publisher.cpp

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/*
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 * $Id: publisher.cpp 43011 2010-08-12 20:30:23Z hsu $
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#include "rosmpi/publisher.h"
#include "rosmpi/communicator.h"

void 
  rosmpi::Publisher::publish (const boost::function<ros::SerializedMessage(void)>& serfunc, ros::SerializedMessage& m) const
{
  m = serfunc ();

  int tag  = 1;

  int nr_procs = rosmpi::communicator::getSize ();
  MPI::Status status[nr_procs];
  MPI::Request requests[nr_procs];

  // Performs a standard-mode blocking send
  for (int i = 1; i < nr_procs; i++)
  {
    requests[i] = MPI::COMM_WORLD.Isend (m.buf.get (), m.num_bytes, MPI_BYTE, i, tag);
  }

  // Wait for the buffers to be sent before they get destroyed
  for (int i = 1; i < nr_procs; i++)
  {
    requests[i].Wait (status[i]);
  }
}