public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//header
header = new Header();
header.Randomize();
//angle_min
angle_min = (float)(rand.Next() + rand.NextDouble());
//angle_max
angle_max = (float)(rand.Next() + rand.NextDouble());
//angle_increment
angle_increment = (float)(rand.Next() + rand.NextDouble());
//time_increment
time_increment = (float)(rand.Next() + rand.NextDouble());
//scan_time
scan_time = (float)(rand.Next() + rand.NextDouble());
//range_min
range_min = (float)(rand.Next() + rand.NextDouble());
//range_max
range_max = (float)(rand.Next() + rand.NextDouble());
//ranges
arraylength = rand.Next(10);
if (ranges == null)
{
ranges = new Messages.sensor_msgs.LaserEcho[arraylength];
}
else
{
Array.Resize(ref ranges, arraylength);
}
for (int i = 0; i < ranges.Length; i++)
{
//ranges[i]
ranges[i] = new Messages.sensor_msgs.LaserEcho();
ranges[i].Randomize();
}
//intensities
arraylength = rand.Next(10);
if (intensities == null)
{
intensities = new Messages.sensor_msgs.LaserEcho[arraylength];
}
else
{
Array.Resize(ref intensities, arraylength);
}
for (int i = 0; i < intensities.Length; i++)
{
//intensities[i]
intensities[i] = new Messages.sensor_msgs.LaserEcho();
intensities[i].Randomize();
}
}
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;
//header
header = new Header(SERIALIZEDSTUFF, ref currentIndex);
//angle_min
piecesize = Marshal.SizeOf(typeof(Single));
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");
}
angle_min = (Single)Marshal.PtrToStructure(h, typeof(Single));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//angle_max
piecesize = Marshal.SizeOf(typeof(Single));
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");
}
angle_max = (Single)Marshal.PtrToStructure(h, typeof(Single));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//angle_increment
piecesize = Marshal.SizeOf(typeof(Single));
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");
}
angle_increment = (Single)Marshal.PtrToStructure(h, typeof(Single));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//time_increment
piecesize = Marshal.SizeOf(typeof(Single));
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");
}
time_increment = (Single)Marshal.PtrToStructure(h, typeof(Single));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//scan_time
piecesize = Marshal.SizeOf(typeof(Single));
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");
}
scan_time = (Single)Marshal.PtrToStructure(h, typeof(Single));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//range_min
piecesize = Marshal.SizeOf(typeof(Single));
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");
}
range_min = (Single)Marshal.PtrToStructure(h, typeof(Single));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//range_max
piecesize = Marshal.SizeOf(typeof(Single));
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");
}
range_max = (Single)Marshal.PtrToStructure(h, typeof(Single));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//ranges
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (ranges == null)
{
ranges = new Messages.sensor_msgs.LaserEcho[arraylength];
}
else
{
Array.Resize(ref ranges, arraylength);
}
for (int i = 0; i < ranges.Length; i++)
{
//ranges[i]
ranges[i] = new Messages.sensor_msgs.LaserEcho(SERIALIZEDSTUFF, ref currentIndex);
}
//intensities
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (intensities == null)
{
intensities = new Messages.sensor_msgs.LaserEcho[arraylength];
}
else
{
Array.Resize(ref intensities, arraylength);
}
for (int i = 0; i < intensities.Length; i++)
{
//intensities[i]
intensities[i] = new Messages.sensor_msgs.LaserEcho(SERIALIZEDSTUFF, 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;
//header
if (header == null)
{
header = new Header();
}
pieces.Add(header.Serialize(true));
//angle_min
scratch1 = new byte[Marshal.SizeOf(typeof(Single))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(angle_min, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//angle_max
scratch1 = new byte[Marshal.SizeOf(typeof(Single))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(angle_max, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//angle_increment
scratch1 = new byte[Marshal.SizeOf(typeof(Single))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(angle_increment, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//time_increment
scratch1 = new byte[Marshal.SizeOf(typeof(Single))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(time_increment, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//scan_time
scratch1 = new byte[Marshal.SizeOf(typeof(Single))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(scan_time, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//range_min
scratch1 = new byte[Marshal.SizeOf(typeof(Single))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(range_min, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//range_max
scratch1 = new byte[Marshal.SizeOf(typeof(Single))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(range_max, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//ranges
hasmetacomponents |= true;
if (ranges == null)
{
ranges = new Messages.sensor_msgs.LaserEcho[0];
}
pieces.Add(BitConverter.GetBytes(ranges.Length));
for (int i = 0; i < ranges.Length; i++)
{
//ranges[i]
if (ranges[i] == null)
{
ranges[i] = new Messages.sensor_msgs.LaserEcho();
}
pieces.Add(ranges[i].Serialize(true));
}
//intensities
hasmetacomponents |= true;
if (intensities == null)
{
intensities = new Messages.sensor_msgs.LaserEcho[0];
}
pieces.Add(BitConverter.GetBytes(intensities.Length));
for (int i = 0; i < intensities.Length; i++)
{
//intensities[i]
if (intensities[i] == null)
{
intensities[i] = new Messages.sensor_msgs.LaserEcho();
}
pieces.Add(intensities[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);
}
