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AP_HAL_PX4: UARTDriver: fix writting with failures

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When the buffer wraps and we do it in 2 steps, we can't actually do the
second part if it fails or if we wrote less bytes than we intended,
otherwise we will corrupt the data being sent.

While at it, just like in the write case, explain why we are stopping.
This commit is contained in:
Lucas De Marchi 2016-10-05 13:17:14 -03:00 committed by Andrew Tridgell
parent 4346f1dd83
commit 4df627693d
1 changed files with 15 additions and 4 deletions
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19
libraries/AP_HAL_PX4/UARTDriver.cpp
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@ -445,8 +445,15 @@ void PX4UARTDriver::_timer_tick(void)
const auto n_vec = _writebuf.peekiovec(vec, n);
for (int i = 0; i < n_vec; i++) {
ret = _write_fd(vec[i].data, (uint16_t)vec[i].len);
if (ret > 0)
_writebuf.advance(ret);
if (ret < 0) {
break;
}
_writebuf.advance(ret);
/* We wrote less than we asked for, stop */
if ((unsigned)ret != vec[i].len) {
break;
}
}
perf_end(_perf_uart);
}
@ -458,11 +465,15 @@ void PX4UARTDriver::_timer_tick(void)
const auto n_vec = _readbuf.reserve(vec, _readbuf.space());
for (int i = 0; i < n_vec; i++) {
ret = _read_fd(vec[i].data, vec[i].len);
if (ret < 0)
if (ret < 0) {
break;
}
_readbuf.commit((unsigned)ret);
if ((unsigned)ret < vec[i].len)
/* stop reading as we read less than we asked for */
if ((unsigned)ret < vec[i].len) {
break;
}
}
perf_end(_perf_uart);