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/** 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;
}
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