private async Task WriteMessage(MessageAndSerializerFunc message)
{
if (message.msg.Serialized == null)
{
message.msg.Serialized = message.serfunc();
}
int length = message.msg.Serialized.Length;
await connection.WriteBlock(BitConverter.GetBytes(length), 0, 4, cancel).ConfigureAwait(false);
await connection.WriteBlock(message.msg.Serialized, 0, length, cancel).ConfigureAwait(false);
Stats.MessagesSent++;
Stats.BytesSent += length + 4;
Stats.MessageDataSent += length;
}
private void StartMessageWrite(bool immediateWrite)
{
MessageAndSerializerFunc holder = null;
if (writingMessage || !headerWritten)
{
return;
}
lock ( outbox )
{
if (outbox.Count > 0)
{
writingMessage = true;
holder = outbox.Dequeue();
}
if (outbox.Count < maxQueue)
{
queueFull = false;
}
}
if (holder != null)
{
if (holder.msg.Serialized == null)
{
holder.msg.Serialized = holder.serfunc();
}
byte[] outbuf = new byte[holder.msg.Serialized.Length + 4];
Array.Copy(holder.msg.Serialized, 0, outbuf, 4, holder.msg.Serialized.Length);
Array.Copy(BitConverter.GetBytes(holder.msg.Serialized.Length), outbuf, 4);
stats.messagesSent++;
//ROS.Debug()("Message backlog = " + (triedtosend - stats.messages_sent));
stats.bytesSent += outbuf.Length;
stats.messageDataSent += outbuf.Length;
connection.write(outbuf, outbuf.Length, OnMessageWritten, immediateWrite);
}
}