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

#ifndef __lars_data_msg_t_hpp__
#define __lars_data_msg_t_hpp__

#include <lcm/lcm_coretypes.h>


namespace lars
{

class data_msg_t
{
    public:
        /// time in seconds since epoch
        double     timestamp;

        /// LARS data payload
        int32_t    TargetTension;

        /// kg
        int32_t    LoadcellTension;

        /// kg
        float      TractionWinchCommandedTorque;

        float      TractionWinchCommandedRPM;

        float      TractionWinchActualTorque;

        float      TractionWinchActualRPM;

        float      SDRactualTorque;

        /// 0-1 = full range
        float      SDRactualRPM;

        float      SWCposition;

        /// 0-1 is full range
        float      PID_FF;

        float      PID_p;

        float      PID_i;

        float      PID_d;

        float      PID_Tf;

        float      cmd_min;

        float      cmd_max;

        float      SDRCommandRPM;

        float      SWC_OilPressure;

        /// bar
        float      SWC_OilPressureAlarmLimit;

        /// bar
        float      TorqueMode_VFD_RPMLimit;

        /// Negative number in VFD is haul in
        float      TorqueMode_PID_RPMLimitHaulIn;

        int32_t    CraneIndorMode;

        /// 0 = Outside  1 = Inside
        int32_t    OutHaulerActive;

        /// 1 = On
        int32_t    ControlWord;

        int32_t    StatusWord;

        float      TorqueMode_PID_RPMLimitPayOut;

    public:
        /**
         * Encode a message into binary form.
         *
         * @param buf The output buffer.
         * @param offset Encoding starts at thie byte offset into @p buf.
         * @param maxlen Maximum number of bytes to write.  This should generally be
         *  equal to getEncodedSize().
         * @return The number of bytes encoded, or <0 on error.
         */
        inline int encode(void *buf, int offset, int maxlen) const;

        /**
         * Check how many bytes are required to encode this message.
         */
        inline int getEncodedSize() const;

        /**
         * Decode a message from binary form into this instance.
         *
         * @param buf The buffer containing the encoded message.
         * @param offset The byte offset into @p buf where the encoded message starts.
         * @param maxlen The maximum number of bytes to read while decoding.
         * @return The number of bytes decoded, or <0 if an error occured.
         */
        inline int decode(const void *buf, int offset, int maxlen);

        /**
         * Retrieve the 64-bit fingerprint identifying the structure of the message.
         * Note that the fingerprint is the same for all instances of the same
         * message type, and is a fingerprint on the message type definition, not on
         * the message contents.
         */
        inline static int64_t getHash();

        /**
         * Returns "data_msg_t"
         */
        inline static const char* getTypeName();

        // LCM support functions. Users should not call these
        inline int _encodeNoHash(void *buf, int offset, int maxlen) const;
        inline int _getEncodedSizeNoHash() const;
        inline int _decodeNoHash(const void *buf, int offset, int maxlen);
        inline static uint64_t _computeHash(const __lcm_hash_ptr *p);
};

int data_msg_t::encode(void *buf, int offset, int maxlen) const
{
    int pos = 0, tlen;
    int64_t hash = getHash();

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

    tlen = this->_encodeNoHash(buf, offset + pos, maxlen - pos);
    if (tlen < 0) return tlen; else pos += tlen;

    return pos;
}

int data_msg_t::decode(const void *buf, int offset, int maxlen)
{
    int pos = 0, thislen;

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

    thislen = this->_decodeNoHash(buf, offset + pos, maxlen - pos);
    if (thislen < 0) return thislen; else pos += thislen;

    return pos;
}

int data_msg_t::getEncodedSize() const
{
    return 8 + _getEncodedSizeNoHash();
}

int64_t data_msg_t::getHash()
{
    static int64_t hash = static_cast<int64_t>(_computeHash(NULL));
    return hash;
}

const char* data_msg_t::getTypeName()
{
    return "data_msg_t";
}

int data_msg_t::_encodeNoHash(void *buf, int offset, int maxlen) const
{
    int pos = 0, tlen;

    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->timestamp, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __int32_t_encode_array(buf, offset + pos, maxlen - pos, &this->TargetTension, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __int32_t_encode_array(buf, offset + pos, maxlen - pos, &this->LoadcellTension, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->TractionWinchCommandedTorque, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->TractionWinchCommandedRPM, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->TractionWinchActualTorque, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->TractionWinchActualRPM, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->SDRactualTorque, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->SDRactualRPM, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->SWCposition, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->PID_FF, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->PID_p, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->PID_i, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->PID_d, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->PID_Tf, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->cmd_min, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->cmd_max, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->SDRCommandRPM, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->SWC_OilPressure, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->SWC_OilPressureAlarmLimit, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->TorqueMode_VFD_RPMLimit, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->TorqueMode_PID_RPMLimitHaulIn, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __int32_t_encode_array(buf, offset + pos, maxlen - pos, &this->CraneIndorMode, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __int32_t_encode_array(buf, offset + pos, maxlen - pos, &this->OutHaulerActive, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __int32_t_encode_array(buf, offset + pos, maxlen - pos, &this->ControlWord, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __int32_t_encode_array(buf, offset + pos, maxlen - pos, &this->StatusWord, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->TorqueMode_PID_RPMLimitPayOut, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    return pos;
}

int data_msg_t::_decodeNoHash(const void *buf, int offset, int maxlen)
{
    int pos = 0, tlen;

    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->timestamp, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __int32_t_decode_array(buf, offset + pos, maxlen - pos, &this->TargetTension, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __int32_t_decode_array(buf, offset + pos, maxlen - pos, &this->LoadcellTension, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->TractionWinchCommandedTorque, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->TractionWinchCommandedRPM, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->TractionWinchActualTorque, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->TractionWinchActualRPM, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->SDRactualTorque, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->SDRactualRPM, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->SWCposition, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->PID_FF, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->PID_p, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->PID_i, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->PID_d, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->PID_Tf, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->cmd_min, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->cmd_max, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->SDRCommandRPM, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->SWC_OilPressure, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->SWC_OilPressureAlarmLimit, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->TorqueMode_VFD_RPMLimit, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->TorqueMode_PID_RPMLimitHaulIn, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __int32_t_decode_array(buf, offset + pos, maxlen - pos, &this->CraneIndorMode, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __int32_t_decode_array(buf, offset + pos, maxlen - pos, &this->OutHaulerActive, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __int32_t_decode_array(buf, offset + pos, maxlen - pos, &this->ControlWord, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __int32_t_decode_array(buf, offset + pos, maxlen - pos, &this->StatusWord, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->TorqueMode_PID_RPMLimitPayOut, 1);
    if(tlen < 0) return tlen; else pos += tlen;

    return pos;
}

int data_msg_t::_getEncodedSizeNoHash() const
{
    int enc_size = 0;
    enc_size += __double_encoded_array_size(NULL, 1);
    enc_size += __int32_t_encoded_array_size(NULL, 1);
    enc_size += __int32_t_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    enc_size += __int32_t_encoded_array_size(NULL, 1);
    enc_size += __int32_t_encoded_array_size(NULL, 1);
    enc_size += __int32_t_encoded_array_size(NULL, 1);
    enc_size += __int32_t_encoded_array_size(NULL, 1);
    enc_size += __float_encoded_array_size(NULL, 1);
    return enc_size;
}

uint64_t data_msg_t::_computeHash(const __lcm_hash_ptr *)
{
    uint64_t hash = 0x12ecc0446ffbd4bdLL;
    return (hash<<1) + ((hash>>63)&1);
}

}

#endif