Improving the performance of the read_message by not splitting the da… (

#90)

* Improving the performance of the read_message by not splitting the data into 1024 chunks and stitching them together as you go, instead receiving the entire message all at once.

* Updating the changelog

CHANGELOG.md

@@ -60,6 +60,8 @@ Add linter, unit tests, and test coverage reporting
 
 ### Changed
 
+Improving the performance of the read_message in client.py, This is done by receiving the entire message all at once instead of reading 1024 byte chunks and stitching them together as you go.
+
 ### Deprecated
 
 ### Removed

src/ros_tcp_endpoint/client.py

@@ -97,16 +97,7 @@ def read_message(conn):
         destination = ClientThread.read_string(conn)
         full_message_size = ClientThread.read_int32(conn)
 
-        while len(data) < full_message_size:
-            # Only grabs max of 1024 bytes TODO: change to TCPServer's buffer_size
-            grab = 1024 if full_message_size - len(data) > 1024 else full_message_size - len(data)
-            packet = ClientThread.recvall(conn, grab)
-
-            if not packet:
-                rospy.logerr("No packets...")
-                break
-
-            data += packet
+        data = ClientThread.recvall(conn, full_message_size)
 
         if full_message_size > 0 and not data:
             rospy.logerr("No data for a message size of {}, breaking!".format(full_message_size))