T == typeof(int))
{
target = r.Next();
}
else if (target is uint || T == typeof(int))
{
target = (uint)r.Next();
}
else if (target is double || T == typeof(double))
{
target = r.NextDouble();
}
else if (target is TimeData || T == typeof(TimeData))
{
target = new TimeData((uint)r.Next(), (uint)r.Next());
}
else if (target is float || T == typeof(float))
{
target = (float)r.NextDouble();
}
else if (target is Int16 || T == typeof(Int16))
{
target = (Int16)r.Next(Int16.MaxValue + 1);
}
else if (target is UInt16 || T == typeof(UInt16))
{
target = (UInt16)r.Next(UInt16.MaxValue + 1);
}
else if (target is SByte || T == typeof(SByte))
{
target = (SByte)(r.Next(255) - 127);
}
else if (target is UInt64 || T == typeof(UInt64))
{
target = (UInt64)((uint)(r.Next() << 32)) | (uint)r.Next();
}
else if (target is Int64 || T == typeof(Int64))
{
target = (Int64)(r.Next() << 32) | r.Next();
}
else if (target is char || T == typeof(char))
{
target = (char)(byte)(r.Next(254) + 1);
}
else
{
throw new Exception("Unhandled randomization: " + T);
}
}
else
{
int length = hardcodedarraylength != -1 ? hardcodedarraylength : r.Next(10);
Type elem = T.GetElementType();
Array field = Array.CreateInstance(elem, new int[] { length }, new int[] { 0 });
for (int i = 0; i < length; i++)
{
object val = field.GetValue(i);
RandomizeField(elem, ref val);
field.SetValue(val, i);
}
target = field;
}
}
