public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//target
target = new PointStamped();
target.Randomize();
//pointing_axis
pointing_axis = new Vector3();
pointing_axis.Randomize();
//pointing_frame
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
pointing_frame = Encoding.ASCII.GetString(strbuf);
//min_duration
min_duration = new Duration(new TimeData(
Convert.ToUInt32(rand.Next()),
Convert.ToUInt32(rand.Next())));
//max_velocity
max_velocity = (rand.Next() + rand.NextDouble());
}
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;
//target
if (target == null)
{
target = new PointStamped();
}
pieces.Add(target.Serialize(true));
//pointing_axis
if (pointing_axis == null)
{
pointing_axis = new Vector3();
}
pieces.Add(pointing_axis.Serialize(true));
//pointing_frame
if (pointing_frame == null)
{
pointing_frame = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)pointing_frame);
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);
//min_duration
pieces.Add(BitConverter.GetBytes(min_duration.data.sec));
pieces.Add(BitConverter.GetBytes(min_duration.data.nsec));
//max_velocity
scratch1 = new byte[Marshal.SizeOf(typeof(double))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(max_velocity, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//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 Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
object __thing;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
//target
target = new PointStamped(SERIALIZEDSTUFF, ref currentIndex);
//pointing_axis
pointing_axis = new Vector3(SERIALIZEDSTUFF, ref currentIndex);
//pointing_frame
pointing_frame = "";
piecesize = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += 4;
pointing_frame = Encoding.ASCII.GetString(SERIALIZEDSTUFF, currentIndex, piecesize);
currentIndex += piecesize;
//min_duration
min_duration = new Duration(new TimeData(
BitConverter.ToUInt32(SERIALIZEDSTUFF, currentIndex),
BitConverter.ToUInt32(SERIALIZEDSTUFF, currentIndex + Marshal.SizeOf(typeof(System.Int32)))));
currentIndex += 2 * Marshal.SizeOf(typeof(System.Int32));
//max_velocity
piecesize = Marshal.SizeOf(typeof(double));
h = IntPtr.Zero;
if (SERIALIZEDSTUFF.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(SERIALIZEDSTUFF, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Alloc failed");
}
max_velocity = (double)Marshal.PtrToStructure(h, typeof(double));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
}
