#include <assert.h>
#include <ctype.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/stat.h>
#include <sys/types.h>

#ifdef WIN32
#define __STDC_FORMAT_MACROS
#include <inttypes.h>
#include <lcm/windows/WinPorting.h>
#include <windows.h>
#else
#include <fcntl.h>
#include <inttypes.h>
#include <unistd.h>
#endif

#include <glib.h>

#include "lcmgen.h"

// lua uses just 2 spaces per indent
#define INDENT(n) (2 * (n))

#define emit_start(n, ...)                \
    do {                                  \
        fprintf(f, "%*s", INDENT(n), ""); \
        fprintf(f, __VA_ARGS__);          \
    } while (0)
#define emit_continue(...)       \
    do {                         \
        fprintf(f, __VA_ARGS__); \
    } while (0)
#define emit_end(...)            \
    do {                         \
        fprintf(f, __VA_ARGS__); \
        fprintf(f, "\n");        \
    } while (0)
#define emit(n, ...)                      \
    do {                                  \
        fprintf(f, "%*s", INDENT(n), ""); \
        fprintf(f, __VA_ARGS__);          \
        fprintf(f, "\n");                 \
    } while (0)

#define err(...) fprintf(stderr, __VA_ARGS__)

static void mkdir_with_parents(const char *path, mode_t mode)
{
#ifdef WIN32
    g_mkdir_with_parents(path, 0755);
#else
    int len = strlen(path);
    for (int i = 0; i < len; i++) {
        if (path[i] == '/') {
            char *dirpath = (char *) malloc(i + 1);
            strncpy(dirpath, path, i);
            dirpath[i] = 0;

            mkdir(dirpath, mode);
            free(dirpath);

            i++;  // skip the '/'
        }
    }
#endif
}

static char *build_filenamev(char **parts)
{
    char **p = parts;
    int total_len = 0;
    for (p = parts; *p; p++) {
        total_len += strlen(*p) + strlen(G_DIR_SEPARATOR_S);
    }
    total_len++;
    char *result = (char *) malloc(total_len);
    memset(result, 0, total_len);
    for (p = parts; *p; p++) {
        if (!strlen(*p))
            continue;
        strncat(result, *p, total_len);
        if (*(p + 1))
            strncat(result, G_DIR_SEPARATOR_S, total_len);
    }
    return result;
}

static void get_all_vals_helper(gpointer key, gpointer value, gpointer user_data)
{
    GPtrArray *vals = (GPtrArray *) user_data;

    g_ptr_array_add(vals, value);
}

static GPtrArray *_hash_table_get_vals(GHashTable *hash_table)
{
    GPtrArray *vals = g_ptr_array_sized_new(g_hash_table_size(hash_table));
    g_hash_table_foreach(hash_table, get_all_vals_helper, vals);
    return vals;
}

void setup_lua_options(getopt_t *gopt)
{
    getopt_add_string(gopt, 0, "lpath", "", "Lua destination directory");
    getopt_add_bool(gopt, 0, "lua-no-init", 0, "Do not create init.lua");
}

static int is_same_type(const lcm_typename_t *tn1, const lcm_typename_t *tn2)
{
    return !strcmp(tn1->lctypename, tn2->lctypename);
}

static const char *nil_initializer_string(const lcm_typename_t *type)
{
    if (!strcmp(type->lctypename, "byte"))
        return "0";
    if (!strcmp(type->lctypename, "boolean"))
        return "false";
    if (!strcmp(type->lctypename, "int8_t"))
        return "0";
    if (!strcmp(type->lctypename, "int16_t"))
        return "0";
    if (!strcmp(type->lctypename, "int32_t"))
        return "0";
    if (!strcmp(type->lctypename, "int64_t"))
        return "0";
    if (!strcmp(type->lctypename, "float"))
        return "0.0";
    if (!strcmp(type->lctypename, "double"))
        return "0.0";
    if (!strcmp(type->lctypename, "string"))
        return "''";
    else
        return "nil";
}

static char _struct_format(lcm_member_t *lm)
{
    const char *tn = lm->type->lctypename;
    if (!strcmp("byte", tn))
        return 'B';
    if (!strcmp("boolean", tn))
        return '?';
    if (!strcmp("int8_t", tn))
        return 'b';
    if (!strcmp("int16_t", tn))
        return 'h';
    if (!strcmp("int32_t", tn))
        return 'i';
    if (!strcmp("int64_t", tn))
        return 'q';
    if (!strcmp("float", tn))
        return 'f';
    if (!strcmp("double", tn))
        return 'd';
    return 0;
}

static int _primitive_type_size(const char *tn)
{
    if (!strcmp("byte", tn))
        return 1;
    if (!strcmp("boolean", tn))
        return 1;
    if (!strcmp("int8_t", tn))
        return 1;
    if (!strcmp("int16_t", tn))
        return 2;
    if (!strcmp("int32_t", tn))
        return 4;
    if (!strcmp("int64_t", tn))
        return 8;
    if (!strcmp("float", tn))
        return 4;
    if (!strcmp("double", tn))
        return 8;
    assert(0);
    return 0;
}

static char *escape_typename_to_variablename(const char *tn)
{
    char const *varname = g_strdup(tn);
    char *nameptr = (char *) varname;

    while (*nameptr != '\0') {
        if (*nameptr == '.') {
            *nameptr = '_';
        }
        ++nameptr;
    }

    return (char *) varname;
}

static void _emit_decode_one(const lcmgen_t *lcm, FILE *f, lcm_struct_t *ls, lcm_member_t *lm,
                             const char *accessor, int indent)
{
    // XXX probably needs some rework
    const char *tn = lm->type->lctypename;
    const char *mn = lm->membername;
    const char *sn = lm->type->shortname;
    if (!strcmp("string", tn)) {
        emit(indent, "local __%s_tmpstrlen = lcm._pack.unpack('>I', data:read(4))", mn);
        emit(indent, "%s = lcm._pack.prepare_string(data:read(__%s_tmpstrlen))", accessor, mn);
    } else if (!strcmp("byte", tn)) {
        emit(indent, "%s = lcm._pack.unpack('>B', data:read(1))", accessor);
    } else if (!strcmp("int8_t", tn)) {
        emit(indent, "%s = lcm._pack.unpack('>b', data:read(1))", accessor);
    } else if (!strcmp("boolean", tn)) {
        emit(indent, "%s = lcm._pack.unpack('>?', data:read(1))", accessor);
    } else if (!strcmp("int16_t", tn)) {
        emit(indent, "%s = lcm._pack.unpack('>h', data:read(2))", accessor);
    } else if (!strcmp("int32_t", tn)) {
        emit(indent, "%s = lcm._pack.unpack('>i', data:read(4))", accessor);
    } else if (!strcmp("int64_t", tn)) {
        emit(indent, "%s = lcm._pack.unpack('>q', data:read(8))", accessor);
    } else if (!strcmp("float", tn)) {
        emit(indent, "%s = lcm._pack.unpack('>f', data:read(4))", accessor);
    } else if (!strcmp("double", tn)) {
        emit(indent, "%s = lcm._pack.unpack('>d', data:read(8))", accessor);
    } else {
        // XXX not really sure about these...
        // check if same type
        if (is_same_type(lm->type, ls->structname)) {
            emit(indent, "%s = %s._decode_one(data)", accessor, sn);
        } else {
            char *variablename = escape_typename_to_variablename(tn);
            emit(indent, "%s = %s._decode_one(data)", accessor, variablename);
            g_free(variablename);
        }
    }
}

static void _emit_decode_list(const lcmgen_t *lcm, FILE *f, lcm_struct_t *ls, lcm_member_t *lm,
                              const char *accessor, int indent, const char *len, int fixed_len)
{
    const char *tn = lm->type->lctypename;
    if (!strcmp("byte", tn) || !strcmp("int8_t", tn) || !strcmp("boolean", tn) ||
        !strcmp("int16_t", tn) || !strcmp("int32_t", tn) || !strcmp("int64_t", tn) ||
        !strcmp("float", tn) || !strcmp("double", tn)) {
        if (fixed_len) {
            emit(indent, "%s = {lcm._pack.unpack('>%s%c', data:read(%d))}", accessor, len,
                 _struct_format(lm), atoi(len) * _primitive_type_size(tn));
        } else {
            if (_primitive_type_size(tn) > 1) {
                emit(indent,
                     "%s = {lcm._pack.unpack(string.format('>%%d%c', obj.%s), data:read(obj.%s * "
                     "%d))}",
                     accessor, _struct_format(lm), len, len, _primitive_type_size(tn));
            } else {
                emit(indent,
                     "%s = {lcm._pack.unpack(string.format('>%%d%c', obj.%s), data:read(obj.%s))}",
                     accessor, _struct_format(lm), len, len);
            }
        }
    } else {
        assert(0);
    }
}

static void _flush_read_struct_fmt(const lcmgen_t *lcm, FILE *f, GQueue *formats, GQueue *members)
{
    int nfmts = g_queue_get_length(formats);
    assert(nfmts == g_queue_get_length(members));
    if (nfmts == 0)
        return;

    emit_start(1, "");  // for indent
    int fmtsize = 0;
    while (!g_queue_is_empty(members)) {
        lcm_member_t *lm = (lcm_member_t *) g_queue_pop_head(members);
        emit_continue("obj.%s", lm->membername);
        if (!g_queue_is_empty(members)) {
            emit_continue(", ");
        }
        fmtsize += _primitive_type_size(lm->type->lctypename);
    }
    emit_continue(" = lcm._pack.unpack('>");
    while (!g_queue_is_empty(formats)) {
        emit_continue("%c", GPOINTER_TO_INT(g_queue_pop_head(formats)));
    }
    emit_end("', data:read(%d))", fmtsize);
}

static void emit_lua_decode_one(const lcmgen_t *lcm, FILE *f, lcm_struct_t *ls)
{
    emit(0, "function %s._decode_one(data)", ls->structname->shortname);
    emit(0, "");
    emit(0, "  if not data.read then");
    emit(0, "    data = _buffer_helper:new(data)");
    emit(0, "  end");
    emit(0, "");
    emit(0, "  local obj = %s:new()", ls->structname->shortname);
    emit(0, "");

    GQueue *struct_fmt = g_queue_new();
    GQueue *struct_members = g_queue_new();

    for (unsigned int m = 0; m < g_ptr_array_size(ls->members); m++) {
        lcm_member_t *lm = (lcm_member_t *) g_ptr_array_index(ls->members, m);
        char fmt = _struct_format(lm);

        if (!lm->dimensions->len) {
            if (fmt) {
                g_queue_push_tail(struct_fmt, GINT_TO_POINTER((int) fmt));
                g_queue_push_tail(struct_members, lm);
            } else {
                _flush_read_struct_fmt(lcm, f, struct_fmt, struct_members);
                char *accessor = g_strdup_printf("obj.%s", lm->membername);
                _emit_decode_one(lcm, f, ls, lm, accessor, 1);
                g_free(accessor);
            }
        } else {
            _flush_read_struct_fmt(lcm, f, struct_fmt, struct_members);
            GString *accessor = g_string_new("");
            g_string_append_printf(accessor, "obj.%s", lm->membername);

            // iterate through the dimensions of the member, building up
            // an accessor string, and emitting for loops
            int n;
            for (n = 0; n < lm->dimensions->len - 1; n++) {
                lcm_dimension_t *dim = (lcm_dimension_t *) g_ptr_array_index(lm->dimensions, n);

                emit(1 + n, "%s = {}", accessor->str);
                if (dim->mode == LCM_CONST) {
                    emit(1 + n, "for i%d = 1, %s do", n, dim->size);
                } else {
                    emit(1 + n, "for i%d = 1, obj.%s do", n, dim->size);
                }
                g_string_append_printf(accessor, "[i%d]", n);
            }

            // last dimension.
            lcm_dimension_t *last_dim =
                (lcm_dimension_t *) g_ptr_array_index(lm->dimensions, lm->dimensions->len - 1);
            int last_dim_fixed_len = last_dim->mode == LCM_CONST;

            if (lcm_is_primitive_type(lm->type->lctypename) &&
                0 != strcmp(lm->type->lctypename, "string")) {
                // member is a primitive non-string type.  Emit code to
                // decode a full array in one call to struct.unpack

                _emit_decode_list(lcm, f, ls, lm, accessor->str, 1 + n, last_dim->size,
                                  last_dim_fixed_len);
            } else {
                // member is either a string type or an inner LCM type.  Each
                // array element must be decoded individually
                emit(1 + n, "%s = {}", accessor->str);
                if (last_dim_fixed_len) {
                    emit(1 + n, "for i%d = 1, %s do", n, last_dim->size);
                } else {
                    emit(1 + n, "for i%d = 1, obj.%s do", n, last_dim->size);
                }
                g_string_append_printf(accessor, "[i%d]", n);
                _emit_decode_one(lcm, f, ls, lm, accessor->str, n + 2);
                emit(1 + n, "end");
            }

            g_string_free(accessor, TRUE);

            while (--n >= 0) {
                emit(1 + n, "end");
            }
        }
    }
    _flush_read_struct_fmt(lcm, f, struct_fmt, struct_members);

    g_queue_free(struct_fmt);
    g_queue_free(struct_members);

    emit(0, "");
    emit(0, "  return obj");
    emit(0, "end");
    emit(0, "");
}

static void emit_lua_decode(const lcmgen_t *lcm, FILE *f, lcm_struct_t *ls)
{
    const char *sn = ls->structname->shortname;

    emit(0, "function %s.decode(data)", sn);
    emit(0, "");
    emit(0, "  if data:sub(1, 8) ~= %s._packed_fingerprint then", sn);
    emit(0, "    error('bad fingerprint')");
    emit(0, "  end");
    emit(0, "");
    emit(0, "  return %s._decode_one(data:sub(9))", sn);
    emit(0, "end");
    emit(0, "");
}

static void _emit_encode_one(const lcmgen_t *lcm, FILE *f, lcm_struct_t *ls, lcm_member_t *lm,
                             const char *accessor, int indent)
{
    // XXX luaified, but might need some work
    const char *tn = lm->type->lctypename;
    const char *mn = lm->membername;
    if (!strcmp("string", tn)) {
        emit(indent, "local __%s_tmpstr = lcm._pack.prepare_string(%s)", mn, accessor);
        emit(indent, "table.insert(buf_table, lcm._pack.pack('>I', #__%s_tmpstr + 1))", mn);
        emit(indent, "table.insert(buf_table, __%s_tmpstr .. '\\0')", mn);
    } else if (!strcmp("byte", tn)) {
        emit(indent, "table.insert(buf_table, lcm._pack.pack('>B', %s))", accessor);
    } else if (!strcmp("int8_t", tn)) {
        emit(indent, "table.insert(buf_table, lcm._pack.pack('>b', %s))", accessor);
    } else if (!strcmp("boolean", tn)) {
        emit(indent, "table.insert(buf_table, lcm._pack.pack('>?', %s))", accessor);
    } else if (!strcmp("int16_t", tn)) {
        emit(indent, "table.insert(buf_table, lcm._pack.pack('>h', %s))", accessor);
    } else if (!strcmp("int32_t", tn)) {
        emit(indent, "table.insert(buf_table, lcm._pack.pack('>l', %s))", accessor);
    } else if (!strcmp("int64_t", tn)) {
        emit(indent, "table.insert(buf_table, lcm._pack.pack('>q', %s))", accessor);
    } else if (!strcmp("float", tn)) {
        emit(indent, "table.insert(buf_table, lcm._pack.pack('>f', %s))", accessor);
    } else if (!strcmp("double", tn)) {
        emit(indent, "table.insert(buf_table, lcm._pack.pack('>d', %s))", accessor);
    } else {
        emit(indent, "table.insert(buf_table, %s:_encode_one())", accessor);
    }
}

static void _emit_encode_list(const lcmgen_t *lcm, FILE *f, lcm_struct_t *ls, lcm_member_t *lm,
                              const char *accessor, int indent, const char *len, int fixed_len)
{
    const char *tn = lm->type->lctypename;
    if (!strcmp("byte", tn) || !strcmp("boolean", tn) || !strcmp("int8_t", tn) ||
        !strcmp("int16_t", tn) || !strcmp("int32_t", tn) || !strcmp("int64_t", tn) ||
        !strcmp("float", tn) || !strcmp("double", tn)) {
        if (fixed_len) {
            emit(indent, "table.insert(buf_table, lcm._pack.pack('>%s%c', unpack(%s)))", len,
                 _struct_format(lm), accessor);
        } else {
            emit(indent,
                 "table.insert(buf_table, lcm._pack.pack(string.format('>%%d%c', self.%s), "
                 "unpack(%s)))",
                 _struct_format(lm), len, accessor);
        }
    } else {
        assert(0);
    }
}

static void _flush_write_struct_fmt(FILE *f, GQueue *formats, GQueue *members)
{
    // XXX encode primitive members in one line
    assert(g_queue_get_length(formats) == g_queue_get_length(members));
    if (g_queue_is_empty(formats))
        return;
    emit_start(1, "table.insert(buf_table, lcm._pack.pack('>");
    while (!g_queue_is_empty(formats)) {
        emit_continue("%c", GPOINTER_TO_INT(g_queue_pop_head(formats)));
    }
    emit_continue("', ");
    while (!g_queue_is_empty(members)) {
        lcm_member_t *lm = (lcm_member_t *) g_queue_pop_head(members);
        emit_continue("self.%s", lm->membername);
        if (!g_queue_is_empty(members)) {
            emit_continue(", ");
        }
    }
    emit_end("))");
}

static void emit_lua_encode_one(const lcmgen_t *lcm, FILE *f, lcm_struct_t *ls)
{
    emit(0, "function %s:_encode_one()", ls->structname->shortname);

    // check for no members
    if (!g_ptr_array_size(ls->members)) {
        emit(0, "");
        emit(0, "  -- nothing to do");
        emit(0, "end");
        return;
    }

    emit(0, "");
    emit(0, "  local buf_table = {}");
    emit(0, "");

    GQueue *struct_fmt = g_queue_new();
    GQueue *struct_members = g_queue_new();

    for (unsigned int m = 0; m < g_ptr_array_size(ls->members); m++) {
        lcm_member_t *lm = (lcm_member_t *) g_ptr_array_index(ls->members, m);
        char fmt = _struct_format(lm);

        if (!lm->dimensions->len) {
            // XXX not an array
            if (fmt) {
                // XXX is a primitive
                g_queue_push_tail(struct_fmt, GINT_TO_POINTER((int) fmt));
                g_queue_push_tail(struct_members, lm);
            } else {
                // XXX not a primitive
                _flush_write_struct_fmt(f, struct_fmt, struct_members);
                char *accessor = g_strdup_printf("self.%s", lm->membername);
                _emit_encode_one(lcm, f, ls, lm, accessor, 1);
                g_free(accessor);
            }
        } else {
            // XXX this is an array
            _flush_write_struct_fmt(f, struct_fmt, struct_members);
            GString *accessor = g_string_new("");
            g_string_append_printf(accessor, "self.%s", lm->membername);

            int n;
            for (n = 0; n < lm->dimensions->len - 1; n++) {
                lcm_dimension_t *dim = (lcm_dimension_t *) g_ptr_array_index(lm->dimensions, n);

                g_string_append_printf(accessor, "[i%d]", n);
                if (dim->mode == LCM_CONST) {
                    emit(1 + n, "for i%d = 1, %s do", n, dim->size);
                } else {
                    emit(1 + n, "for i%d = 1, self.%s do", n, dim->size);
                }
            }

            // last dimension.
            lcm_dimension_t *last_dim =
                (lcm_dimension_t *) g_ptr_array_index(lm->dimensions, lm->dimensions->len - 1);
            int last_dim_fixed_len = last_dim->mode == LCM_CONST;

            if (lcm_is_primitive_type(lm->type->lctypename) &&
                0 != strcmp(lm->type->lctypename, "string")) {
                _emit_encode_list(lcm, f, ls, lm, accessor->str, 1 + n, last_dim->size,
                                  last_dim_fixed_len);
            } else {
                if (last_dim_fixed_len) {
                    emit(1 + n, "for i%d = 1, %s do", n, last_dim->size);
                } else {
                    emit(1 + n, "for i%d = 1, self.%s do", n, last_dim->size);
                }
                g_string_append_printf(accessor, "[i%d]", n);
                _emit_encode_one(lcm, f, ls, lm, accessor->str, n + 2);
                emit(1 + n, "end");
            }

            g_string_free(accessor, TRUE);

            while (--n >= 0) {
                emit(1 + n, "end");
            }
        }
    }
    _flush_write_struct_fmt(f, struct_fmt, struct_members);

    g_queue_free(struct_fmt);
    g_queue_free(struct_members);

    emit(0, "");
    emit(0, "  return table.concat(buf_table)");
    emit(0, "end");
    emit(0, "");
}

static void emit_lua_encode(const lcmgen_t *lcm, FILE *f, lcm_struct_t *ls)
{
    const char *sn = ls->structname->shortname;

    emit(0, "function %s:encode()", sn);
    emit(0, "");
    emit(0, "  return %s._packed_fingerprint .. self:_encode_one()", sn);
    emit(0, "end");
    emit(0, "");
}

static void emit_member_initializer(const lcmgen_t *lcm, FILE *f, lcm_member_t *lm, int dim_num)
{
    if (dim_num == lm->dimensions->len) {
        emit_end("%s", nil_initializer_string(lm->type));
        return;
    }

    lcm_dimension_t *dim = (lcm_dimension_t *) g_ptr_array_index(lm->dimensions, dim_num);

    if (dim->mode == LCM_VAR) {
        emit_end("{}");
    } else {
        emit_end("{}");
        emit(dim_num + 1, "for d%d = 1, %s do", dim_num, dim->size);
        emit_start(dim_num + 2, "obj.%s", lm->membername);
        for (int i = 0; i < dim_num + 1; i++) {
            emit_continue("[d%d]", i);
        }
        emit_continue(" = ");
        emit_member_initializer(lcm, f, lm, dim_num + 1);
        emit(dim_num + 1, "end");
    }
}

static void emit_lua_new(const lcmgen_t *lcm, FILE *f, lcm_struct_t *lr)
{
    emit(0, "function %s:new()", lr->structname->shortname);
    emit(0, "");
    emit(0, "  local obj = {}");
    emit(0, "");

    unsigned int member;
    for (member = 0; member < lr->members->len; member++) {
        lcm_member_t *lm = (lcm_member_t *) g_ptr_array_index(lr->members, member);
        fprintf(f, "  obj.%s = ", lm->membername);
        // XXX this might need alot of work because lua doesn't have list comprehension
        emit_member_initializer(lcm, f, lm, 0);
    }

    if (0 != member)
        emit(0, "");

    emit(0, "  setmetatable(obj, self)");
    emit(0, "");
    emit(0, "  return obj");
    emit(0, "end");
    emit(0, "");
}

static void emit_lua_fingerprint(const lcmgen_t *lcm, FILE *f, lcm_struct_t *ls)
{
    const char *sn = ls->structname->shortname;

    emit(0, "function %s._get_hash_recursive(parents)", sn);
    emit(0, "");
    emit(0, "  local newparents = {}");
    emit(0, "");
    emit(0, "  for _, v in ipairs(parents) do");
    emit(0, "    if v == %s then return lcm._hash.new('0x0') end", sn);
    emit(0, "    table.insert(newparents, v)");
    emit(0, "  end");
    emit(0, "");
    emit(0, "  table.insert(newparents, %s)", sn);
    emit(0, "");
    emit(0, "  local hash = lcm._hash.new('0x%" PRIx64 "')", ls->hash);

    // add all substruct hashes
    for (unsigned int m = 0; m < ls->members->len; m++) {
        lcm_member_t *lm = (lcm_member_t *) g_ptr_array_index(ls->members, m);
        const char *msn = lm->type->shortname;
        if (!lcm_is_primitive_type(lm->type->lctypename)) {
            const char *ghr = "_get_hash_recursive(newparents)";
            // XXX this might need a touch up, not sure about intra-module names
            if (is_same_type(lm->type, ls->structname)) {
                emit(0, "    + %s.%s", msn, ghr);
            } else {
                char *variablename = escape_typename_to_variablename(lm->type->lctypename);
                emit(0, "    + %s.%s", variablename, ghr);
                g_free(variablename);
            }
        }
    }

    emit(0, "  hash:rotate(1)");
    emit(0, "");
    emit(0, "  return hash");
    emit(0, "end");
    emit(0, "");
    emit(0, "%s._packed_fingerprint = lcm._pack.pack('>X', %s._get_hash_recursive({}))", sn, sn);
    emit(0, "");
}

static void emit_lua_dependencies(const lcmgen_t *lcm, FILE *f, lcm_struct_t *ls)
{
    GHashTable *dependencies = g_hash_table_new(g_str_hash, g_str_equal);
    for (unsigned int m = 0; m < ls->members->len; m++) {
        lcm_member_t *lm = (lcm_member_t *) g_ptr_array_index(ls->members, m);
        if (!lcm_is_primitive_type(lm->type->lctypename)) {
            if (!g_hash_table_lookup(dependencies, lm->type->lctypename) &&
                strcmp(lm->type->lctypename, ls->structname->lctypename)) {
                g_hash_table_insert(dependencies, lm->type->lctypename, lm->type->lctypename);
            }
        }
    }
    GPtrArray *deps = _hash_table_get_vals(dependencies);
    for (int i = 0; i < deps->len; i++) {
        const char *package = (char *) g_ptr_array_index(deps, i);
        char *variablename = escape_typename_to_variablename(package);
        emit(0, "local %s = require('%s')", variablename, package);
        g_free(variablename);
    }

    if (deps->len)
        emit(0, "");

    g_ptr_array_free(deps, TRUE);
    g_hash_table_destroy(dependencies);
}

static void emit_lua_locals(const lcmgen_t *lcm, FILE *f, lcm_struct_t *ls)
{
    emit(0, "local setmetatable = setmetatable");
    emit(0, "local ipairs = ipairs");
    emit(0, "local table = table");
    emit(0, "local string = string");
    emit(0, "local unpack = unpack");
    emit(0, "");
}

static void emit_lua_buffer_helper(const lcmgen_t *lcm, FILE *f, lcm_struct_t *ls)
{
    emit(0, "-- buffer helper for decoding");
    emit(0, "local _buffer_helper = {}");
    emit(0, "_buffer_helper.__index = _buffer_helper");
    emit(0, "");
    emit(0, "function _buffer_helper:new(data_str)");
    emit(0, "");
    emit(0, "  local obj = {buffer = data_str, index = 1}");
    emit(0, "  setmetatable(obj, self)");
    emit(0, "");
    emit(0, "  return obj");
    emit(0, "end");
    emit(0, "");
    emit(0, "function _buffer_helper:read(n_bytes)");
    emit(0, "");
    emit(0, "  local partial = self.buffer:sub(self.index, self.index + n_bytes - 1)");
    emit(0, "  self.index = self.index + n_bytes");
    emit(0, "");
    emit(0, "  if self.index > #self.buffer + 1 then");
    emit(0, "    error('buffer ran out of bytes')");
    emit(0, "  end");
    emit(0, "");
    emit(0, "  return partial");
    emit(0, "end");
    emit(0, "");
}

typedef struct {
    char *name;
    GPtrArray *enums;
    GPtrArray *structs;
} _package_contents_t;

static _package_contents_t *_package_contents_new(const char *name)
{
    _package_contents_t *pc = (_package_contents_t *) malloc(sizeof(_package_contents_t));
    pc->enums = g_ptr_array_new();
    pc->structs = g_ptr_array_new();
    pc->name = strdup(name);
    return pc;
}

static void _package_contents_free(_package_contents_t *pc)
{
    g_ptr_array_free(pc->enums, TRUE);
    g_ptr_array_free(pc->structs, TRUE);
    free(pc->name);
    free(pc);
}

// XXX step 2, basically the main function
static int emit_package(lcmgen_t *lcm, _package_contents_t *pc)
{
    // create the package directory, if necessary
    char **dirs = g_strsplit(pc->name, ".", 0);
    char *pdname = build_filenamev(dirs);
    char package_dir[PATH_MAX];
    char package_dir_prefix[PATH_MAX];
    int have_package = dirs[0] != NULL;
    int write_init_lua = !getopt_get_bool(lcm->gopt, "lua-no-init");

    sprintf(package_dir_prefix, "%s%s", getopt_get_string(lcm->gopt, "lpath"),
            strlen(getopt_get_string(lcm->gopt, "lpath")) > 0 ? G_DIR_SEPARATOR_S : "");
    sprintf(package_dir, "%s%s%s", package_dir_prefix, pdname,
            have_package ? G_DIR_SEPARATOR_S : "");
    free(pdname);
    if (strlen(package_dir)) {
        if (!g_file_test(package_dir, G_FILE_TEST_EXISTS)) {
            //            g_mkdir_with_parents (package_dir, 0755);
            mkdir_with_parents(package_dir, 0755);
        }
        if (!g_file_test(package_dir, G_FILE_TEST_IS_DIR)) {
            err("Could not create directory %s\n", package_dir);
            return -1;
        }
    }

    // write the package init.lua files, if necessary
    FILE *init_lua_fp = NULL;
    GHashTable *initlua_requires = NULL;
    GHashTable *initlua_requires_subpack = NULL;

    if (have_package && write_init_lua) {
        int ndirs = 0;
        for (ndirs = 0; dirs[ndirs]; ndirs++)
            ;

        for (int i = 0; i < ndirs; i++) {
            // make filename
            char *initlua_fname;

            {
                char *initlua_fname_parts[1024];
                assert(ndirs + 4 < 1024);

                initlua_fname_parts[0] = package_dir_prefix;
                for (int j = 0; j <= i; j++) {
                    initlua_fname_parts[j + 1] = dirs[j];
                }
                initlua_fname_parts[i + 2] = "init.lua";
                initlua_fname_parts[i + 3] = NULL;

                initlua_fname = build_filenamev(initlua_fname_parts);
            }

            // make current package name
            char *package_name;

            {
                char *name_parts[1024];
                assert(i < 1024);

                for (int j = 0; j <= i; j++) {
                    name_parts[j] = dirs[j];
                }
                name_parts[i + 1] = NULL;

                package_name = g_strjoinv(".", name_parts);
            }

            if (initlua_requires) {
                g_hash_table_destroy(initlua_requires);
                initlua_requires = NULL;
            }

            if (initlua_requires_subpack) {
                g_hash_table_destroy(initlua_requires_subpack);
                initlua_requires_subpack = NULL;
            }

            initlua_requires = g_hash_table_new_full(g_str_hash, g_str_equal, g_free, g_free);
            initlua_requires_subpack =
                g_hash_table_new_full(g_str_hash, g_str_equal, g_free, g_free);

            // if the file already exists, read the contents
            if (g_file_test(initlua_fname, G_FILE_TEST_EXISTS)) {
                init_lua_fp = fopen(initlua_fname, "r");

                if (!init_lua_fp) {
                    perror("fopen");
                    free(initlua_fname);
                    g_free(package_name);
                    return -1;
                }

                while (!feof(init_lua_fp)) {
                    char buf[4096];
                    memset(buf, 0, sizeof(buf));
                    char *result = fgets(buf, sizeof(buf) - 1, init_lua_fp);
                    if (!result)
                        break;

                    // XXX get all of the previous types and packages

                    // this regex works because the first part is greedy
                    GRegex *regex =
                        g_regex_new("require\\('([\\w+\\.]*\\.)(\\w+)'\\)( -- subpackage)?",
                                    (GRegexCompileFlags) 0, (GRegexMatchFlags) 0, NULL);
                    GMatchInfo *matchinfo;

                    if (g_regex_match(regex, buf, (GRegexMatchFlags) 0, &matchinfo)) {
                        if (g_match_info_get_match_count(matchinfo) == 3) {
                            // not a subpackage
                            gchar *classname = g_match_info_fetch(matchinfo, 2);
                            g_hash_table_insert(initlua_requires, g_strdup(classname),
                                                g_strdup(classname));
                        } else if (g_match_info_get_match_count(matchinfo) == 4) {
                            // this is a subpackage
                            // XXX fprintf(stderr, "> buff: %s\n", buf);
                            gchar *superpackage = g_match_info_fetch(matchinfo, 1);
                            gchar *subpackage = g_match_info_fetch(matchinfo, 2);
                            // XXX fprintf(stderr, "> super: %s, sub: %s\n", superpackage,
                            // subpackage);
                            gchar *fullsubpackage = g_strjoin("", superpackage, subpackage, NULL);
                            // XXX fprintf(stderr, "> [2] inserting: %s\n", fullsubpackage);
                            g_hash_table_insert(initlua_requires_subpack, g_strdup(fullsubpackage),
                                                g_strdup(fullsubpackage));
                            g_free(fullsubpackage);
                        }
                    }

                    g_match_info_free(matchinfo);
                    g_regex_unref(regex);
                }

                fclose(init_lua_fp);
                init_lua_fp = NULL;
            }

            init_lua_fp = fopen(initlua_fname, "w");
            // XXX fprintf(stderr, "> opened: %s\n", initlua_fname);

            if (!init_lua_fp) {
                perror("fopen");
                free(initlua_fname);
                g_free(package_name);
                return -1;
            }

#ifndef WIN32
            // lock init.lua for exclusive write access
            // TODO do the equivalent in windows
            struct flock lockinfo;
            lockinfo.l_type = F_WRLCK;
            lockinfo.l_start = 0;
            lockinfo.l_whence = SEEK_SET;
            lockinfo.l_len = 0;
            lockinfo.l_pid = getpid();
            if (0 != fcntl(fileno(init_lua_fp), F_SETLKW, &lockinfo)) {
                perror("locking init.lua");
                free(initlua_fname);
                g_free(package_name);
                fclose(init_lua_fp);
                return -1;
            }
#endif

            fprintf(init_lua_fp,
                    "--[[\n"
                    "LCM package init.lua file\n"
                    "This file automatically generated by lcm-gen.\n"
                    "DO NOT MODIFY BY HAND!!!!\n"
                    "--]]\n"
                    "\n"
                    "local M = {}\n"
                    "\n");

            // add in all previous types
            GList *package_types = g_hash_table_get_values(initlua_requires);

            for (int j = 0; j < g_list_length(package_types); j++) {
                char *tn = (char *) g_list_nth_data(package_types, j);
                char *fn = g_strjoin(".", package_name, tn, NULL);
                fprintf(init_lua_fp, "M.%s = require('%s')\n", tn, fn);
                g_free(fn);
            }

            g_list_free(package_types);

            // add in all previous packages
            GList *subpacks = g_hash_table_get_values(initlua_requires_subpack);

            for (int j = 0; j < g_list_length(subpacks); j++) {
                char *spn = (char *) g_list_nth_data(subpacks, j);
                // get the base of the package name
                char **tmpsplit = g_strsplit(spn, ".", -1);
                char *sn = tmpsplit[g_strv_length(tmpsplit) - 1];
                // XXX fprintf(stderr, "[1] sn: %s, spn: %s\n", sn, spn);
                fprintf(init_lua_fp, "M.%s = require('%s') -- subpackage\n", sn, spn);
                g_strfreev(tmpsplit);
            }

            g_list_free(subpacks);

            // if the current package has a subpackage (which eventually contains the target
            // package)
            // add a `require` for that subpackage to the current (if it hasn't already)
            if (i + 1 < ndirs) {
                char *subpack_name = g_strjoin(".", package_name, dirs[i + 1], NULL);

                // check for the subpackage name
                if (!g_hash_table_lookup(initlua_requires_subpack, subpack_name)) {
                    // add it if it didn't exist
                    g_hash_table_insert(initlua_requires_subpack, g_strdup(subpack_name),
                                        g_strdup(subpack_name));
                    // XXX fprintf(stderr, "[2] sn: %s, spn: %s\n", dirs[i + 1], subpack_name);
                    fprintf(init_lua_fp, "M.%s = require('%s') -- subpackage\n", dirs[i + 1],
                            subpack_name);
                }

                g_free(subpack_name);
            }

            // not yet the target?
            if (i + 1 < ndirs) {
                // close it out
                fprintf(init_lua_fp, "\nreturn M\n\n");
                fclose(init_lua_fp);
                init_lua_fp = NULL;
            }

            free(initlua_fname);
            g_free(package_name);
        }
    }
    g_strfreev(dirs);

    ////////////////////////////////////////////////////////////
    // STRUCTS
    for (int i = 0; i < pc->structs->len; i++) {
        lcm_struct_t *ls = (lcm_struct_t *) g_ptr_array_index(pc->structs, i);

        char path[PATH_MAX];
        sprintf(path, "%s%s.lua", package_dir, ls->structname->shortname);

        if (init_lua_fp) {
            // XXX add the 'require' to the appropriate init.lua
            if (!g_hash_table_lookup(initlua_requires, ls->structname->shortname)) {
                fprintf(init_lua_fp, "M.%s = require('%s')\n", ls->structname->shortname,
                        ls->structname->lctypename);
            }

            // XXX look for subpackages
            for (unsigned int m = 0; m < g_ptr_array_size(ls->members); m++) {
                lcm_member_t *lm = (lcm_member_t *) g_ptr_array_index(ls->members, m);

                if (g_str_has_prefix(lm->type->package, pc->name)) {
                    // make a regex starting with the current package...
                    gchar **tmpsplit = g_strsplit(pc->name, ".", 0);
                    gchar *regexpackage = g_strjoinv("\\.", tmpsplit);

                    // only look for immediate submodules, not submodules of the submodules
                    gchar *regexstr = g_strjoin("", "^", regexpackage, "\\.(\\w+)", NULL);

                    GRegex *regex =
                        g_regex_new(regexstr, (GRegexCompileFlags) 0, (GRegexMatchFlags) 0, NULL);
                    GMatchInfo *matchinfo;

                    g_strfreev(tmpsplit);
                    g_free(regexpackage);
                    g_free(regexstr);

                    if (g_regex_match(regex, lm->type->package, (GRegexMatchFlags) 0, &matchinfo)) {
                        if (g_match_info_get_match_count(matchinfo) == 2) {
                            gchar *fullsubpackage = g_match_info_fetch(matchinfo, 0);
                            gchar *subpackage = g_match_info_fetch(matchinfo, 1);

                            // was it already in the file?
                            if (!g_hash_table_lookup(initlua_requires_subpack, fullsubpackage)) {
                                // XXX fprintf(stderr, "> [1] inserting: %s\n", fullsubpackage);
                                g_hash_table_insert(initlua_requires_subpack,
                                                    g_strdup(fullsubpackage),
                                                    g_strdup(fullsubpackage));
                                fprintf(init_lua_fp, "M.%s = require('%s') -- subpackage\n",
                                        subpackage, fullsubpackage);
                            }
                        }
                    }

                    g_match_info_free(matchinfo);
                    g_regex_unref(regex);
                }
            }
        }

        if (!lcm_needs_generation(lcm, ls->lcmfile, path))
            continue;

        FILE *f = fopen(path, "w");
        if (f == NULL)
            return -1;

        fprintf(f,
                "--[[\n"
                "LCM type definitions\n"
                "This file automatically generated by lcm.\n"
                "DO NOT MODIFY BY HAND!!!!\n"
                "--]]\n"
                "\n"
                "local lcm = require('lcm')\n\n");

        emit_lua_dependencies(lcm, f, ls);

        // XXX added this...
        emit_lua_locals(lcm, f, ls);
        emit_lua_buffer_helper(lcm, f, ls);

        // XXX step 3, start making the object
        emit(0, "local %s = {}", ls->structname->shortname);
        emit(0, "%s.__index = %s", ls->structname->shortname, ls->structname->shortname);
        emit(0, "");

        // CONSTANTS
        for (unsigned int cn = 0; cn < g_ptr_array_size(ls->constants); cn++) {
            lcm_constant_t *lc = (lcm_constant_t *) g_ptr_array_index(ls->constants, cn);
            assert(lcm_is_legal_const_type(lc->lctypename));
            emit(1, "%s.%s = %s", ls->structname->shortname, lc->membername, lc->val_str);
        }
        if (g_ptr_array_size(ls->constants) > 0)
            emit(0, "");

        // NAMES
        emit(0, "%s.name = '%s'", ls->structname->shortname, ls->structname->lctypename);
        emit(0, "%s.packagename = '%s'", ls->structname->shortname, ls->structname->package);
        emit(0, "%s.shortname = '%s'", ls->structname->shortname, ls->structname->shortname);
        emit(0, "");

        emit_lua_new(lcm, f, ls);
        emit_lua_fingerprint(lcm, f, ls);
        emit_lua_encode(lcm, f, ls);
        emit_lua_encode_one(lcm, f, ls);
        emit_lua_decode(lcm, f, ls);
        emit_lua_decode_one(lcm, f, ls);

        emit(0, "return %s", ls->structname->shortname);
        emit(0, "");

        fclose(f);
    }

    if (init_lua_fp) {
        fprintf(init_lua_fp, "\nreturn M\n\n");
        fclose(init_lua_fp);
    }

    g_hash_table_destroy(initlua_requires);
    return 0;
}

// XXX step 1, but there's not much to see, then go to emit package
int emit_lua(lcmgen_t *lcm)
{
    GHashTable *packages = g_hash_table_new_full(g_str_hash, g_str_equal, NULL,
                                                 (GDestroyNotify) _package_contents_free);

    // group the enums and structs by package
    for (unsigned int i = 0; i < lcm->enums->len; i++) {
        lcm_enum_t *le = (lcm_enum_t *) g_ptr_array_index(lcm->enums, i);
        _package_contents_t *pc =
            (_package_contents_t *) g_hash_table_lookup(packages, le->enumname->package);
        if (!pc) {
            pc = _package_contents_new(le->enumname->package);
            g_hash_table_insert(packages, pc->name, pc);
        }
        g_ptr_array_add(pc->enums, le);
    }

    for (unsigned int i = 0; i < lcm->structs->len; i++) {
        lcm_struct_t *ls = (lcm_struct_t *) g_ptr_array_index(lcm->structs, i);
        _package_contents_t *pc =
            (_package_contents_t *) g_hash_table_lookup(packages, ls->structname->package);
        if (!pc) {
            pc = _package_contents_new(ls->structname->package);
            g_hash_table_insert(packages, pc->name, pc);
        }
        g_ptr_array_add(pc->structs, ls);
    }

    GPtrArray *vals = _hash_table_get_vals(packages);

    for (int i = 0; i < vals->len; i++) {
        _package_contents_t *pc = (_package_contents_t *) g_ptr_array_index(vals, i);
        int status = emit_package(lcm, pc);
        if (0 != status)
            return status;
    }

    g_ptr_array_free(vals, TRUE);

    g_hash_table_destroy(packages);
    return 0;
}
