message_deserializer.cpp

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */


#include "ros/message_deserializer.h"
#include "ros/subscription_callback_helper.h"
#include <ros/console.h>

namespace ros
{

MessageDeserializer::MessageDeserializer(const SubscriptionCallbackHelperPtr& helper, const SerializedMessage& m, const boost::shared_ptr<M_string>& connection_header)
: helper_(helper)
, serialized_message_(m)
, connection_header_(connection_header)
{
  if (serialized_message_.message && *serialized_message_.type_info != helper->getTypeInfo())
  {
    serialized_message_.message.reset();
  }
}

VoidConstPtr MessageDeserializer::deserialize()
{
  boost::mutex::scoped_lock lock(mutex_);

  if (msg_)
  {
    return msg_;
  }

  if (serialized_message_.message)
  {
    msg_ = serialized_message_.message;
    return msg_;
  }

  if (!serialized_message_.buf && serialized_message_.num_bytes > 0)
  {
    // If the buffer has been reset it means we tried to deserialize and failed
    return VoidConstPtr();
  }

  try
  {
    SubscriptionCallbackHelperDeserializeParams params;
    params.buffer = serialized_message_.message_start;
    params.length = serialized_message_.num_bytes - (serialized_message_.message_start - serialized_message_.buf.get());
    params.connection_header = connection_header_;
    msg_ = helper_->deserialize(params);
  }
  catch (std::exception& e)
  {
    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());
  }

  serialized_message_.buf.reset();

  return msg_;
}

}