Program Listing for File route_serializer.h

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//
// Copyright (c) 2016, Southwest Research Institute® (SwRI®)
// All rights reserved.
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// modification, are permitted provided that the following conditions are met:
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//       names of its contributors may be used to endorse or promote products
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// TODO pjr I'm not even sure what to do with this for ROS2...

#include <ros/message_traits.h>
#include <ros/serialization.h>


namespace ros
{
namespace message_traits
{
// http://wiki.ros.org/roscpp/Overview/MessagesSerializationAndAdaptingTypes
// http://wiki.ros.org/roscpp/Overview/MessagesTraits

// This type is not fixed-size.
template<> struct IsFixedSize<swri_route_util::Route> : public FalseType {};
// This type is memcpyable
template<> struct IsSimple<swri_route_util::Route> : public TrueType {};
// This type has a header
template<> struct HasHeader<swri_route_util::Route> : public TrueType {};

template<>
struct MD5Sum<swri_route_util::Route>
{
  static const char* value()
  {
    // Ensure that if the definition of marti_nav_msgs::Route changes
    // we have a compile error here.
    ROS_STATIC_ASSERT(MD5Sum<marti_nav_msgs::Route>::static_value1 == 0x626dfe06202116afULL);
    ROS_STATIC_ASSERT(MD5Sum<marti_nav_msgs::Route>::static_value2 == 0xac99e6de9fa42b3eULL);
    return MD5Sum<marti_nav_msgs::Route>::value();
  }

  static const char* value(const swri_route_util::Route& m)
  {
    return MD5Sum<swri_route_util::Route>::value();
  }
};  // struct MD5Sum<swri_route_util::Route>

template<>
struct DataType<swri_route_util::Route>
{
  static const char* value()
  {
    return DataType<marti_nav_msgs::Route>::value();
  }

  static const char* value(const swri_route_util::Route& m)
  {
    return DataType<swri_route_util::Route>::value();
  }
};  // struct DataType<swri_route_util::Route>

template<>
struct Definition<swri_route_util::Route>
{
  static const char* value()
  {
    return Definition<marti_nav_msgs::Route>::value();
  }

  static const char* value(const swri_route_util::Route& m)
  {
    return Definition<swri_route_util::Route>::value();
  }
};  // struct Definition<swri_route_util::Route>
}  // namespace message_traits

namespace serialization
{
template<>
struct Serializer<swri_route_util::Route>
{
  template<typename Stream>
  inline static void write(Stream& stream, const swri_route_util::Route& route)
  {
    marti_nav_msgs::Route msg;
    route.toMsg(msg);
    stream.next(msg);
  }

  template<typename Stream>
  inline static void read(Stream& stream, swri_route_util::Route& route)
  {
    marti_nav_msgs::Route msg;
    stream.next(msg);
    route = swri_route_util::Route(msg);
  }

  inline static uint32_t serializedLength(const swri_route_util::Route& route)
  {
    marti_nav_msgs::Route msg;
    route.toMsg(msg);
    return serializationLength(msg);
  }
};
}  // namespace serialization
}  // namespace ros