00001 //============================================================================== 00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Flight Systems and Automatic Control group, 00013 // TU Darmstadt, nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //============================================================================== 00028 00029 #ifndef UBLOX_SERIALIZATION_ROS_H 00030 #define UBLOX_SERIALIZATION_ROS_H 00031 00032 #include "serialization.h" 00033 #include "checksum.h" 00034 00035 #include <ros/serialization.h> 00036 00037 namespace ublox { 00038 00039 template <typename T> 00040 void Serializer<T>::read(const uint8_t *data, uint32_t count, 00041 typename boost::call_traits<T>::reference message) { 00042 ros::serialization::IStream stream(const_cast<uint8_t *>(data), count); 00043 ros::serialization::Serializer<T>::read(stream, message); 00044 } 00045 00046 template <typename T> 00047 uint32_t Serializer<T>::serializedLength( 00048 typename boost::call_traits<T>::param_type message) { 00049 return ros::serialization::Serializer<T>::serializedLength(message); 00050 } 00051 00052 template <typename T> 00053 void Serializer<T>::write(uint8_t *data, uint32_t size, 00054 typename boost::call_traits<T>::param_type message) { 00055 ros::serialization::OStream stream(data, size); 00056 ros::serialization::Serializer<T>::write(stream, message); 00057 } 00058 00059 } // namespace ublox 00060 00061 #endif // UBLOX_SERIALIZATION_ROS_H