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avoid blocking Unity main thread when processing incoming topics #63

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19 changes: 13 additions & 6 deletions Runtime/Rx/ProBridgeRx.cs
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
using System;
using System.Threading.Tasks;
using ProBridge.Utils;
using UnityEngine;

Expand All @@ -12,24 +13,30 @@ namespace ProBridge.Rx

private T __msg = new();

private void GetMsg(ProBridge.Msg msg)
private async void GetMsg(ProBridge.Msg msg)
{
if (!isActiveAndEnabled || topic == "")
return;

if (msg.t != __msg.GetRosType())
return;

if (msg.n != topic)
return;

var data = (byte[])msg.d;
try
{
OnMessage(CDRSerializer.Deserialize<T>((byte[])msg.d));
var deserialized = await Task.Run(() => CDRSerializer.Deserialize<T>(data));

if (this == null || !isActiveAndEnabled)
return;

OnMessage(deserialized);
}
catch(Exception e)
catch (Exception ex)
{
Debug.LogError($"Failed to deserialize message for {msg.n} of type {msg.t} : {e}");
Debug.LogError($"Failed to deserialize message for {msg.n} of type {msg.t}: {ex}");
}
}

Expand All @@ -51,4 +58,4 @@ private void OnDestroy()
srv.MessageEvent.RemoveListener(GetMsg);
}
}
}
}