inline int cobs_encode(uint8_t *buf_in, unsigned int buf_in_size, uint8_t *buf_out,
                       unsigned int buf_out_size) {
    unsigned int i_out = 1;
    unsigned int last0 = 0;
    for (unsigned int i_in = 0; i_in < buf_in_size; i_in += 1, i_out += 1) {
        if (i_out >= buf_out_size) return OUT_OF_MEMORY;
        if ((buf_in[i_in] != 0x00) && ((i_out - last0) < 0xFF)) {
            buf_out[i_out] = buf_in[i_in];
        } else {
            buf_out[last0] = i_out - last0;
            last0          = i_out;
        }
    }
    buf_out[last0] = i_out - last0;
    buf_out[i_out] = 0x00;
    return i_out + 1;
}

inline int cobs_decode(uint8_t *buf_in, unsigned int buf_in_size, uint8_t *buf_out,
                       unsigned int buf_out_size) {
    unsigned int i_out = 0;
    unsigned int next0 = 0;
    bool skip_next0    = true;
    for (unsigned int i_in = 0; i_in < buf_in_size || buf_in[i_in] == 0x00; i_in += 1) {
        if (i_out >= buf_out_size) return OUT_OF_MEMORY;
        if (next0 == i_in) {
            if (!skip_next0) buf_out[i_out++] = 0x00;
            next0      = buf_in[i_in];
            skip_next0 = (next0 - i_in) == 0xFF;
        } else
            buf_out[i_out++] = buf_in[i_in];
    }
    return i_out-1;
}

inline unsigned int encode_zigzag(int input) {
    return (input << 1) ^ (input >> (sizeof(int) * 8 - 1));
}

inline unsigned int decode_zigzag(int input) { return (input >> 1) ^ (-(input & 1)); }

inline unsigned int encode_unsigned_varint(unsigned int input, uint8_t *out) {
    int offset = 0;
    while (input > 0x7F) {
        out[offset++] = input & 0x7F;
        input >>= 7;
    }
    out[offset++] = input | 0x80;
    return offset;
}

inline unsigned int encode_varint(int input, uint8_t *out) {
    return encode_unsigned_varint(encode_zigzag(input), out);
}

inline unsigned int decode_unsigned_varint(uint8_t *input, unsigned int &out) {
    int offset = 0;
    out        = 0;
    for (;; offset += 1) {
        out |= ((unsigned int)(input[offset] & 0x7F)) << (7 * offset);
        if (input[offset] & 0x80) break;
    }
    return offset + 1;
}

inline unsigned int decode_varint(uint8_t *input, int &out) {
    unsigned int out_uint;
    int offset = decode_unsigned_varint(input, out_uint);
    out        = decode_zigzag(out_uint);
    return offset;
}