/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2015, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#include <stddef.h>
#include <limits.h>
#include <signal.h>

/*
 *  For gcc with _STDINT_H, fill in the PRINTF_INT*_MODIFIER macros, and
 *  do nothing else.  On the Mac OS X version of gcc this is _STDINT_H_.
 */

//#if ((defined(__STDC__) && __STDC__ && __STDC_VERSION__ >= 199901L) || (defined (__WATCOMC__) && (defined (_STDINT_H_INCLUDED) || __WATCOMC__ >= 1250)) || (defined(__GNUC__) && (defined(_STDINT_H) || defined(_STDINT_H_)) )) && !defined (_PSTDINT_H_INCLUDED)
#if (\
	(defined(__STDC__) && __STDC__ && __STDC_VERSION__ >= 199901L)\
	|| (defined (__WATCOMC__) && (defined (_STDINT_H_INCLUDED) || __WATCOMC__ >= 1250))\
	|| defined(__GNUC__)\
	) && !defined (_PSTDINT_H_INCLUDED)

#include <stdint.h>
#define _PSTDINT_H_INCLUDED
# ifndef PRINTF_INT64_MODIFIER
#  define PRINTF_INT64_MODIFIER "ll"
# endif
# ifndef PRINTF_INT32_MODIFIER
#  define PRINTF_INT32_MODIFIER "l"
# endif
# ifndef PRINTF_INT16_MODIFIER
#  define PRINTF_INT16_MODIFIER "h"
# endif
# ifndef PRINTF_INTMAX_MODIFIER
#  define PRINTF_INTMAX_MODIFIER PRINTF_INT64_MODIFIER
# endif
# ifndef PRINTF_INT64_HEX_WIDTH
#  define PRINTF_INT64_HEX_WIDTH "16"
# endif
# ifndef PRINTF_INT32_HEX_WIDTH
#  define PRINTF_INT32_HEX_WIDTH "8"
# endif
# ifndef PRINTF_INT16_HEX_WIDTH
#  define PRINTF_INT16_HEX_WIDTH "4"
# endif
# ifndef PRINTF_INT8_HEX_WIDTH
#  define PRINTF_INT8_HEX_WIDTH "2"
# endif
# ifndef PRINTF_INT64_DEC_WIDTH
#  define PRINTF_INT64_DEC_WIDTH "20"
# endif
# ifndef PRINTF_INT32_DEC_WIDTH
#  define PRINTF_INT32_DEC_WIDTH "10"
# endif
# ifndef PRINTF_INT16_DEC_WIDTH
#  define PRINTF_INT16_DEC_WIDTH "5"
# endif
# ifndef PRINTF_INT8_DEC_WIDTH
#  define PRINTF_INT8_DEC_WIDTH "3"
# endif
# ifndef PRINTF_INTMAX_HEX_WIDTH
#  define PRINTF_INTMAX_HEX_WIDTH PRINTF_INT64_HEX_WIDTH
# endif
# ifndef PRINTF_INTMAX_DEC_WIDTH
#  define PRINTF_INTMAX_DEC_WIDTH PRINTF_INT64_DEC_WIDTH
# endif

/*
 *  Something really weird is going on with Open Watcom.  Just pull some of
 *  these duplicated definitions from Open Watcom's stdint.h file for now.
 */

# if defined (__WATCOMC__) && __WATCOMC__ >= 1250
#  if !defined (INT64_C)
#   define INT64_C(x)   (x + (INT64_MAX - INT64_MAX))
#  endif
#  if !defined (UINT64_C)
#   define UINT64_C(x)  (x + (UINT64_MAX - UINT64_MAX))
#  endif
#  if !defined (INT32_C)
#   define INT32_C(x)   (x + (INT32_MAX - INT32_MAX))
#  endif
#  if !defined (UINT32_C)
#   define UINT32_C(x)  (x + (UINT32_MAX - UINT32_MAX))
#  endif
#  if !defined (INT16_C)
#   define INT16_C(x)   (x)
#  endif
#  if !defined (UINT16_C)
#   define UINT16_C(x)  (x)
#  endif
#  if !defined (INT8_C)
#   define INT8_C(x)   (x)
#  endif
#  if !defined (UINT8_C)
#   define UINT8_C(x)  (x)
#  endif
#  if !defined (UINT64_MAX)
#   define UINT64_MAX  18446744073709551615ULL
#  endif
#  if !defined (INT64_MAX)
#   define INT64_MAX  9223372036854775807LL
#  endif
#  if !defined (UINT32_MAX)
#   define UINT32_MAX  4294967295UL
#  endif
#  if !defined (INT32_MAX)
#   define INT32_MAX  2147483647L
#  endif
#  if !defined (INTMAX_MAX)
#   define INTMAX_MAX INT64_MAX
#  endif
#  if !defined (INTMAX_MIN)
#   define INTMAX_MIN INT64_MIN
#  endif
# endif
#endif

#ifndef _PSTDINT_H_INCLUDED
#define _PSTDINT_H_INCLUDED

#ifndef SIZE_MAX
# define SIZE_MAX (~(size_t)0)
#endif

/*
 *  Deduce the type assignments from limits.h under the assumption that
 *  integer sizes in bits are powers of 2, and follow the ANSI
 *  definitions.
 */

#ifndef UINT8_MAX
# define UINT8_MAX 0xff
#endif
#ifndef uint8_t
# if (UCHAR_MAX == UINT8_MAX) || defined (S_SPLINT_S)
    typedef unsigned char uint8_t;
#   define UINT8_C(v) ((uint8_t) v)
# else
#   error "Platform not supported"
# endif
#endif

#ifndef INT8_MAX
# define INT8_MAX 0x7f
#endif
#ifndef INT8_MIN
# define INT8_MIN INT8_C(0x80)
#endif
#ifndef int8_t
# if (SCHAR_MAX == INT8_MAX) || defined (S_SPLINT_S)
    typedef signed char int8_t;
#   define INT8_C(v) ((int8_t) v)
# else
#   error "Platform not supported"
# endif
#endif

#ifndef UINT16_MAX
# define UINT16_MAX 0xffff
#endif
#ifndef uint16_t
#if (UINT_MAX == UINT16_MAX) || defined (S_SPLINT_S)
  typedef unsigned int uint16_t;
# ifndef PRINTF_INT16_MODIFIER
#  define PRINTF_INT16_MODIFIER ""
# endif
# define UINT16_C(v) ((uint16_t) (v))
#elif (USHRT_MAX == UINT16_MAX)
  typedef unsigned short uint16_t;
# define UINT16_C(v) ((uint16_t) (v))
# ifndef PRINTF_INT16_MODIFIER
#  define PRINTF_INT16_MODIFIER "h"
# endif
#else
#error "Platform not supported"
#endif
#endif

#ifndef INT16_MAX
# define INT16_MAX 0x7fff
#endif
#ifndef INT16_MIN
# define INT16_MIN INT16_C(0x8000)
#endif
#ifndef int16_t
#if (INT_MAX == INT16_MAX) || defined (S_SPLINT_S)
  typedef signed int int16_t;
# define INT16_C(v) ((int16_t) (v))
# ifndef PRINTF_INT16_MODIFIER
#  define PRINTF_INT16_MODIFIER ""
# endif
#elif (SHRT_MAX == INT16_MAX)
  typedef signed short int16_t;
# define INT16_C(v) ((int16_t) (v))
# ifndef PRINTF_INT16_MODIFIER
#  define PRINTF_INT16_MODIFIER "h"
# endif
#else
#error "Platform not supported"
#endif
#endif

#ifndef UINT32_MAX
# define UINT32_MAX (0xffffffffUL)
#endif
#ifndef uint32_t
#if (ULONG_MAX == UINT32_MAX) || defined (S_SPLINT_S)
  typedef unsigned long uint32_t;
# define UINT32_C(v) v ## UL
# ifndef PRINTF_INT32_MODIFIER
#  define PRINTF_INT32_MODIFIER "l"
# endif
#elif (UINT_MAX == UINT32_MAX)
  typedef unsigned int uint32_t;
# ifndef PRINTF_INT32_MODIFIER
#  define PRINTF_INT32_MODIFIER ""
# endif
# define UINT32_C(v) v ## U
#elif (USHRT_MAX == UINT32_MAX)
  typedef unsigned short uint32_t;
# define UINT32_C(v) ((unsigned short) (v))
# ifndef PRINTF_INT32_MODIFIER
#  define PRINTF_INT32_MODIFIER ""
# endif
#else
#error "Platform not supported"
#endif
#endif

#ifndef INT32_MAX
# define INT32_MAX (0x7fffffffL)
#endif
#ifndef INT32_MIN
# define INT32_MIN INT32_C(0x80000000)
#endif
#ifndef int32_t
#if (LONG_MAX == INT32_MAX) || defined (S_SPLINT_S)
  typedef signed long int32_t;
# define INT32_C(v) v ## L
# ifndef PRINTF_INT32_MODIFIER
#  define PRINTF_INT32_MODIFIER "l"
# endif
#elif (INT_MAX == INT32_MAX)
  typedef signed int int32_t;
# define INT32_C(v) v
# ifndef PRINTF_INT32_MODIFIER
#  define PRINTF_INT32_MODIFIER ""
# endif
#elif (SHRT_MAX == INT32_MAX)
  typedef signed short int32_t;
# define INT32_C(v) ((short) (v))
# ifndef PRINTF_INT32_MODIFIER
#  define PRINTF_INT32_MODIFIER ""
# endif
#else
#error "Platform not supported"
#endif
#endif

/*
 *  The macro stdint_int64_defined is temporarily used to record
 *  whether or not 64 integer support is available.  It must be
 *  defined for any 64 integer extensions for new platforms that are
 *  added.
 */

#undef stdint_int64_defined
#if (defined(__STDC__) && defined(__STDC_VERSION__)) || defined (S_SPLINT_S)
# if (__STDC__ && __STDC_VERSION >= 199901L) || defined (S_SPLINT_S)
#  define stdint_int64_defined
   typedef long long int64_t;
   typedef unsigned long long uint64_t;
#  define UINT64_C(v) v ## ULL
#  define  INT64_C(v) v ## LL
#  ifndef PRINTF_INT64_MODIFIER
#   define PRINTF_INT64_MODIFIER "ll"
#  endif
# endif
#endif

#if !defined (stdint_int64_defined)
# if defined(__GNUC__)
#  define stdint_int64_defined
   __extension__ typedef long long int64_t;
   __extension__ typedef unsigned long long uint64_t;
#  define UINT64_C(v) v ## ULL
#  define  INT64_C(v) v ## LL
#  ifndef PRINTF_INT64_MODIFIER
#   define PRINTF_INT64_MODIFIER "ll"
#  endif
# elif defined(__MWERKS__) || defined (__SUNPRO_C) || defined (__SUNPRO_CC) || defined (__APPLE_CC__) || defined (_LONG_LONG) || defined (_CRAYC) || defined (S_SPLINT_S)
#  define stdint_int64_defined
   typedef long long int64_t;
   typedef unsigned long long uint64_t;
#  define UINT64_C(v) v ## ULL
#  define  INT64_C(v) v ## LL
#  ifndef PRINTF_INT64_MODIFIER
#   define PRINTF_INT64_MODIFIER "ll"
#  endif
# elif (defined(__WATCOMC__) && defined(__WATCOM_INT64__)) || (defined(_MSC_VER) && _INTEGRAL_MAX_BITS >= 64) || (defined (__BORLANDC__) && __BORLANDC__ > 0x460) || defined (__alpha) || defined (__DECC)
#  define stdint_int64_defined
   typedef __int64 int64_t;
   typedef unsigned __int64 uint64_t;
#  define UINT64_C(v) v ## UI64
#  define  INT64_C(v) v ## I64
#  ifndef PRINTF_INT64_MODIFIER
#   define PRINTF_INT64_MODIFIER "I64"
#  endif
# endif
#endif

#if !defined (LONG_LONG_MAX) && defined (INT64_C)
# define LONG_LONG_MAX INT64_C (9223372036854775807)
#endif
#ifndef ULONG_LONG_MAX
# define ULONG_LONG_MAX UINT64_C (18446744073709551615)
#endif

#if !defined (INT64_MAX) && defined (INT64_C)
# define INT64_MAX INT64_C (9223372036854775807)
#endif
#if !defined (INT64_MIN) && defined (INT64_C)
# define INT64_MIN INT64_C (-9223372036854775808)
#endif
#if !defined (UINT64_MAX) && defined (INT64_C)
# define UINT64_MAX UINT64_C (18446744073709551615)
#endif

/*
 *  Width of hexadecimal for number field.
 */

#ifndef PRINTF_INT64_HEX_WIDTH
# define PRINTF_INT64_HEX_WIDTH "16"
#endif
#ifndef PRINTF_INT32_HEX_WIDTH
# define PRINTF_INT32_HEX_WIDTH "8"
#endif
#ifndef PRINTF_INT16_HEX_WIDTH
# define PRINTF_INT16_HEX_WIDTH "4"
#endif
#ifndef PRINTF_INT8_HEX_WIDTH
# define PRINTF_INT8_HEX_WIDTH "2"
#endif

#ifndef PRINTF_INT64_DEC_WIDTH
# define PRINTF_INT64_DEC_WIDTH "20"
#endif
#ifndef PRINTF_INT32_DEC_WIDTH
# define PRINTF_INT32_DEC_WIDTH "10"
#endif
#ifndef PRINTF_INT16_DEC_WIDTH
# define PRINTF_INT16_DEC_WIDTH "5"
#endif
#ifndef PRINTF_INT8_DEC_WIDTH
# define PRINTF_INT8_DEC_WIDTH "3"
#endif

/*
 *  Ok, lets not worry about 128 bit integers for now.  Moore's law says
 *  we don't need to worry about that until about 2040 at which point
 *  we'll have bigger things to worry about.
 */

#ifdef stdint_int64_defined
  typedef int64_t intmax_t;
  typedef uint64_t uintmax_t;
# define  INTMAX_MAX   INT64_MAX
# define  INTMAX_MIN   INT64_MIN
# define UINTMAX_MAX  UINT64_MAX
# define UINTMAX_C(v) UINT64_C(v)
# define  INTMAX_C(v)  INT64_C(v)
# ifndef PRINTF_INTMAX_MODIFIER
#   define PRINTF_INTMAX_MODIFIER PRINTF_INT64_MODIFIER
# endif
# ifndef PRINTF_INTMAX_HEX_WIDTH
#  define PRINTF_INTMAX_HEX_WIDTH PRINTF_INT64_HEX_WIDTH
# endif
# ifndef PRINTF_INTMAX_DEC_WIDTH
#  define PRINTF_INTMAX_DEC_WIDTH PRINTF_INT64_DEC_WIDTH
# endif
#else
  typedef int32_t intmax_t;
  typedef uint32_t uintmax_t;
# define  INTMAX_MAX   INT32_MAX
# define UINTMAX_MAX  UINT32_MAX
# define UINTMAX_C(v) UINT32_C(v)
# define  INTMAX_C(v)  INT32_C(v)
# ifndef PRINTF_INTMAX_MODIFIER
#   define PRINTF_INTMAX_MODIFIER PRINTF_INT32_MODIFIER
# endif
# ifndef PRINTF_INTMAX_HEX_WIDTH
#  define PRINTF_INTMAX_HEX_WIDTH PRINTF_INT32_HEX_WIDTH
# endif
# ifndef PRINTF_INTMAX_DEC_WIDTH
#  define PRINTF_INTMAX_DEC_WIDTH PRINTF_INT32_DEC_WIDTH
# endif
#endif

/*
 *  Because this file currently only supports platforms which have
 *  precise powers of 2 as bit sizes for the default integers, the
 *  least definitions are all trivial.  Its possible that a future
 *  version of this file could have different definitions.
 */

#ifndef stdint_least_defined
  typedef   int8_t   int_least8_t;
  typedef  uint8_t  uint_least8_t;
  typedef  int16_t  int_least16_t;
  typedef uint16_t uint_least16_t;
  typedef  int32_t  int_least32_t;
  typedef uint32_t uint_least32_t;
# define PRINTF_LEAST32_MODIFIER PRINTF_INT32_MODIFIER
# define PRINTF_LEAST16_MODIFIER PRINTF_INT16_MODIFIER
# define  UINT_LEAST8_MAX  UINT8_MAX
# define   INT_LEAST8_MAX   INT8_MAX
# define UINT_LEAST16_MAX UINT16_MAX
# define  INT_LEAST16_MAX  INT16_MAX
# define UINT_LEAST32_MAX UINT32_MAX
# define  INT_LEAST32_MAX  INT32_MAX
# define   INT_LEAST8_MIN   INT8_MIN
# define  INT_LEAST16_MIN  INT16_MIN
# define  INT_LEAST32_MIN  INT32_MIN
# ifdef stdint_int64_defined
    typedef  int64_t  int_least64_t;
    typedef uint64_t uint_least64_t;
#   define PRINTF_LEAST64_MODIFIER PRINTF_INT64_MODIFIER
#   define UINT_LEAST64_MAX UINT64_MAX
#   define  INT_LEAST64_MAX  INT64_MAX
#   define  INT_LEAST64_MIN  INT64_MIN
# endif
#endif
#undef stdint_least_defined

/*
 *  The ANSI C committee pretending to know or specify anything about
 *  performance is the epitome of misguided arrogance.  The mandate of
 *  this file is to *ONLY* ever support that absolute minimum
 *  definition of the fast integer types, for compatibility purposes.
 *  No extensions, and no attempt to suggest what may or may not be a
 *  faster integer type will ever be made in this file.  Developers are
 *  warned to stay away from these types when using this or any other
 *  stdint.h.
 */

typedef   int_least8_t   int_fast8_t;
typedef  uint_least8_t  uint_fast8_t;
typedef  int_least16_t  int_fast16_t;
typedef uint_least16_t uint_fast16_t;
typedef  int_least32_t  int_fast32_t;
typedef uint_least32_t uint_fast32_t;
#define  UINT_FAST8_MAX  UINT_LEAST8_MAX
#define   INT_FAST8_MAX   INT_LEAST8_MAX
#define UINT_FAST16_MAX UINT_LEAST16_MAX
#define  INT_FAST16_MAX  INT_LEAST16_MAX
#define UINT_FAST32_MAX UINT_LEAST32_MAX
#define  INT_FAST32_MAX  INT_LEAST32_MAX
#define   INT_FAST8_MIN   INT_LEAST8_MIN
#define  INT_FAST16_MIN  INT_LEAST16_MIN
#define  INT_FAST32_MIN  INT_LEAST32_MIN
#ifdef stdint_int64_defined
  typedef  int_least64_t  int_fast64_t;
  typedef uint_least64_t uint_fast64_t;
# define UINT_FAST64_MAX UINT_LEAST64_MAX
# define  INT_FAST64_MAX  INT_LEAST64_MAX
# define  INT_FAST64_MIN  INT_LEAST64_MIN
#endif

#undef stdint_int64_defined

/*
 *  Whatever piecemeal, per compiler thing we can do about the wchar_t
 *  type limits.
 */

#if defined(__WATCOMC__) || defined(_MSC_VER) || defined (__GNUC__)
# include <wchar.h>
# ifndef WCHAR_MIN
#  define WCHAR_MIN 0
# endif
# ifndef WCHAR_MAX
#  define WCHAR_MAX ((wchar_t)-1)
# endif
#endif

/*
 *  Whatever piecemeal, per compiler/platform thing we can do about the
 *  (u)intptr_t types and limits.
 */

#if defined (_MSC_VER) && defined (_UINTPTR_T_DEFINED)
# define STDINT_H_UINTPTR_T_DEFINED
#endif

#ifndef STDINT_H_UINTPTR_T_DEFINED
# if defined (__alpha__) || defined (__ia64__) || defined (__x86_64__) || defined (_WIN64)
#  define stdint_intptr_bits 64
# elif defined (__WATCOMC__) || defined (__TURBOC__)
#  if defined(__TINY__) || defined(__SMALL__) || defined(__MEDIUM__)
#    define stdint_intptr_bits 16
#  else
#    define stdint_intptr_bits 32
#  endif
# elif defined (__i386__) || defined (_WIN32) || defined (WIN32)
#  define stdint_intptr_bits 32
# elif defined (__INTEL_COMPILER)
/* TODO -- what will Intel do about x86-64? */
# endif

# ifdef stdint_intptr_bits
#  define stdint_intptr_glue3_i(a,b,c)  a##b##c
#  define stdint_intptr_glue3(a,b,c)    stdint_intptr_glue3_i(a,b,c)
#  ifndef PRINTF_INTPTR_MODIFIER
#    define PRINTF_INTPTR_MODIFIER      stdint_intptr_glue3(PRINTF_INT,stdint_intptr_bits,_MODIFIER)
#  endif
#  ifndef PTRDIFF_MAX
#    define PTRDIFF_MAX                 stdint_intptr_glue3(INT,stdint_intptr_bits,_MAX)
#  endif
#  ifndef PTRDIFF_MIN
#    define PTRDIFF_MIN                 stdint_intptr_glue3(INT,stdint_intptr_bits,_MIN)
#  endif
#  ifndef UINTPTR_MAX
#    define UINTPTR_MAX                 stdint_intptr_glue3(UINT,stdint_intptr_bits,_MAX)
#  endif
#  ifndef INTPTR_MAX
#    define INTPTR_MAX                  stdint_intptr_glue3(INT,stdint_intptr_bits,_MAX)
#  endif
#  ifndef INTPTR_MIN
#    define INTPTR_MIN                  stdint_intptr_glue3(INT,stdint_intptr_bits,_MIN)
#  endif
#  ifndef INTPTR_C
#    define INTPTR_C(x)                 stdint_intptr_glue3(INT,stdint_intptr_bits,_C)(x)
#  endif
#  ifndef UINTPTR_C
#    define UINTPTR_C(x)                stdint_intptr_glue3(UINT,stdint_intptr_bits,_C)(x)
#  endif
  typedef stdint_intptr_glue3(uint,stdint_intptr_bits,_t)* uintptr_t;
  typedef stdint_intptr_glue3( int,stdint_intptr_bits,_t)*  intptr_t;
# else
/* TODO -- This following is likely wrong for some platforms, and does
   nothing for the definition of uintptr_t. */
  typedef ptrdiff_t intptr_t;
# endif
# define STDINT_H_UINTPTR_T_DEFINED
#endif

/*
 *  Assumes sig_atomic_t is signed and we have a 2s complement machine.
 */

#ifndef SIG_ATOMIC_MAX
# define SIG_ATOMIC_MAX ((((sig_atomic_t) 1) << (sizeof (sig_atomic_t)*CHAR_BIT-1)) - 1)
#endif

#endif
