// generated from rosidl_generator_py/resource/_idl_support.c.em
// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
// generated code does not contain a copyright notice
#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
#include <Python.h>
#include <stdbool.h>
#ifndef _WIN32
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wunused-function"
#endif
#include "numpy/ndarrayobject.h"
#ifndef _WIN32
# pragma GCC diagnostic pop
#endif
#include "rosidl_runtime_c/visibility_control.h"
#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.h"
#include "aruco_interfaces/msg/detail/aruco_marker_pose__functions.h"

#include "rosidl_runtime_c/primitives_sequence.h"
#include "rosidl_runtime_c/primitives_sequence_functions.h"

// Nested array functions includes
#include "geometry_msgs/msg/detail/pose__functions.h"
// end nested array functions include
ROSIDL_GENERATOR_C_IMPORT
bool geometry_msgs__msg__pose__convert_from_py(PyObject * _pymsg, void * _ros_message);
ROSIDL_GENERATOR_C_IMPORT
PyObject * geometry_msgs__msg__pose__convert_to_py(void * raw_ros_message);

ROSIDL_GENERATOR_C_EXPORT
bool aruco_interfaces__msg__aruco_marker_pose__convert_from_py(PyObject * _pymsg, void * _ros_message)
{
  // check that the passed message is of the expected Python class
  {
    char full_classname_dest[56];
    {
      char * class_name = NULL;
      char * module_name = NULL;
      {
        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
        if (class_attr) {
          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
          if (name_attr) {
            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
            Py_DECREF(name_attr);
          }
          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
          if (module_attr) {
            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
            Py_DECREF(module_attr);
          }
          Py_DECREF(class_attr);
        }
      }
      if (!class_name || !module_name) {
        return false;
      }
      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
    }
    assert(strncmp("aruco_interfaces.msg._aruco_marker_pose.ArucoMarkerPose", full_classname_dest, 55) == 0);
  }
  aruco_interfaces__msg__ArucoMarkerPose * ros_message = _ros_message;
  {  // marker_ids
    PyObject * field = PyObject_GetAttrString(_pymsg, "marker_ids");
    if (!field) {
      return false;
    }
    PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'marker_ids'");
    if (!seq_field) {
      Py_DECREF(field);
      return false;
    }
    Py_ssize_t size = PySequence_Size(field);
    if (-1 == size) {
      Py_DECREF(seq_field);
      Py_DECREF(field);
      return false;
    }
    if (!rosidl_runtime_c__int64__Sequence__init(&(ros_message->marker_ids), size)) {
      PyErr_SetString(PyExc_RuntimeError, "unable to create int64__Sequence ros_message");
      Py_DECREF(seq_field);
      Py_DECREF(field);
      return false;
    }
    int64_t * dest = ros_message->marker_ids.data;
    for (Py_ssize_t i = 0; i < size; ++i) {
      PyObject * item = PySequence_Fast_GET_ITEM(seq_field, i);
      if (!item) {
        Py_DECREF(seq_field);
        Py_DECREF(field);
        return false;
      }
      assert(PyLong_Check(item));
      int64_t tmp = PyLong_AsLongLong(item);
      memcpy(&dest[i], &tmp, sizeof(int64_t));
    }
    Py_DECREF(seq_field);
    Py_DECREF(field);
  }
  {  // poses
    PyObject * field = PyObject_GetAttrString(_pymsg, "poses");
    if (!field) {
      return false;
    }
    PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'poses'");
    if (!seq_field) {
      Py_DECREF(field);
      return false;
    }
    Py_ssize_t size = PySequence_Size(field);
    if (-1 == size) {
      Py_DECREF(seq_field);
      Py_DECREF(field);
      return false;
    }
    if (!geometry_msgs__msg__Pose__Sequence__init(&(ros_message->poses), size)) {
      PyErr_SetString(PyExc_RuntimeError, "unable to create geometry_msgs__msg__Pose__Sequence ros_message");
      Py_DECREF(seq_field);
      Py_DECREF(field);
      return false;
    }
    geometry_msgs__msg__Pose * dest = ros_message->poses.data;
    for (Py_ssize_t i = 0; i < size; ++i) {
      if (!geometry_msgs__msg__pose__convert_from_py(PySequence_Fast_GET_ITEM(seq_field, i), &dest[i])) {
        Py_DECREF(seq_field);
        Py_DECREF(field);
        return false;
      }
    }
    Py_DECREF(seq_field);
    Py_DECREF(field);
  }

  return true;
}

ROSIDL_GENERATOR_C_EXPORT
PyObject * aruco_interfaces__msg__aruco_marker_pose__convert_to_py(void * raw_ros_message)
{
  /* NOTE(esteve): Call constructor of ArucoMarkerPose */
  PyObject * _pymessage = NULL;
  {
    PyObject * pymessage_module = PyImport_ImportModule("aruco_interfaces.msg._aruco_marker_pose");
    assert(pymessage_module);
    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "ArucoMarkerPose");
    assert(pymessage_class);
    Py_DECREF(pymessage_module);
    _pymessage = PyObject_CallObject(pymessage_class, NULL);
    Py_DECREF(pymessage_class);
    if (!_pymessage) {
      return NULL;
    }
  }
  aruco_interfaces__msg__ArucoMarkerPose * ros_message = (aruco_interfaces__msg__ArucoMarkerPose *)raw_ros_message;
  {  // marker_ids
    PyObject * field = NULL;
    field = PyObject_GetAttrString(_pymessage, "marker_ids");
    if (!field) {
      return NULL;
    }
    assert(field->ob_type != NULL);
    assert(field->ob_type->tp_name != NULL);
    assert(strcmp(field->ob_type->tp_name, "array.array") == 0);
    // ensure that itemsize matches the sizeof of the ROS message field
    PyObject * itemsize_attr = PyObject_GetAttrString(field, "itemsize");
    assert(itemsize_attr != NULL);
    size_t itemsize = PyLong_AsSize_t(itemsize_attr);
    Py_DECREF(itemsize_attr);
    if (itemsize != sizeof(int64_t)) {
      PyErr_SetString(PyExc_RuntimeError, "itemsize doesn't match expectation");
      Py_DECREF(field);
      return NULL;
    }
    // clear the array, poor approach to remove potential default values
    Py_ssize_t length = PyObject_Length(field);
    if (-1 == length) {
      Py_DECREF(field);
      return NULL;
    }
    if (length > 0) {
      PyObject * pop = PyObject_GetAttrString(field, "pop");
      assert(pop != NULL);
      for (Py_ssize_t i = 0; i < length; ++i) {
        PyObject * ret = PyObject_CallFunctionObjArgs(pop, NULL);
        if (!ret) {
          Py_DECREF(pop);
          Py_DECREF(field);
          return NULL;
        }
        Py_DECREF(ret);
      }
      Py_DECREF(pop);
    }
    if (ros_message->marker_ids.size > 0) {
      // populating the array.array using the frombytes method
      PyObject * frombytes = PyObject_GetAttrString(field, "frombytes");
      assert(frombytes != NULL);
      int64_t * src = &(ros_message->marker_ids.data[0]);
      PyObject * data = PyBytes_FromStringAndSize((const char *)src, ros_message->marker_ids.size * sizeof(int64_t));
      assert(data != NULL);
      PyObject * ret = PyObject_CallFunctionObjArgs(frombytes, data, NULL);
      Py_DECREF(data);
      Py_DECREF(frombytes);
      if (!ret) {
        Py_DECREF(field);
        return NULL;
      }
      Py_DECREF(ret);
    }
    Py_DECREF(field);
  }
  {  // poses
    PyObject * field = NULL;
    size_t size = ros_message->poses.size;
    field = PyList_New(size);
    if (!field) {
      return NULL;
    }
    geometry_msgs__msg__Pose * item;
    for (size_t i = 0; i < size; ++i) {
      item = &(ros_message->poses.data[i]);
      PyObject * pyitem = geometry_msgs__msg__pose__convert_to_py(item);
      if (!pyitem) {
        Py_DECREF(field);
        return NULL;
      }
      int rc = PyList_SetItem(field, i, pyitem);
      (void)rc;
      assert(rc == 0);
    }
    assert(PySequence_Check(field));
    {
      int rc = PyObject_SetAttrString(_pymessage, "poses", field);
      Py_DECREF(field);
      if (rc) {
        return NULL;
      }
    }
  }

  // ownership of _pymessage is transferred to the caller
  return _pymessage;
}
