roscpp: roscpp: message_deserializer.cpp Source File

00001 /*
00002  * Copyright (C) 2009, Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 
00029 #include "ros/message_deserializer.h"
00030 #include "ros/subscription_callback_helper.h"
00031 #include <ros/console.h>
00032 
00033 namespace ros
00034 {
00035 
00036 MessageDeserializer::MessageDeserializer(const SubscriptionCallbackHelperPtr& helper, const SerializedMessage& m, const boost::shared_ptr<M_string>& connection_header)
00037 : helper_(helper)
00038 , serialized_message_(m)
00039 , connection_header_(connection_header)
00040 {
00041   if (serialized_message_.message && *serialized_message_.type_info != helper->getTypeInfo())
00042   {
00043     serialized_message_.message.reset();
00044   }
00045 }
00046 
00047 VoidConstPtr MessageDeserializer::deserialize()
00048 {
00049   boost::mutex::scoped_lock lock(mutex_);
00050 
00051   if (msg_)
00052   {
00053     return msg_;
00054   }
00055 
00056   if (serialized_message_.message)
00057   {
00058     msg_ = serialized_message_.message;
00059     return msg_;
00060   }
00061 
00062   if (!serialized_message_.buf && serialized_message_.num_bytes > 0)
00063   {
00064     // If the buffer has been reset it means we tried to deserialize and failed
00065     return VoidConstPtr();
00066   }
00067 
00068   try
00069   {
00070     SubscriptionCallbackHelperDeserializeParams params;
00071     params.buffer = serialized_message_.message_start;
00072     params.length = serialized_message_.num_bytes - (serialized_message_.message_start - serialized_message_.buf.get());
00073     params.connection_header = connection_header_;
00074     msg_ = helper_->deserialize(params);
00075   }
00076   catch (std::exception& e)
00077   {
00078     ROS_ERROR("Exception thrown when deserializing message of length [%d] from [%s]: %s", (uint32_t)serialized_message_.num_bytes, (*connection_header_)["callerid"].c_str(), e.what());
00079   }
00080 
00081   serialized_message_.buf.reset();
00082 
00083   return msg_;
00084 }
00085 
00086 }