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AP_HAL_VRBRAIN: 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.
This commit is contained in:
Lucas De Marchi 2016-10-05 13:46:22 -03:00 committed by Andrew Tridgell
parent 68fc08fe52
commit 80cf1207b7
1 changed files with 10 additions and 3 deletions
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13
libraries/AP_HAL_VRBRAIN/UARTDriver.cpp
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@ -444,9 +444,16 @@ void VRBRAINUARTDriver::_timer_tick(void)
perf_begin(_perf_uart);
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);
ret = _write_fd(vec[i].data, (uint16_t)vec[i].len);
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);
}