SendToState GetMessageToSend(out Message messageToSend)
{
SendToState result = SendToState.NoMessageToSendError;
messageToSend = null;
lock (m_OutgoingMessages)
{
if (m_QueueOverflowUnsentCounter > 0)
{
//This means that we can't send message to ROS as fast as we're generating them.
//This could potentially be bad as it means that we are dropping messages!
m_QueueOverflowUnsentCounter--;
messageToSend = null;
result = SendToState.QueueFullWarning;
}
else if (m_OutgoingMessages.Count > 0)
{
//Retrieve the next message and populate messageToSend.
messageToSend = m_OutgoingMessages.First.Value;
m_OutgoingMessages.RemoveFirst();
result = SendToState.Normal;
}
}
return(result);
}
public override SendToState SendInternal(MessageSerializer messageSerializer, Stream stream)
{
SendToState sendToState = GetMessageToSend(out Message toSend);
if (sendToState == SendToState.Normal)
{
SendMessageWithStream(messageSerializer, stream, toSend);
//Recycle the message (if applicable).
if (m_LastMessageSent != null && m_LastMessageSent != toSend)
{
TryRecycleMessage(m_LastMessageSent);
}
m_LastMessageSent = toSend;
}
return(sendToState);
}