/// <summary>
/// Sends message via mavlink protocol asynchronously
/// </summary>
/// <param name="message">Message to be sent</param>
/// <param name="systemId">Id of a system which is sending message</param>
/// <param name="componentId">Id of a component which is sending message</param>
/// <param name="sequenceNumber"></param>
/// <returns>Value which indicates whether operation completed successfully</returns>
public bool SendMessage <TMessage>(TMessage message, byte systemId, byte componentId, byte sequenceNumber = 1)
where TMessage : struct, IMessage
{
byte[] packetPayload = _messageFactory.CreateBytes(message);
Packet packet = _packetHandler.GetPacket(systemId, componentId, sequenceNumber, message.Id, packetPayload);
if (packet == null)
{
return(false);
}
try
{
lock (_syncRoot)
_stream.Write(packet.RawBytes, 0, packet.RawBytes.Length);
return(true);
}
catch
{
return(false);
}
}