From 0afb7f4eeaa75bf380721c28d9bfeedfa511d76a Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sun, 9 Mar 2014 11:24:13 +0400
Subject: [PATCH] Minor optimization for publisher

---
 libuavcan/include/uavcan/publisher.hpp | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/libuavcan/include/uavcan/publisher.hpp b/libuavcan/include/uavcan/publisher.hpp
index 02516b7ada..aa046cf18b 100644
--- a/libuavcan/include/uavcan/publisher.hpp
+++ b/libuavcan/include/uavcan/publisher.hpp
@@ -69,15 +69,16 @@ private:
         if (!buf)
             return -1;
 
-        BitStream bitstream(*buf);
-        ScalarCodec codec(bitstream);
-        const int encode_res = DataType::encode(message, codec);
-        if (encode_res <= 0)
         {
-            assert(0);   // Impossible, internal error
-            return -1;
+            BitStream bitstream(*buf);
+            ScalarCodec codec(bitstream);
+            const int encode_res = DataType::encode(message, codec);
+            if (encode_res <= 0)
+            {
+                assert(0);   // Impossible, internal error
+                return -1;
+            }
         }
-
         return sender_->send(buf->getDataPtr(), buf->getDataLength(), getTxDeadline(),
                              monotonic_blocking_deadline, transfer_type, dst_node_id);
     }