#ifndef ISRG_HELPERS_20060319_VZRGNTERNGTVEYGUVFFRZRFGREOHGFURVFYRNIVATFBBA
#define ISRG_HELPERS_20060319_VZRGNTERNGTVEYGUVFFRZRFGREOHGFURVFYRNIVATFBBA

#ifdef __cplusplus
extern "C" {
#endif

#ifndef MODULE
#   include <sys/types.h>
#   include <unistd.h>
#   include <signal.h>
#   include <stdio.h>
#   include <termios.h>
#   include <math.h>
#   include <sys/types.h>
#   include <unistd.h>
#   include <pthread.h>
#endif

#define ISRG_HELPER_TRACE_MAX_THREADS 4
#ifndef MODULE
    int * isrg_helper_get_trace_level ();
#endif

#define TRACE_PRINTF(level, fmt, ...) \
    { \
        if (debug_trace) \
          { \
            fprintf (stderr, "TRACE(%5lu,%3d): %s: %d: %s: " fmt, \
                     pthread_self (), (level), \
                     __FILE__, __LINE__, __func__, ## __VA_ARGS__); \
          } \
    }

#define TRACE_ENTERING \
    { \
        if (debug_trace) \
          { \
            int *level = isrg_helper_get_trace_level (); \
            TRACE_PRINTF (*level, "entering\n"); \
            (*level)++; \
          } \
    }

#define TRACE_LEAVING \
    { \
        if (debug_trace) \
          { \
            int *level = isrg_helper_get_trace_level (); \
            (*level)--; \
            TRACE_PRINTF (*level, "leaving\n"); \
          } \
    }

#define VERY_VERBOSE_PRINTF(fmt, ...) \
    { \
        if (verbose_level > 1) \
        { \
            fprintf (stderr, "%s: %d: %s: " fmt, \
                     __FILE__, __LINE__, __func__, ## __VA_ARGS__); \
        } \
    }

#define VERBOSE_PRINTF(fmt, ...) \
    { \
        if (verbose_level > 0) \
        { \
            fprintf (stderr, "%s: %d: %s: " fmt, \
                     __FILE__, __LINE__, __func__, ## __VA_ARGS__); \
        } \
    }

#define ERROR_PRINTF(fmt, ...) \
    { \
        if (1) \
        { \
            fprintf (stderr, "ERROR: %s: %d: %s: " fmt, \
                     __FILE__, __LINE__, __func__, ## __VA_ARGS__); \
        } \
    }

#define KVERY_VERBOSE_PRINTF(fmt, ...) \
    { \
        if (verbose_level > 1) \
        { \
            printk (KERN_INFO "%s: %d: %s: " fmt, \
                     __FILE__, __LINE__, __func__, ## __VA_ARGS__); \
        } \
    }

#define KVERBOSE_PRINTF(fmt, ...) \
    { \
        if (verbose_level > 0) \
        { \
            printk (KERN_INFO "%s: %d: %s: " fmt, \
                     __FILE__, __LINE__, __func__, ## __VA_ARGS__); \
        } \
    }

#define KWARN_PRINTF(fmt, ...) \
    { \
        if (1) \
        { \
            printk (KERN_INFO "WARNING: %s: %d: %s: " fmt, \
                     __FILE__, __LINE__, __func__, ## __VA_ARGS__); \
        } \
    }

#define KERROR_PRINTF(fmt, ...) \
    { \
        if (1) \
        { \
            printk (KERN_CRIT "ERROR: %s: %d: %s: " fmt, \
                     __FILE__, __LINE__, __func__, ## __VA_ARGS__); \
        } \
    }

#define isrg_helper_assert(cond) \
    { \
        if (!(cond)) \
        { \
            ERROR_PRINTF("assert failed!!!!!\n"); \
        } \
    }

#define kisrg_helper_assert(cond) \
    { \
        if (!(cond)) \
        { \
            KERROR_PRINTF("assert failed!!!!!\n"); \
        } \
    }

#ifndef MODULE
    int isrg_helper_sleep_msec (int msec_timeout);
    int isrg_helper_fd_select (int fd, int msec_timeout);
    int isrg_helper_set_sched_fifo ();
    long long isrg_helper_get_system_msec ();
    int isrg_helper_write_string_fd (int fd, char *s);
    int isrg_helper_read_fd (int fd, char *buf, int timeout_msec, int max_len);
    int isrg_helper_readline_fd (int fd, char *buf, int timeout_msec,
                                 int max_len);
    int isrg_helper_nmea_check_string (char *s, int n);
    int isrg_helper_open_serial_port (const char *name, int baud,
                                      struct termios *oldtio);
    //int isrg_helper_open_socket1 (const struct sockaddr_in *sin);
    int isrg_helper_open_socket (const char *addr, int port);

    extern int isrg_helper_sigint_quit;
    void isrg_helper_sigint_catcher (int foo);
    void isrg_helper_sigint_catcher2 (int foo);
    void isrg_helper_catch_sigint ();

    // confines angle between -M_PI and +M_PI:
    double isrg_helper_wrap_angle (double angle);
#endif

#ifndef DEG2RAD
#   define DEG2RAD (M_PI / 180.0)
#endif

#ifndef RAD2DEG
#   define RAD2DEG (180.0 / M_PI)
#endif

#ifndef THRESHOLD
#   define THRESHOLD(x, min, max) \
    ( ((x) < (min))? (min) : (((x) > (max))? (max) : (x)) )
#endif

#ifndef SIGN
#   define SIGN(x) (((x) < 0) ? -1 : 1)
#endif

#ifndef MIN
#   define MIN(a, b) ((a) < (b) ? (a) : (b))
#endif

#ifndef MAX
#   define MAX(a, b) ((a) > (b) ? (a) : (b))
#endif

#ifndef MIN3
#   define MIN3(a, b, c) (MIN (MIN (a, b), c))
#endif

#ifndef MAX3
#   define MAX3(a, b, c) (MAX (MAX (a, b), c))
#endif

#ifdef __cplusplus
}
#endif

#endif