00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: subscriber.cpp 43011 2010-08-12 20:30:23Z hsu $ 00035 * 00036 */ 00037 00038 #include "rosmpi/subscriber.h" 00039 // ROS 00040 #include <ros/message.h> 00041 #include <ros/serialized_message.h> 00042 #include <ros/serialization.h> 00043 00044 /*template <typename M> void 00045 rosmpi::Subscriber::call () 00046 { 00047 MPI::Status status; 00048 // Blocking test for a message 00049 MPI::COMM_WORLD.Probe (MPI_ANY_SOURCE, MPI_ANY_TAG, status); // for test purposes only 00050 00051 // Gets the number of "top level" elements 00052 int count = status.Get_count (MPI_BYTE); 00053 00054 uint8_t *buf = (uint8_t*)malloc (count * sizeof (uint8_t)); 00055 // Performs a standard-mode blocking receive 00056 MPI::COMM_WORLD.Recv (buf, count, MPI_BYTE, MPI_ANY_SOURCE, MPI_ANY_TAG); 00057 00058 ros::SerializedMessage m (boost::shared_array<uint8_t> (buf), count); 00059 M msg; 00060 try 00061 { 00062 ros::serialization::IStream stream (m.buf.get () + 4, count - 4); 00063 ros::serialization::deserialize (stream, msg); 00064 } 00065 catch (std::exception &e) 00066 { 00067 ROS_ERROR ("Exception thrown while while deserializing service call: %s", e.what ()); 00068 } 00069 00070 // Create a boost shared pointer and pass it to the callback 00071 helper_->call (msg); 00072 } 00073 */