"""LCM type definitions
This file automatically generated by lcm.
DO NOT MODIFY BY HAND!!!!
"""

"""

Copyright 2021 MBARI.                                                    //
MBARI Proprietary Information. All rights reserved.                      //

"""

from io import BytesIO
import struct

import oi

class idt_t(object):

    __slots__ = ["header", "valid", "timestamp", "ping_time", "ping_number", "altitude", "interval", "nbeams", "range", "intense"]

    __typenames__ = ["oi.lcm_header_t", "int8_t", "double", "double", "int32_t", "float", "int32_t", "int32_t", "float", "int32_t"]

    __dimensions__ = [None, None, None, None, None, None, None, None, ["nbeams"], ["nbeams"]]

    def __init__(self):
        self.header = oi.lcm_header_t()
        """
        message header
        LCM Type: oi.lcm_header_t
        """

        self.valid = 0
        """ LCM Type: int8_t """
        self.timestamp = 0.0
        """
        > 0 means valid ping
        LCM Type: double
        """

        self.ping_time = 0.0
        """
        local system time received epoch seconds
        LCM Type: double
        """

        self.ping_number = 0
        """
        time of sonar ping epoch seconds
        LCM Type: int32_t
        """

        self.altitude = 0.0
        """
        sonar ping number
        LCM Type: float
        """

        self.interval = 0
        """
        altitude calculated by sonar
        LCM Type: int32_t
        """

        self.nbeams = 0
        """
        interval between pings milliseconds
        LCM Type: int32_t
        """

        self.range = []
        """
        number of beams in the packet
        LCM Type: float[nbeams]
        """

        self.intense = []
        """
        beam ranges meters
        LCM Type: int32_t[nbeams]
        """


    def encode(self):
        buf = BytesIO()
        buf.write(idt_t._get_packed_fingerprint())
        self._encode_one(buf)
        return buf.getvalue()

    def _encode_one(self, buf):
        assert self.header._get_packed_fingerprint() == oi.lcm_header_t._get_packed_fingerprint()
        self.header._encode_one(buf)
        buf.write(struct.pack(">bddifii", self.valid, self.timestamp, self.ping_time, self.ping_number, self.altitude, self.interval, self.nbeams))
        buf.write(struct.pack('>%df' % self.nbeams, *self.range[:self.nbeams]))
        buf.write(struct.pack('>%di' % self.nbeams, *self.intense[:self.nbeams]))

    @staticmethod
    def decode(data: bytes):
        if hasattr(data, 'read'):
            buf = data
        else:
            buf = BytesIO(data)
        if buf.read(8) != idt_t._get_packed_fingerprint():
            raise ValueError("Decode error")
        return idt_t._decode_one(buf)

    @staticmethod
    def _decode_one(buf):
        self = idt_t()
        self.header = oi.lcm_header_t._decode_one(buf)
        self.valid, self.timestamp, self.ping_time, self.ping_number, self.altitude, self.interval, self.nbeams = struct.unpack(">bddifii", buf.read(33))
        self.range = struct.unpack('>%df' % self.nbeams, buf.read(self.nbeams * 4))
        self.intense = struct.unpack('>%di' % self.nbeams, buf.read(self.nbeams * 4))
        return self

    @staticmethod
    def _get_hash_recursive(parents):
        if idt_t in parents: return 0
        newparents = parents + [idt_t]
        tmphash = (0x1d1dde23d6cbe8c9+ oi.lcm_header_t._get_hash_recursive(newparents)) & 0xffffffffffffffff
        tmphash  = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff
        return tmphash
    _packed_fingerprint = None

    @staticmethod
    def _get_packed_fingerprint():
        if idt_t._packed_fingerprint is None:
            idt_t._packed_fingerprint = struct.pack(">Q", idt_t._get_hash_recursive([]))
        return idt_t._packed_fingerprint

    def get_hash(self):
        """Get the LCM hash of the struct"""
        return struct.unpack(">Q", idt_t._get_packed_fingerprint())[0]