//[System.Diagnostics.DebuggerStepThrough] public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex) { int arraylength = -1; bool hasmetacomponents = false; int piecesize = 0; byte[] thischunk, scratch1, scratch2; IntPtr h; object __thing; //time_step 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"); } time_step = (double)Marshal.PtrToStructure(h, typeof(double)); Marshal.FreeHGlobal(h); currentIndex += piecesize; //pause pause = SERIALIZEDSTUFF[currentIndex++] == 1; //max_update_rate 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_update_rate = (double)Marshal.PtrToStructure(h, typeof(double)); Marshal.FreeHGlobal(h); currentIndex += piecesize; //gravity gravity = new Vector3(SERIALIZEDSTUFF, ref currentIndex); //ode_config ode_config = new Messages.gazebo_msgs.ODEPhysics(SERIALIZEDSTUFF, ref currentIndex); //success success = SERIALIZEDSTUFF[currentIndex++] == 1; //status_message status_message = ""; piecesize = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex); currentIndex += 4; status_message = Encoding.ASCII.GetString(SERIALIZEDSTUFF, currentIndex, piecesize); currentIndex += piecesize; }
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; //time_step scratch1 = new byte[Marshal.SizeOf(typeof(double))]; h = GCHandle.Alloc(scratch1, GCHandleType.Pinned); Marshal.StructureToPtr(time_step, h.AddrOfPinnedObject(), false); h.Free(); pieces.Add(scratch1); //max_update_rate scratch1 = new byte[Marshal.SizeOf(typeof(double))]; h = GCHandle.Alloc(scratch1, GCHandleType.Pinned); Marshal.StructureToPtr(max_update_rate, h.AddrOfPinnedObject(), false); h.Free(); pieces.Add(scratch1); //gravity if (gravity == null) { gravity = new Vector3(); } pieces.Add(gravity.Serialize(true)); //ode_config if (ode_config == null) { ode_config = new Messages.gazebo_msgs.ODEPhysics(); } pieces.Add(ode_config.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); }
public override void Randomize() { int arraylength = -1; Random rand = new Random(); int strlength; byte[] strbuf, myByte; //time_step time_step = (rand.Next() + rand.NextDouble()); //max_update_rate max_update_rate = (rand.Next() + rand.NextDouble()); //gravity gravity = new Vector3(); gravity.Randomize(); //ode_config ode_config = new Messages.gazebo_msgs.ODEPhysics(); ode_config.Randomize(); }
public override void Randomize() { int arraylength = -1; Random rand = new Random(); int strlength; byte[] strbuf, myByte; //time_step time_step = (rand.Next() + rand.NextDouble()); //pause pause = rand.Next(2) == 1; //max_update_rate max_update_rate = (rand.Next() + rand.NextDouble()); //gravity gravity = new Vector3(); gravity.Randomize(); //ode_config ode_config = new Messages.gazebo_msgs.ODEPhysics(); ode_config.Randomize(); //success success = rand.Next(2) == 1; //status_message 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 status_message = Encoding.ASCII.GetString(strbuf); }
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; //time_step scratch1 = new byte[Marshal.SizeOf(typeof(double))]; h = GCHandle.Alloc(scratch1, GCHandleType.Pinned); Marshal.StructureToPtr(time_step, h.AddrOfPinnedObject(), false); h.Free(); pieces.Add(scratch1); //pause thischunk = new byte[1]; thischunk[0] = (byte)((bool)pause ? 1 : 0); pieces.Add(thischunk); //max_update_rate scratch1 = new byte[Marshal.SizeOf(typeof(double))]; h = GCHandle.Alloc(scratch1, GCHandleType.Pinned); Marshal.StructureToPtr(max_update_rate, h.AddrOfPinnedObject(), false); h.Free(); pieces.Add(scratch1); //gravity if (gravity == null) { gravity = new Vector3(); } pieces.Add(gravity.Serialize(true)); //ode_config if (ode_config == null) { ode_config = new Messages.gazebo_msgs.ODEPhysics(); } pieces.Add(ode_config.Serialize(true)); //success thischunk = new byte[1]; thischunk[0] = (byte)((bool)success ? 1 : 0); pieces.Add(thischunk); //status_message if (status_message == null) { status_message = ""; } scratch1 = Encoding.ASCII.GetBytes((string)status_message); 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); //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); }