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

"""

Copyright 2019 MBARI.                                                    //
MBARI Proprietary Information. All rights reserved.                      //

"""

from io import BytesIO
import struct

class sled_control_limits_t(object):

    __slots__ = ["valvelimit", "minangle", "maxangle", "endband", "hardstop", "maxbeaminvalid", "springdegpersec", "deadbandenable", "deadbandpos", "deadbandneg", "deadbandsetpt"]

    __typenames__ = ["double", "double", "double", "double", "int32_t", "int32_t", "double", "int32_t", "double", "double", "double"]

    __dimensions__ = [None, None, None, None, None, None, None, None, None, None, None]

    def __init__(self):
        self.valvelimit = 0.0
        """ LCM Type: double """
        self.minangle = 0.0
        """ LCM Type: double """
        self.maxangle = 0.0
        """
        degrees software lower limit
        LCM Type: double
        """

        self.endband = 0.0
        """
        degrees software upper limit
        LCM Type: double
        """

        self.hardstop = 0
        """
        cushion factor for soft end stop mode
        LCM Type: int32_t
        """

        self.maxbeaminvalid = 0
        """
        enable to allow control loop to run full speed into ram ends
        LCM Type: int32_t
        """

        self.springdegpersec = 0.0
        """
        loop counts before tilting the system down.
        LCM Type: double
        """

        self.deadbandenable = 0
        """
        rate of spring down factor when bottom lock lost.
        LCM Type: int32_t
        """

        self.deadbandpos = 0.0
        """
        enable to allow deadband valvesetting corrections
        LCM Type: double
        """

        self.deadbandneg = 0.0
        """
        pos range end of deadband
        LCM Type: double
        """

        self.deadbandsetpt = 0.0
        """
        neg range end of deadband
        LCM Type: double
        """


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

    def _encode_one(self, buf):
        buf.write(struct.pack(">ddddiididdd", self.valvelimit, self.minangle, self.maxangle, self.endband, self.hardstop, self.maxbeaminvalid, self.springdegpersec, self.deadbandenable, self.deadbandpos, self.deadbandneg, self.deadbandsetpt))

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

    @staticmethod
    def _decode_one(buf):
        self = sled_control_limits_t()
        self.valvelimit, self.minangle, self.maxangle, self.endband, self.hardstop, self.maxbeaminvalid, self.springdegpersec, self.deadbandenable, self.deadbandpos, self.deadbandneg, self.deadbandsetpt = struct.unpack(">ddddiididdd", buf.read(76))
        return self

    @staticmethod
    def _get_hash_recursive(parents):
        if sled_control_limits_t in parents: return 0
        tmphash = (0x5f28f599138cb9c3) & 0xffffffffffffffff
        tmphash  = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff
        return tmphash
    _packed_fingerprint = None

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

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