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AP_HAL_SITL: correct return values on UARTDriver write call

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Peter Barker 2023-07-13 17:13:51 +10:00 committed by Andrew Tridgell
parent 0b20328756
commit 32659fd3b6
1 changed files with 5 additions and 7 deletions
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12
libraries/AP_HAL_SITL/UARTDriver.cpp
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@ -269,29 +269,27 @@ size_t UARTDriver::_write(const uint8_t *buffer, size_t size)
close(_fd); close(_fd);
_fd = -1; _fd = -1;
_connected = false; _connected = false;
return 0;
} }
// these have no effect // these have no effect
tcdrain(_fd); tcdrain(_fd);
return nwritten;
} else { } else {
/* /*
simulate byte loss at the link layer simulate byte loss at the link layer
*/ */
size_t nwrite = size; uint8_t lost_byte = 0;
#if !defined(HAL_BUILD_AP_PERIPH) #if !defined(HAL_BUILD_AP_PERIPH)
SITL::SIM *_sitl = AP::sitl(); SITL::SIM *_sitl = AP::sitl();
if (_sitl && _sitl->uart_byte_loss_pct > 0) { if (_sitl && _sitl->uart_byte_loss_pct > 0) {
if (fabsf(rand_float()) < _sitl->uart_byte_loss_pct.get() * 0.01 * size) { if (fabsf(rand_float()) < _sitl->uart_byte_loss_pct.get() * 0.01 * size) {
nwrite--; lost_byte = 1;
}
if (nwrite == 0) {
return size;
} }
} }
#endif // HAL_BUILD_AP_PERIPH #endif // HAL_BUILD_AP_PERIPH
_writebuffer.write(buffer, nwrite); return _writebuffer.write(buffer, size - lost_byte) + lost_byte;
} }
return size;
} }