/** THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
 * BY HAND!!
 *
 * Generated by lcm-gen
 **/

#include "pose_t.h"
#include <string.h>

static int __pose_t_hash_computed;
static int64_t __pose_t_hash;

int64_t __pose_t_hash_recursive(const __lcm_hash_ptr *p) {
    const __lcm_hash_ptr *fp;
    for (fp = p; fp != NULL; fp = fp->parent)
        if (fp->v == __pose_t_get_hash)
            return 0;

    const __lcm_hash_ptr cp = {p, (void *)__pose_t_get_hash};
    (void)cp;

    int64_t hash = 0x170b77d82958082fLL + __int64_t_hash_recursive(&cp) +
                   __double_hash_recursive(&cp) + __double_hash_recursive(&cp) +
                   __double_hash_recursive(&cp) + __double_hash_recursive(&cp) +
                   __double_hash_recursive(&cp);

    return (hash << 1) + ((hash >> 63) & 1);
}

int64_t __pose_t_get_hash(void) {
    if (!__pose_t_hash_computed) {
        __pose_t_hash = __pose_t_hash_recursive(NULL);
        __pose_t_hash_computed = 1;
    }

    return __pose_t_hash;
}

int __pose_t_encode_array(void *buf, int offset, int maxlen, const pose_t *p,
                          int elements) {
    int pos = 0, thislen, element;

    for (element = 0; element < elements; element++) {

        thislen = __int64_t_encode_array(buf, offset + pos, maxlen - pos,
                                         &(p[element].utime), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __double_encode_array(buf, offset + pos, maxlen - pos,
                                        p[element].pos, 3);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __double_encode_array(buf, offset + pos, maxlen - pos,
                                        p[element].vel, 3);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __double_encode_array(buf, offset + pos, maxlen - pos,
                                        p[element].orientation, 4);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __double_encode_array(buf, offset + pos, maxlen - pos,
                                        p[element].rotation_rate, 3);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __double_encode_array(buf, offset + pos, maxlen - pos,
                                        p[element].accel, 3);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;
    }
    return pos;
}

int pose_t_encode(void *buf, int offset, int maxlen, const pose_t *p) {
    int pos = 0, thislen;
    int64_t hash = __pose_t_get_hash();

    thislen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
    if (thislen < 0)
        return thislen;
    else
        pos += thislen;

    thislen = __pose_t_encode_array(buf, offset + pos, maxlen - pos, p, 1);
    if (thislen < 0)
        return thislen;
    else
        pos += thislen;

    return pos;
}

int __pose_t_encoded_array_size(const pose_t *p, int elements) {
    int size = 0, element;
    for (element = 0; element < elements; element++) {

        size += __int64_t_encoded_array_size(&(p[element].utime), 1);

        size += __double_encoded_array_size(p[element].pos, 3);

        size += __double_encoded_array_size(p[element].vel, 3);

        size += __double_encoded_array_size(p[element].orientation, 4);

        size += __double_encoded_array_size(p[element].rotation_rate, 3);

        size += __double_encoded_array_size(p[element].accel, 3);
    }
    return size;
}

int pose_t_encoded_size(const pose_t *p) {
    return 8 + __pose_t_encoded_array_size(p, 1);
}

int __pose_t_decode_array(const void *buf, int offset, int maxlen, pose_t *p,
                          int elements) {
    int pos = 0, thislen, element;

    for (element = 0; element < elements; element++) {

        thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos,
                                         &(p[element].utime), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __double_decode_array(buf, offset + pos, maxlen - pos,
                                        p[element].pos, 3);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __double_decode_array(buf, offset + pos, maxlen - pos,
                                        p[element].vel, 3);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __double_decode_array(buf, offset + pos, maxlen - pos,
                                        p[element].orientation, 4);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __double_decode_array(buf, offset + pos, maxlen - pos,
                                        p[element].rotation_rate, 3);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __double_decode_array(buf, offset + pos, maxlen - pos,
                                        p[element].accel, 3);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;
    }
    return pos;
}

int __pose_t_decode_array_cleanup(pose_t *p, int elements) {
    int element;
    for (element = 0; element < elements; element++) {

        __int64_t_decode_array_cleanup(&(p[element].utime), 1);

        __double_decode_array_cleanup(p[element].pos, 3);

        __double_decode_array_cleanup(p[element].vel, 3);

        __double_decode_array_cleanup(p[element].orientation, 4);

        __double_decode_array_cleanup(p[element].rotation_rate, 3);

        __double_decode_array_cleanup(p[element].accel, 3);
    }
    return 0;
}

int pose_t_decode(const void *buf, int offset, int maxlen, pose_t *p) {
    int pos = 0, thislen;
    int64_t hash = __pose_t_get_hash();

    int64_t this_hash;
    thislen =
        __int64_t_decode_array(buf, offset + pos, maxlen - pos, &this_hash, 1);
    if (thislen < 0)
        return thislen;
    else
        pos += thislen;
    if (this_hash != hash)
        return -1;

    thislen = __pose_t_decode_array(buf, offset + pos, maxlen - pos, p, 1);
    if (thislen < 0)
        return thislen;
    else
        pos += thislen;

    return pos;
}

int pose_t_decode_cleanup(pose_t *p) {
    return __pose_t_decode_array_cleanup(p, 1);
}

int __pose_t_clone_array(const pose_t *p, pose_t *q, int elements) {
    int element;
    for (element = 0; element < elements; element++) {

        __int64_t_clone_array(&(p[element].utime), &(q[element].utime), 1);

        __double_clone_array(p[element].pos, q[element].pos, 3);

        __double_clone_array(p[element].vel, q[element].vel, 3);

        __double_clone_array(p[element].orientation, q[element].orientation, 4);

        __double_clone_array(p[element].rotation_rate, q[element].rotation_rate,
                             3);

        __double_clone_array(p[element].accel, q[element].accel, 3);
    }
    return 0;
}

pose_t *pose_t_copy(const pose_t *p) {
    pose_t *q = (pose_t *)malloc(sizeof(pose_t));
    __pose_t_clone_array(p, q, 1);
    return q;
}

void pose_t_destroy(pose_t *p) {
    __pose_t_decode_array_cleanup(p, 1);
    free(p);
}

int pose_t_publish(lcm_t *lc, const char *channel, const pose_t *p) {
    int max_data_size = pose_t_encoded_size(p);
    uint8_t *buf = (uint8_t *)malloc(max_data_size);
    if (!buf)
        return -1;
    int data_size = pose_t_encode(buf, 0, max_data_size, p);
    if (data_size < 0) {
        free(buf);
        return data_size;
    }
    int status = lcm_publish(lc, channel, buf, data_size);
    free(buf);
    return status;
}

struct _pose_t_subscription_t {
    pose_t_handler_t user_handler;
    void *userdata;
    lcm_subscription_t *lc_h;
};
static void pose_t_handler_stub(const lcm_recv_buf_t *rbuf, const char *channel,
                                void *userdata) {
    int status;
    pose_t p;
    memset(&p, 0, sizeof(pose_t));
    status = pose_t_decode(rbuf->data, 0, rbuf->data_size, &p);
    if (status < 0) {
        fprintf(stderr, "error %d decoding pose_t!!!\n", status);
        return;
    }

    pose_t_subscription_t *h = (pose_t_subscription_t *)userdata;
    h->user_handler(rbuf, channel, &p, h->userdata);

    pose_t_decode_cleanup(&p);
}

pose_t_subscription_t *pose_t_subscribe(lcm_t *lcm, const char *channel,
                                        pose_t_handler_t f, void *userdata) {
    pose_t_subscription_t *n =
        (pose_t_subscription_t *)malloc(sizeof(pose_t_subscription_t));
    n->user_handler = f;
    n->userdata = userdata;
    n->lc_h = lcm_subscribe(lcm, channel, pose_t_handler_stub, n);
    if (n->lc_h == NULL) {
        fprintf(stderr, "couldn't reg pose_t LCM handler!\n");
        free(n);
        return NULL;
    }
    return n;
}

int pose_t_subscription_set_queue_capacity(pose_t_subscription_t *subs,
                                           int num_messages) {
    return lcm_subscription_set_queue_capacity(subs->lc_h, num_messages);
}

int pose_t_unsubscribe(lcm_t *lcm, pose_t_subscription_t *hid) {
    int status = lcm_unsubscribe(lcm, hid->lc_h);
    if (0 != status) {
        fprintf(stderr, "couldn't unsubscribe pose_t_handler %p!\n", hid);
        return -1;
    }
    free(hid);
    return 0;
}