rosmpi.h

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 * $Id: rosmpi.h 43069 2010-08-13 21:34:01Z rusu $
 *
 */
#ifndef ROSMPI_H_
#define ROSMPI_H_

#include <boost/function.hpp>
#include <boost/bind.hpp>
#include <boost/make_shared.hpp>
// ROS
#include <ros/message.h>
#include <ros/serialized_message.h>
#include <ros/serialization.h>
// OpenMPI
#include <mpi.h>

namespace rosmpi
{
  namespace init_options
  {
    enum InitOption
    {
      ThreadSingle     = 0,
      ThreadFunneled   = 1,
      ThreadSerialized = 2,
      ThreadMultiple   = 3,
    };
  }
  typedef init_options::InitOption InitOption;

  void
    init (int &argc, char **argv, uint32_t options = 0)
  {
    // Initializes the MPI execution environment
    // If the process is multithreaded, only the thread that called MPI_Init_thread will make MPI calls
    int required = options;
    int ret = MPI::Init_thread (argc, argv, required);
    if (ret != required)
      ROS_WARN ("[rosmpi::init] MPI level of thread support required: %d, provided: %d.", required, ret);

    ros::Time::init ();
  }

  namespace this_processor
  {
    const std::string getName ()
    {
      int namelen;
      char processor_name[MPI_MAX_PROCESSOR_NAME];
      MPI::Get_processor_name (processor_name, namelen);
      return (std::string (processor_name));
    }
  }

  namespace communicator
  {
    int getSize ()
    {
      return (MPI::COMM_WORLD.Get_size ());
    }

    int getRank ()
    {
      return (MPI::COMM_WORLD.Get_rank ());
    }
  }

  void
    shutdown ()
  {
    // Terminates MPI execution environment
    MPI::Finalize ();
  }

  void
    spin ()
  {
    while (true)
    {
      usleep (10);

      // go over the vector of subscribers (which is the global queue) and call receive on each
    }
  }
//  void
//    spinOnce ()
//  {
//  }
}

#endif  //#ifndef ROSMPI_H_