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

from io import BytesIO
import struct
import sys

from . import *
from lcm_msgs import builtin_interfaces
from .Point2 import Point2
from .Color import Color


class TextAnnotation(object):
    msg_name = "foxglove_msgs.TextAnnotation"

    __slots__ = [
        "timestamp",
        "position",
        "text",
        "font_size",
        "text_color",
        "background_color",
    ]

    __typenames__ = [
        "builtin_interfaces.Time",
        "Point2",
        "string",
        "double",
        "Color",
        "Color",
    ]

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

    timestamp: builtin_interfaces.Time
    position: Point2
    text: "string"
    font_size: "double"
    text_color: Color
    background_color: Color

    def __init__(
        self,
        timestamp=builtin_interfaces.Time(),
        position=Point2(),
        text="",
        font_size=0.0,
        text_color=Color(),
        background_color=Color(),
    ):
        # LCM Type: builtin_interfaces.Time
        self.timestamp = timestamp
        # LCM Type: Point2
        self.position = position
        # LCM Type: string
        self.text = text
        # LCM Type: double
        self.font_size = font_size
        # LCM Type: Color
        self.text_color = text_color
        # LCM Type: Color
        self.background_color = background_color

    def lcm_encode(self):
        buf = BytesIO()
        buf.write(TextAnnotation._get_packed_fingerprint())
        self._encode_one(buf)
        return buf.getvalue()

    def _encode_one(self, buf):
        assert (
            self.timestamp._get_packed_fingerprint()
            == builtin_interfaces.Time._get_packed_fingerprint()
        )
        self.timestamp._encode_one(buf)
        assert (
            self.position._get_packed_fingerprint() == Point2._get_packed_fingerprint()
        )
        self.position._encode_one(buf)
        __text_encoded = self.text.encode("utf-8")
        buf.write(struct.pack(">I", len(__text_encoded) + 1))
        buf.write(__text_encoded)
        buf.write(b"\0")
        buf.write(struct.pack(">d", self.font_size))
        assert (
            self.text_color._get_packed_fingerprint() == Color._get_packed_fingerprint()
        )
        self.text_color._encode_one(buf)
        assert (
            self.background_color._get_packed_fingerprint()
            == Color._get_packed_fingerprint()
        )
        self.background_color._encode_one(buf)

    @classmethod
    def lcm_decode(cls, data: bytes):
        if hasattr(data, "read"):
            buf = data
        else:
            buf = BytesIO(data)
        if buf.read(8) != cls._get_packed_fingerprint():
            raise ValueError("Decode error")
        return cls._decode_one(buf)

    @classmethod
    def _decode_one(cls, buf):
        self = cls()
        self.timestamp = cls._get_field_type("timestamp")._decode_one(buf)
        self.position = cls._get_field_type("position")._decode_one(buf)
        __text_len = struct.unpack(">I", buf.read(4))[0]
        self.text = buf.read(__text_len)[:-1].decode("utf-8", "replace")
        self.font_size = struct.unpack(">d", buf.read(8))[0]
        self.text_color = cls._get_field_type("text_color")._decode_one(buf)
        self.background_color = cls._get_field_type("background_color")._decode_one(buf)
        return self

    @classmethod
    def _get_field_type(cls, field_name):
        """Get the type for a field from annotations."""
        annotation = cls.__annotations__.get(field_name)
        if annotation is None:
            return None
        if isinstance(annotation, str):
            module = sys.modules[cls.__module__]
            if hasattr(module, annotation):
                return getattr(module, annotation)
            return None
        return annotation

    @classmethod
    def _get_hash_recursive(cls, parents):
        if cls in parents:
            return 0
        newparents = parents + [cls]
        tmphash = (
            0x1354AF1F564701E9
            + builtin_interfaces.Time._get_hash_recursive(newparents)
            + Point2._get_hash_recursive(newparents)
            + Color._get_hash_recursive(newparents)
            + Color._get_hash_recursive(newparents)
        ) & 0xFFFFFFFFFFFFFFFF
        tmphash = (
            ((tmphash << 1) & 0xFFFFFFFFFFFFFFFF) + (tmphash >> 63)
        ) & 0xFFFFFFFFFFFFFFFF
        return tmphash

    _packed_fingerprint = None

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

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