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;
//group_name
if (group_name == null)
{
group_name = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)group_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_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);
}
//seed
if (seed == null)
{
seed = new Messages.xamlamoveit_msgs.JointValuesPoint();
}
pieces.Add(seed.Serialize(true));
//const_seed
thischunk = new byte[1];
thischunk[0] = (byte)((bool)const_seed ? 1 : 0);
pieces.Add(thischunk);
//points
hasmetacomponents |= true;
if (points == null)
{
points = new Messages.xamlamoveit_msgs.EndEffectorPoses[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.xamlamoveit_msgs.EndEffectorPoses();
}
pieces.Add(points[i].Serialize(true));
}
//collision_check
thischunk = new byte[1];
thischunk[0] = (byte)((bool)collision_check ? 1 : 0);
pieces.Add(thischunk);
//attempts
scratch1 = new byte[Marshal.SizeOf(typeof(int))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(attempts, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//timeout
pieces.Add(BitConverter.GetBytes(timeout.data.sec));
pieces.Add(BitConverter.GetBytes(timeout.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);
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//group_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
group_name = Encoding.ASCII.GetString(strbuf);
//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);
}
//seed
seed = new Messages.xamlamoveit_msgs.JointValuesPoint();
seed.Randomize();
//const_seed
const_seed = rand.Next(2) == 1;
//points
arraylength = rand.Next(10);
if (points == null)
{
points = new Messages.xamlamoveit_msgs.EndEffectorPoses[arraylength];
}
else
{
Array.Resize(ref points, arraylength);
}
for (int i = 0; i < points.Length; i++)
{
//points[i]
points[i] = new Messages.xamlamoveit_msgs.EndEffectorPoses();
points[i].Randomize();
}
//collision_check
collision_check = rand.Next(2) == 1;
//attempts
attempts = rand.Next();
//timeout
timeout = new Duration(new TimeData(
Convert.ToInt32(rand.Next()),
Convert.ToInt32(rand.Next())));
}
public override void Deserialize(byte[] serializedMessage, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
object __thing;
int piecesize = 0;
IntPtr h;
//group_name
group_name = "";
piecesize = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += 4;
group_name = Encoding.ASCII.GetString(serializedMessage, currentIndex, piecesize);
currentIndex += piecesize;
//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;
}
//seed
seed = new Messages.xamlamoveit_msgs.JointValuesPoint(serializedMessage, ref currentIndex);
//const_seed
const_seed = serializedMessage[currentIndex++] == 1;
//points
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (points == null)
{
points = new Messages.xamlamoveit_msgs.EndEffectorPoses[arraylength];
}
else
{
Array.Resize(ref points, arraylength);
}
for (int i = 0; i < points.Length; i++)
{
//points[i]
points[i] = new Messages.xamlamoveit_msgs.EndEffectorPoses(serializedMessage, ref currentIndex);
}
//collision_check
collision_check = serializedMessage[currentIndex++] == 1;
//attempts
piecesize = Marshal.SizeOf(typeof(int));
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");
}
attempts = (int)Marshal.PtrToStructure(h, typeof(int));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//timeout
timeout = new Duration(new TimeData(
BitConverter.ToInt32(serializedMessage, currentIndex),
BitConverter.ToInt32(serializedMessage, currentIndex + Marshal.SizeOf(typeof(System.Int32)))));
currentIndex += 2 * Marshal.SizeOf(typeof(System.Int32));
}
