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AP_HAL_SITL: ensure reboot command ACK is written out in SITL

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Peter Barker 2021-02-20 00:46:38 +11:00 committed by Andrew Tridgell
parent 1bda79dd72
commit 5ebe505f2c
1 changed files with 20 additions and 0 deletions
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20
libraries/AP_HAL_SITL/UARTDriver.cpp
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@ -196,6 +196,26 @@ bool UARTDriver::discard_input(void)
void UARTDriver::flush(void) void UARTDriver::flush(void)
{ {
// flush the write buffer - but don't fail and don't
// infinitely-loop. This is not a good definition of "flush", but
// it was judged that we had to return from this function even if
// we hadn't actually done our job.
uint32_t start_ms = AP_HAL::millis();
while (AP_HAL::millis() - start_ms < 1000) {
if (_writebuffer.available() == 0) {
break;
}
_timer_tick();
}
// ensure that the outbound TCP queue is also empty...
start_ms = AP_HAL::millis();
while (AP_HAL::millis() - start_ms < 1000) {
if (((HALSITL::UARTDriver*)hal.serial(0))->get_system_outqueue_length() == 0) {
break;
}
usleep(1000);
}
} }
// size_t UARTDriver::write(uint8_t c) // size_t UARTDriver::write(uint8_t c)