public override void Write(ulong memorypos, T[] buffer, ulong bufferpos, ulong count)
{
T[] buffer3;
if ((ulong)buffer.Length == count)
{
buffer3 = buffer;
}
else
{
buffer3 = new T[count];
Array.Copy(buffer, (long)bufferpos, buffer3, 0, (long)count);
}
RRBaseArray buffer2 = null;
try
{
buffer2 = MessageElementDataUtil.ArrayToRRBaseArray(buffer3);
WrappedArrayMemoryClientUtil.Write(innerarray, memorypos, buffer2, 0, count);
}
finally
{
if (buffer2 != null)
{
buffer2.Dispose();
}
}
}
public override void Write(ulong[] memorypos, MultiDimArray buffer, ulong[] bufferpos, ulong[] count)
{
RRMultiDimArrayUntyped dat2 = null;
RRBaseArray dat2Dims = null;
RRBaseArray dat2Array = null;
try
{
int elemcount = 1;
foreach (ulong v in count)
{
elemcount *= (int)v;
}
uint[] count2 = count.Select(x => (uint)x).ToArray();
T[] array = new T[elemcount];
MultiDimArray writedat1 = new MultiDimArray(count2, array);
writedat1.AssignSubArray(new uint[count.Length], buffer, bufferpos.Select(x => (uint)x).ToArray(), count.Select(x => (uint)x).ToArray());
dat2 = new RRMultiDimArrayUntyped();
dat2Dims = MessageElementDataUtil.ArrayToRRBaseArray(count2);
dat2.Dims = dat2Dims;
dat2Array = MessageElementDataUtil.ArrayToRRBaseArray(array);
dat2.Array = dat2Array;
vector_uint64_t memorypos3 = new vector_uint64_t();
foreach (ulong val in memorypos)
{
memorypos3.Add(val);
}
vector_uint64_t count3 = new vector_uint64_t();
foreach (ulong val in count)
{
count3.Add(val);
}
vector_uint64_t bufferpos3 = new vector_uint64_t();
for (int i = 0; i < count.Length; i++)
{
bufferpos3.Add(0);
}
WrappedMultiDimArrayMemoryClientUtil.Write(innermem, memorypos3, dat2, bufferpos3, count3);
}
finally
{
if (dat2 != null)
{
if (dat2Dims != null)
{
dat2Dims.Dispose();
}
if (dat2Array != null)
{
dat2Array.Dispose();
}
dat2.Dispose();
}
}
}
public override void Write(WrappedMultiDimArrayMemoryParams p)
{
RRMultiDimArrayUntyped pbuffer = null;
RRBaseArray pbufferDims = null;
RRBaseArray pbufferArray = null;
try
{
ulong[] count = p.count.ToArray();
ulong[] bufferpos = p.bufferpos.ToArray();
ulong[] memorypos = p.memorypos.ToArray();
ulong elemcount = 1;
foreach (ulong e in count)
{
elemcount *= e;
}
pbuffer = p.buffer;
pbufferDims = pbuffer.Dims;
pbufferArray = pbuffer.Array;
int[] dims = (int[])MessageElementDataUtil.RRBaseArrayToArray(pbufferDims);
T[] array = (T[])MessageElementDataUtil.RRBaseArrayToArray(pbufferArray);
MultiDimArray m = new MultiDimArray(count.Select(x => (uint)x).ToArray(), array);
mem.Write(memorypos, m, bufferpos, count);
}
catch (Exception e)
{
using (MessageEntry merr = new MessageEntry())
{
RobotRaconteurExceptionUtil.ExceptionToMessageEntry(e, merr);
RRDirectorExceptionHelper.SetError(merr, e.ToString());
}
}
finally
{
if (p != null && pbuffer != null)
{
if (pbufferDims != null)
{
pbufferDims.Dispose();
}
if (pbufferArray != null)
{
pbufferArray.Dispose();
}
}
if (p != null)
{
p.Dispose();
}
}
}
private object GetData()
{
using (MessageElementData val = _GetData())
{
if (val == null)
{
return(null);
}
object a = null;
a = MessageElementDataUtil.ToRRBaseArray(val);
if (a != null)
{
if (DataTypeUtil.IsNumber(val.GetTypeID()))
{
RRBaseArray ra = (RRBaseArray)a;
try
{
return(MessageElementDataUtil.RRBaseArrayToArray(ra));
}
finally
{
ra.Dispose();
}
}
if (val.GetTypeID() == DataTypes.string_t)
{
RRBaseArray ra = (RRBaseArray)a;
try
{
return(MessageElementDataUtil.RRBaseArrayToString(ra));
}
finally
{
ra.Dispose();
}
}
IDisposable ad = a as IDisposable;
if (ad != null)
{
ad.Dispose();
}
throw new DataTypeException("Unknown RRArray type");
}
a = MessageElementDataUtil.ToMessageElementNestedElementList(val);
if (a != null)
{
return(a);
}
throw new ApplicationException("Unknown data type");
}
throw new ApplicationException("Unknown data type");
}
private void SetData(object dat)
{
if (dat == null)
{
_SetData(null);
return;
}
if (dat is Array)
{
using (RRBaseArray rb = MessageElementDataUtil.ArrayToRRBaseArray((Array)dat))
{
_SetData(rb);
}
return;
}
if (dat is string)
{
using (RRBaseArray rb = MessageElementDataUtil.stringToRRBaseArray((string)dat))
{
_SetData(rb);
}
return;
}
if (dat is MessageElementData)
{
_SetData((MessageElementData)dat);
return;
}
string datatype = datatype = RobotRaconteurNode.GetTypeString(dat.GetType());
DataTypes elementtype = DataTypeUtil.TypeIDFromString(datatype);
if (elementtype != DataTypes.void_t && (elementtype < DataTypes.uint64_t || elementtype == DataTypes.bool_t) &&
!(dat is Array))
{
object dat2 = DataTypeUtil.ArrayFromScalar(dat);
using (RRBaseArray rb = MessageElementDataUtil.ArrayToRRBaseArray((Array)dat2))
{
_SetData(rb);
}
return;
}
throw new DataTypeException("Invalid MessageElement data type");
}
public override void Read(ulong[] memorypos, MultiDimArray buffer, ulong[] bufferpos, ulong[] count)
{
RRMultiDimArrayUntyped dat = null;
RRBaseArray datDims = null;
RRBaseArray datArray = null;
try
{
vector_uint64_t memorypos2 = new vector_uint64_t();
foreach (ulong val in memorypos)
{
memorypos2.Add(val);
}
vector_uint64_t count2 = new vector_uint64_t();
foreach (ulong val in count)
{
count2.Add(val);
}
dat = WrappedMultiDimArrayMemoryClientUtil.Read(innermem, memorypos2, count2);
datDims = dat.Dims;
datArray = dat.Array;
uint[] dims = (uint[])MessageElementDataUtil.RRBaseArrayToArray(datDims);
T[] array = (T[])MessageElementDataUtil.RRBaseArrayToArray(datArray);
MultiDimArray dat2 = new MultiDimArray(dims, array);
buffer.AssignSubArray(bufferpos.Select(x => (uint)x).ToArray(), dat2, new uint[count.Length],
count.Select(x => (uint)x).ToArray());
}
finally
{
if (dat != null)
{
if (datDims != null)
{
datDims.Dispose();
}
if (datArray != null)
{
datArray.Dispose();
}
dat.Dispose();
}
}
}
public override void Read(ulong memorypos, T[] buffer, ulong bufferpos, ulong count)
{
RRBaseArray dat = null;
try
{
dat = WrappedArrayMemoryClientUtil.Read(innerarray, memorypos, count);
T[] dat2 = (T[])MessageElementDataUtil.RRBaseArrayToArray(dat);
Array.Copy(dat2, 0, buffer, (long)bufferpos, (long)count);
}
finally
{
if (dat != null)
{
dat.Dispose();
}
}
}
public override void Write(ulong memorypos, RRBaseArray buffer, ulong bufferpos, ulong count)
{
try
{
using (buffer)
{
T[] buffer2 = (T[])MessageElementDataUtil.RRBaseArrayToArray(buffer);
mem.Write(memorypos, buffer2, bufferpos, count);
}
}
catch (Exception e)
{
using (MessageEntry merr = new MessageEntry())
{
RobotRaconteurExceptionUtil.ExceptionToMessageEntry(e, merr);
RRDirectorExceptionHelper.SetError(merr, e.ToString());
}
}
}
public override void Read(ulong memorypos, RRBaseArray buffer, ulong bufferpos, ulong count)
{
try
{
using (buffer)
{
T[] buffer3 = new T[count];
mem.Read(memorypos, buffer3, 0, count);
MessageElementDataUtil.ArrayToRRBaseArray(buffer3, buffer);
}
}
catch (Exception e)
{
using (MessageEntry merr = new MessageEntry())
{
RobotRaconteurExceptionUtil.ExceptionToMessageEntry(e, merr);
RRDirectorExceptionHelper.SetError(merr, e.ToString());
}
}
}
public static RRBaseArray ArrayToRRBaseArray(Array i, RRBaseArray o)
{
if (i == null)
{
return(null);
}
DataTypes type = DataTypeUtil.TypeIDFromString(RobotRaconteurNode.GetTypeString(i.GetType().GetElementType()));
if (i.Length != o.size())
{
throw new Exception("Length mismatch");
}
if (o.GetTypeID() != type)
{
throw new Exception("Type mismatch");
}
/*GCHandle h = GCHandle.Alloc(i, GCHandleType.Pinned);
* rr_memcpy.memcpy(o.void_ptr(), h.AddrOfPinnedObject(), i.Length * o.ElementSize());
* h.Free();*/
switch (type)
{
case DataTypes.double_t: {
var a = (double[])i;
MessageElementDataUtil.DoublesToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.single_t: {
var a = (float[])i;
MessageElementDataUtil.FloatsToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.int8_t: {
var a = (sbyte[])i;
MessageElementDataUtil.BytesToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.uint8_t: {
var a = (byte[])i;
MessageElementDataUtil.BytesToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.int16_t: {
var a = (short[])i;
MessageElementDataUtil.ShortsToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.uint16_t: {
var a = (ushort[])i;
MessageElementDataUtil.ShortsToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.int32_t: {
var a = (int[])i;
MessageElementDataUtil.IntsToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.uint32_t: {
var a = (uint[])i;
MessageElementDataUtil.IntsToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.int64_t: {
var a = (long[])i;
MessageElementDataUtil.LongsToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.uint64_t: {
var a = (ulong[])i;
MessageElementDataUtil.LongsToRRBaseArray(a, a.Length, o);
return(o);
}
case DataTypes.cdouble_t: {
var a = (CDouble[])i;
var b = new double[a.Length * 2];
for (int j = 0; j < a.Length; j++)
{
b[j * 2] = a[j].Real;
b[j * 2 + 1] = a[j].Imag;
}
MessageElementDataUtil.DoublesToComplexRRBaseArray(b, b.Length, o);
return(o);
}
case DataTypes.csingle_t: {
var a = (CSingle[])i;
var b = new float[a.Length * 2];
for (int j = 0; j < a.Length; j++)
{
b[j * 2] = a[j].Real;
b[j * 2 + 1] = a[j].Imag;
}
MessageElementDataUtil.FloatsToComplexRRBaseArray(b, b.Length, o);
return(o);
}
case DataTypes.bool_t: {
var a = (bool[])i;
var b = new byte[a.Length];
for (int j = 0; j < a.Length; j++)
{
b[j] = a[j] ? (byte)1 : (byte)0;
}
MessageElementDataUtil.BytesToBoolRRBaseArray(b, b.Length, o);
return(o);
}
default:
throw new DataTypeException("Invalid RRBaseArray type");
}
return(o);
}
public static Array RRBaseArrayToArray(RRBaseArray i)
{
if (i == null)
{
return(null);
}
DataTypes type = i.GetTypeID();
Array o = null;
switch (type)
{
case DataTypes.double_t: {
var o2 = new double[i.size()];
MessageElementDataUtil.RRBaseArrayToDoubles(i, o2, o2.Length);
return(o2);
}
case DataTypes.single_t: {
var o2 = new float[i.size()];
MessageElementDataUtil.RRBaseArrayToFloats(i, o2, o2.Length);
return(o2);
}
case DataTypes.int8_t: {
var o2 = new sbyte[i.size()];
MessageElementDataUtil.RRBaseArrayToBytes(i, o2, o2.Length);
return(o2);
}
case DataTypes.uint8_t: {
var o2 = new byte[i.size()];
MessageElementDataUtil.RRBaseArrayToBytes(i, o2, o2.Length);
return(o2);
}
case DataTypes.int16_t: {
var o2 = new short[i.size()];
MessageElementDataUtil.RRBaseArrayToShorts(i, o2, o2.Length);
return(o2);
}
case DataTypes.uint16_t: {
var o2 = new ushort[i.size()];
MessageElementDataUtil.RRBaseArrayToShorts(i, o2, o2.Length);
return(o2);
}
case DataTypes.int32_t: {
var o2 = new int[i.size()];
MessageElementDataUtil.RRBaseArrayToInts(i, o2, o2.Length);
return(o2);
}
case DataTypes.uint32_t: {
var o2 = new uint[i.size()];
MessageElementDataUtil.RRBaseArrayToInts(i, o2, o2.Length);
return(o2);
}
case DataTypes.int64_t: {
var o2 = new long[i.size()];
MessageElementDataUtil.RRBaseArrayToLongs(i, o2, o2.Length);
return(o2);
}
case DataTypes.uint64_t: {
var o2 = new ulong[i.size()];
MessageElementDataUtil.RRBaseArrayToLongs(i, o2, o2.Length);
return(o2);
}
case DataTypes.cdouble_t: {
var o2 = new double[i.size() * 2];
MessageElementDataUtil.RRBaseArrayComplexToDoubles(i, o2, o2.Length);
var o3 = new CDouble[i.size()];
for (int j = 0; j < o3.Length; j++)
{
o3[j] = new CDouble(o2[j * 2], o2[j * 2 + 1]);
}
return(o3);
}
case DataTypes.csingle_t: {
var o2 = new float[i.size() * 2];
MessageElementDataUtil.RRBaseArrayComplexToFloats(i, o2, o2.Length);
var o3 = new CSingle[i.size()];
for (int j = 0; j < o3.Length; j++)
{
o3[j] = new CSingle(o2[j * 2], o2[j * 2 + 1]);
}
return(o3);
}
case DataTypes.bool_t: {
var o2 = new byte[i.size()];
MessageElementDataUtil.RRBaseArrayBoolToBytes(i, o2, o2.Length);
var o3 = new bool[o2.Length];
for (int j = 0; j < o3.Length; j++)
{
o3[j] = o2[j] != 0;
}
return(o3);
}
default:
throw new DataTypeException("Invalid RRBaseArray type");
}
}
