Removes unnecessary buffer copy operation and decreases the size of the...

Removes unnecessary buffer copy operation and decreases the size of the incomming message buffer. Previously the size was in excess of what could easily be handled by Android.

rosjava/src/main/java/org/ros/internal/transport/queue/IncomingMessageQueue.java

@@ -37,14 +37,14 @@ public class IncomingMessageQueue<T> {
    * {@link IncomingMessageQueue#addListener(MessageListener, int)} which are
    * consumed by user provided {@link MessageListener}s.
    */
-  private static final int QUEUE_CAPACITY = 128;
+  private static final int QUEUE_CAPACITY = 16;
 
-  private final CircularBlockingQueue<LazyMessage<T>> lazyMessages;
   private final MessageReceiver<T> messageReceiver;
   private final MessageDispatcher<T> messageDispatcher;
 
   public IncomingMessageQueue(MessageDeserializer<T> deserializer, ExecutorService executorService) {
-    lazyMessages = new CircularBlockingQueue<LazyMessage<T>>(QUEUE_CAPACITY);
+    CircularBlockingQueue<LazyMessage<T>> lazyMessages =
+        new CircularBlockingQueue<LazyMessage<T>>(QUEUE_CAPACITY);
     messageReceiver = new MessageReceiver<T>(lazyMessages, deserializer);
     messageDispatcher = new MessageDispatcher<T>(lazyMessages, executorService);
     executorService.execute(messageDispatcher);

rosjava/src/main/java/org/ros/internal/transport/queue/MessageReceiver.java

@@ -57,7 +57,6 @@ public class MessageReceiver<T> extends AbstractNamedChannelHandler {
     if (DEBUG) {
       log.info(String.format("Received %d byte message.", buffer.readableBytes()));
     }
-    // TODO(damonkohler): Use MessageBuffers pool.
     // We have to make a defensive copy of the buffer here because Netty does
     // not guarantee that the returned ChannelBuffer will not be reused.
     lazyMessages.add(new LazyMessage<T>(buffer.copy(), deserializer));

rosjava/src/main/java/org/ros/internal/transport/queue/OutgoingMessageQueue.java

@@ -42,7 +42,7 @@ public class OutgoingMessageQueue<T> {
   private static final boolean DEBUG = false;
   private static final Log log = LogFactory.getLog(OutgoingMessageQueue.class);
 
-  private static final int QUEUE_CAPACITY = 128;
+  private static final int QUEUE_CAPACITY = 16;
 
   private final MessageSerializer<T> serializer;
   private final CircularBlockingQueue<T> queue;

rosjava_bootstrap/src/main/java/org/ros/internal/message/field/ChannelBufferField.java

@@ -73,9 +73,7 @@ public class ChannelBufferField extends Field {
     if (currentSize < 0) {
       currentSize = buffer.readInt();
     }
-    // There are no guarantees this buffer won't be reused so we create a
-    // defensive copy.
-    value = buffer.readSlice(currentSize).copy();
+    value = buffer.readSlice(currentSize);
   }
 
   @Override