message_deserializer.h

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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:
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 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
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 *   * 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
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#ifndef ROSCPP_MESSAGE_DESERIALIZER_H
#define ROSCPP_MESSAGE_DESERIALIZER_H

#include "forwards.h"
#include "common.h"

#include <ros/serialized_message.h>

#include <boost/thread/mutex.hpp>
#include <boost/shared_array.hpp>

namespace ros
{

class SubscriptionCallbackHelper;
typedef boost::shared_ptr<SubscriptionCallbackHelper> SubscriptionCallbackHelperPtr;

class ROSCPP_DECL MessageDeserializer
{
public:
  MessageDeserializer(const SubscriptionCallbackHelperPtr& helper, const SerializedMessage& m, const boost::shared_ptr<M_string>& connection_header);

  VoidConstPtr deserialize();
  const boost::shared_ptr<M_string>& getConnectionHeader() { return connection_header_; }

private:
  SubscriptionCallbackHelperPtr helper_;
  SerializedMessage serialized_message_;
  boost::shared_ptr<M_string> connection_header_;

  boost::mutex mutex_;
  VoidConstPtr msg_;
};
typedef boost::shared_ptr<MessageDeserializer> MessageDeserializerPtr;

}

#endif // ROSCPP_MESSAGE_DESERIALIZER_H