src
libros
message_deserializer.cpp
Go to the documentation of this file.
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/*
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* Copyright (C) 2009, Willow Garage, Inc.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the names of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "
ros/message_deserializer.h
"
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#include "
ros/subscription_callback_helper.h
"
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#include <
ros/console.h
>
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namespace
ros
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{
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MessageDeserializer::MessageDeserializer
(
const
SubscriptionCallbackHelperPtr
& helper,
const
SerializedMessage
& m,
const
boost::shared_ptr<M_string>
& connection_header)
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: helper_(helper)
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, serialized_message_(m)
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, connection_header_(connection_header)
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{
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if
(
serialized_message_
.
message
&& *
serialized_message_
.
type_info
!= helper->getTypeInfo())
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{
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serialized_message_
.
message
.reset();
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}
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}
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VoidConstPtr
MessageDeserializer::deserialize
()
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{
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boost::mutex::scoped_lock lock(
mutex_
);
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if
(
msg_
)
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{
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return
msg_
;
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}
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if
(
serialized_message_
.
message
)
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{
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msg_
=
serialized_message_
.
message
;
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return
msg_
;
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}
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if
(!
serialized_message_
.
buf
&&
serialized_message_
.
num_bytes
> 0)
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{
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// If the buffer has been reset it means we tried to deserialize and failed
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return
VoidConstPtr
();
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}
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try
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{
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SubscriptionCallbackHelperDeserializeParams
params;
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params.
buffer
=
serialized_message_
.
message_start
;
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params.
length
=
serialized_message_
.
num_bytes
- (
serialized_message_
.
message_start
-
serialized_message_
.
buf
.get());
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params.
connection_header
=
connection_header_
;
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msg_
=
helper_
->deserialize(params);
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}
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catch
(std::exception& e)
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{
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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());
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}
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serialized_message_
.
buf
.reset();
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return
msg_
;
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}
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}
message_deserializer.h
ros::SerializedMessage
ros::SerializedMessage::message_start
uint8_t * message_start
boost::shared_ptr< SubscriptionCallbackHelper >
ros::MessageDeserializer::MessageDeserializer
MessageDeserializer(const SubscriptionCallbackHelperPtr &helper, const SerializedMessage &m, const boost::shared_ptr< M_string > &connection_header)
Definition:
message_deserializer.cpp:36
ros::SubscriptionCallbackHelperDeserializeParams::buffer
uint8_t * buffer
Definition:
subscription_callback_helper.h:54
ros
ros::SerializedMessage::message
boost::shared_ptr< void const > message
subscription_callback_helper.h
ros::MessageDeserializer::helper_
SubscriptionCallbackHelperPtr helper_
Definition:
message_deserializer.h:54
ros::SubscriptionCallbackHelperDeserializeParams::length
uint32_t length
Definition:
subscription_callback_helper.h:55
ros::MessageDeserializer::mutex_
boost::mutex mutex_
Definition:
message_deserializer.h:58
console.h
ros::MessageDeserializer::deserialize
VoidConstPtr deserialize()
Definition:
message_deserializer.cpp:47
ros::MessageDeserializer::connection_header_
boost::shared_ptr< M_string > connection_header_
Definition:
message_deserializer.h:56
ros::VoidConstPtr
boost::shared_ptr< void const > VoidConstPtr
Definition:
forwards.h:52
ros::SerializedMessage::num_bytes
size_t num_bytes
ros::SubscriptionCallbackHelperDeserializeParams
Definition:
subscription_callback_helper.h:52
ros::SerializedMessage::type_info
const std::type_info * type_info
ROS_ERROR
#define ROS_ERROR(...)
ros::MessageDeserializer::serialized_message_
SerializedMessage serialized_message_
Definition:
message_deserializer.h:55
ros::SubscriptionCallbackHelperDeserializeParams::connection_header
boost::shared_ptr< M_string > connection_header
Definition:
subscription_callback_helper.h:56
ros::MessageDeserializer::msg_
VoidConstPtr msg_
Definition:
message_deserializer.h:59
ros::SerializedMessage::buf
boost::shared_array< uint8_t > buf
roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim, Dirk Thomas
, Jacob Perron
autogenerated on Sat Sep 14 2024 02:59:35