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AP_HAL_SITL: factor _timer_tick into read/write methods

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This commit is contained in:
Peter Barker 2023-07-18 12:04:09 +10:00 committed by Andrew Tridgell
parent 0de7544650
commit 2cb3265131
2 changed files with 43 additions and 5 deletions
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39
libraries/AP_HAL_SITL/UARTDriver.cpp
View File

@ -796,7 +796,7 @@ uint16_t UARTDriver::read_from_async_csv(uint8_t *buffer, uint16_t space)
return i;
}
void UARTDriver::_timer_tick(void)
void UARTDriver::handle_writing_from_writebuffer_to_device()
{
if (!_connected) {
_check_reconnect();
@ -809,12 +809,12 @@ void UARTDriver::_timer_tick(void)
if (_sitl && _sitl->telem_baudlimit_enable) {
// limit byte rate to configured baudrate
uint32_t now = AP_HAL::micros();
float dt = 1.0e-6 * (now - last_tick_us);
float dt = 1.0e-6 * (now - last_write_tick_us);
max_bytes = _uart_baudrate * dt / 10;
if (max_bytes == 0) {
return;
}
last_tick_us = now;
last_write_tick_us = now;
}
#endif
if (_packetise) {
@ -856,13 +856,37 @@ void UARTDriver::_timer_tick(void)
}
}
}
}
void UARTDriver::handle_reading_from_device_to_readbuffer()
{
if (!_connected) {
_check_reconnect();
return;
}
uint32_t space = _readbuffer.space();
if (space == 0) {
return;
}
uint32_t max_bytes = 10000;
#if !defined(HAL_BUILD_AP_PERIPH)
SITL::SIM *_sitl = AP::sitl();
if (_sitl && _sitl->telem_baudlimit_enable) {
// limit byte rate to configured baudrate
uint32_t now = AP_HAL::micros();
float dt = 1.0e-6 * (now - last_read_tick_us);
max_bytes = _uart_baudrate * dt / 10;
if (max_bytes == 0) {
return;
}
last_read_tick_us = now;
}
#endif
space = MIN(space, max_bytes);
char buf[space];
ssize_t nread = 0;
if (_mc_fd >= 0) {
@ -929,6 +953,13 @@ void UARTDriver::_timer_tick(void)
}
}
void UARTDriver::_timer_tick(void)
{
handle_writing_from_writebuffer_to_device();
handle_reading_from_device_to_readbuffer();
}
/*
return timestamp estimate in microseconds for when the start of
a nbytes packet arrived on the uart. This should be treated as a

9
libraries/AP_HAL_SITL/UARTDriver.h
View File

@ -106,7 +106,10 @@ private:
bool _is_udp;
bool _packetise;
uint16_t _mc_myport;
uint32_t last_tick_us;
// for baud-rate limiting:
uint32_t last_read_tick_us;
uint32_t last_write_tick_us;
SITL::SerialDevice *_sim_serial_device;
@ -134,6 +137,10 @@ protected:
void _end() override;
void _flush() override;
bool _discard_input() override;
private:
void handle_writing_from_writebuffer_to_output();
void handle_reading_from_device_to_readbuffer();
};
#endif