void MavlinkSerial::async_write_end(const boost::system::error_code &error, std::size_t bytes_transferred)
{
if (error)
{
close();
return;
}
mutex_lock lock(mutex_);
if (write_queue_.empty())
{
write_in_progress_ = false;
return;
}
WriteBuffer *buffer = write_queue_.front();
buffer->pos += bytes_transferred;
if (buffer->nbytes() == 0)
{
write_queue_.pop_front();
delete buffer;
}
if (write_queue_.empty())
write_in_progress_ = false;
else
do_async_write(false);
}
void MavlinkSerial::do_async_write(bool check_write_state)
{
if (check_write_state && write_in_progress_)
return;
mutex_lock lock(mutex_);
if (write_queue_.empty())
return;
write_in_progress_ = true;
WriteBuffer *buffer = write_queue_.front();
serial_port_.async_write_some(
boost::asio::buffer(buffer->dpos(), buffer->nbytes()),
boost::bind(
&MavlinkSerial::async_write_end,
this,
boost::asio::placeholders::error,
boost::asio::placeholders::bytes_transferred));
}