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/** THIS IS AN AUTOMATICALLY GENERATED FILE. DO NOT MODIFY
* BY HAND!!
*
* Generated by lcm-gen
**/
#include "laser_t.h"
#include <string.h>
static int __laser_t_hash_computed;
static int64_t __laser_t_hash;
int64_t __laser_t_hash_recursive(const __lcm_hash_ptr *p) {
const __lcm_hash_ptr *fp;
for (fp = p; fp != NULL; fp = fp->parent)
if (fp->v == __laser_t_get_hash)
return 0;
const __lcm_hash_ptr cp = {p, (void *)__laser_t_get_hash};
(void)cp;
int64_t hash = 0xf1e8ba118c05af46LL + __int64_t_hash_recursive(&cp) +
__int32_t_hash_recursive(&cp) + __float_hash_recursive(&cp) +
__int32_t_hash_recursive(&cp) + __float_hash_recursive(&cp) +
__float_hash_recursive(&cp) + __float_hash_recursive(&cp);
return (hash << 1) + ((hash >> 63) & 1);
}
int64_t __laser_t_get_hash(void) {
if (!__laser_t_hash_computed) {
__laser_t_hash = __laser_t_hash_recursive(NULL);
__laser_t_hash_computed = 1;
}
return __laser_t_hash;
}
int __laser_t_encode_array(void *buf, int offset, int maxlen, const laser_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 = __int32_t_encode_array(buf, offset + pos, maxlen - pos,
&(p[element].nranges), 1);
if (thislen < 0)
return thislen;
else
pos += thislen;
thislen = __float_encode_array(buf, offset + pos, maxlen - pos,
p[element].ranges, p[element].nranges);
if (thislen < 0)
return thislen;
else
pos += thislen;
thislen = __int32_t_encode_array(buf, offset + pos, maxlen - pos,
&(p[element].nintensities), 1);
if (thislen < 0)
return thislen;
else
pos += thislen;
thislen = __float_encode_array(buf, offset + pos, maxlen - pos,
p[element].intensities,
p[element].nintensities);
if (thislen < 0)
return thislen;
else
pos += thislen;
thislen = __float_encode_array(buf, offset + pos, maxlen - pos,
&(p[element].rad0), 1);
if (thislen < 0)
return thislen;
else
pos += thislen;
thislen = __float_encode_array(buf, offset + pos, maxlen - pos,
&(p[element].radstep), 1);
if (thislen < 0)
return thislen;
else
pos += thislen;
}
return pos;
}
int laser_t_encode(void *buf, int offset, int maxlen, const laser_t *p) {
int pos = 0, thislen;
int64_t hash = __laser_t_get_hash();
thislen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
if (thislen < 0)
return thislen;
else
pos += thislen;
thislen = __laser_t_encode_array(buf, offset + pos, maxlen - pos, p, 1);
if (thislen < 0)
return thislen;
else
pos += thislen;
return pos;
}
int __laser_t_encoded_array_size(const laser_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 += __int32_t_encoded_array_size(&(p[element].nranges), 1);
size +=
__float_encoded_array_size(p[element].ranges, p[element].nranges);
size += __int32_t_encoded_array_size(&(p[element].nintensities), 1);
size += __float_encoded_array_size(p[element].intensities,
p[element].nintensities);
size += __float_encoded_array_size(&(p[element].rad0), 1);
size += __float_encoded_array_size(&(p[element].radstep), 1);
}
return size;
}
int laser_t_encoded_size(const laser_t *p) {
return 8 + __laser_t_encoded_array_size(p, 1);
}
int __laser_t_decode_array(const void *buf, int offset, int maxlen, laser_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 = __int32_t_decode_array(buf, offset + pos, maxlen - pos,
&(p[element].nranges), 1);
if (thislen < 0)
return thislen;
else
pos += thislen;
p[element].ranges =
(float *)lcm_malloc(sizeof(float) * p[element].nranges);
thislen = __float_decode_array(buf, offset + pos, maxlen - pos,
p[element].ranges, p[element].nranges);
if (thislen < 0)
return thislen;
else
pos += thislen;
thislen = __int32_t_decode_array(buf, offset + pos, maxlen - pos,
&(p[element].nintensities), 1);
if (thislen < 0)
return thislen;
else
pos += thislen;
p[element].intensities =
(float *)lcm_malloc(sizeof(float) * p[element].nintensities);
thislen = __float_decode_array(buf, offset + pos, maxlen - pos,
p[element].intensities,
p[element].nintensities);
if (thislen < 0)
return thislen;
else
pos += thislen;
thislen = __float_decode_array(buf, offset + pos, maxlen - pos,
&(p[element].rad0), 1);
if (thislen < 0)
return thislen;
else
pos += thislen;
thislen = __float_decode_array(buf, offset + pos, maxlen - pos,
&(p[element].radstep), 1);
if (thislen < 0)
return thislen;
else
pos += thislen;
}
return pos;
}
int __laser_t_decode_array_cleanup(laser_t *p, int elements) {
int element;
for (element = 0; element < elements; element++) {
__int64_t_decode_array_cleanup(&(p[element].utime), 1);
__int32_t_decode_array_cleanup(&(p[element].nranges), 1);
__float_decode_array_cleanup(p[element].ranges, p[element].nranges);
if (p[element].ranges)
free(p[element].ranges);
__int32_t_decode_array_cleanup(&(p[element].nintensities), 1);
__float_decode_array_cleanup(p[element].intensities,
p[element].nintensities);
if (p[element].intensities)
free(p[element].intensities);
__float_decode_array_cleanup(&(p[element].rad0), 1);
__float_decode_array_cleanup(&(p[element].radstep), 1);
}
return 0;
}
int laser_t_decode(const void *buf, int offset, int maxlen, laser_t *p) {
int pos = 0, thislen;
int64_t hash = __laser_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 = __laser_t_decode_array(buf, offset + pos, maxlen - pos, p, 1);
if (thislen < 0)
return thislen;
else
pos += thislen;
return pos;
}
int laser_t_decode_cleanup(laser_t *p) {
return __laser_t_decode_array_cleanup(p, 1);
}
int __laser_t_clone_array(const laser_t *p, laser_t *q, int elements) {
int element;
for (element = 0; element < elements; element++) {
__int64_t_clone_array(&(p[element].utime), &(q[element].utime), 1);
__int32_t_clone_array(&(p[element].nranges), &(q[element].nranges), 1);
q[element].ranges =
(float *)lcm_malloc(sizeof(float) * q[element].nranges);
__float_clone_array(p[element].ranges, q[element].ranges,
p[element].nranges);
__int32_t_clone_array(&(p[element].nintensities),
&(q[element].nintensities), 1);
q[element].intensities =
(float *)lcm_malloc(sizeof(float) * q[element].nintensities);
__float_clone_array(p[element].intensities, q[element].intensities,
p[element].nintensities);
__float_clone_array(&(p[element].rad0), &(q[element].rad0), 1);
__float_clone_array(&(p[element].radstep), &(q[element].radstep), 1);
}
return 0;
}
laser_t *laser_t_copy(const laser_t *p) {
laser_t *q = (laser_t *)malloc(sizeof(laser_t));
__laser_t_clone_array(p, q, 1);
return q;
}
void laser_t_destroy(laser_t *p) {
__laser_t_decode_array_cleanup(p, 1);
free(p);
}
int laser_t_publish(lcm_t *lc, const char *channel, const laser_t *p) {
int max_data_size = laser_t_encoded_size(p);
uint8_t *buf = (uint8_t *)malloc(max_data_size);
if (!buf)
return -1;
int data_size = laser_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 _laser_t_subscription_t {
laser_t_handler_t user_handler;
void *userdata;
lcm_subscription_t *lc_h;
};
static void laser_t_handler_stub(const lcm_recv_buf_t *rbuf,
const char *channel, void *userdata) {
int status;
laser_t p;
memset(&p, 0, sizeof(laser_t));
status = laser_t_decode(rbuf->data, 0, rbuf->data_size, &p);
if (status < 0) {
fprintf(stderr, "error %d decoding laser_t!!!\n", status);
return;
}
laser_t_subscription_t *h = (laser_t_subscription_t *)userdata;
h->user_handler(rbuf, channel, &p, h->userdata);
laser_t_decode_cleanup(&p);
}
laser_t_subscription_t *laser_t_subscribe(lcm_t *lcm, const char *channel,
laser_t_handler_t f, void *userdata) {
laser_t_subscription_t *n =
(laser_t_subscription_t *)malloc(sizeof(laser_t_subscription_t));
n->user_handler = f;
n->userdata = userdata;
n->lc_h = lcm_subscribe(lcm, channel, laser_t_handler_stub, n);
if (n->lc_h == NULL) {
fprintf(stderr, "couldn't reg laser_t LCM handler!\n");
free(n);
return NULL;
}
return n;
}
int laser_t_subscription_set_queue_capacity(laser_t_subscription_t *subs,
int num_messages) {
return lcm_subscription_set_queue_capacity(subs->lc_h, num_messages);
}
int laser_t_unsubscribe(lcm_t *lcm, laser_t_subscription_t *hid) {
int status = lcm_unsubscribe(lcm, hid->lc_h);
if (0 != status) {
fprintf(stderr, "couldn't unsubscribe laser_t_handler %p!\n", hid);
return -1;
}
free(hid);
return 0;
}
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