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HAL_SITL: implement SIM_UART_LOSS

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Andrew Tridgell 2023-01-15 15:55:54 +11:00 committed by Peter Barker
parent d3ea7b0ca6
commit a2b0bbffdb
1 changed files with 17 additions and 1 deletions
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18
libraries/AP_HAL_SITL/UARTDriver.cpp
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@ -282,7 +282,23 @@ size_t UARTDriver::write(const uint8_t *buffer, size_t size)
// these have no effect
tcdrain(_fd);
} else {
_writebuffer.write(buffer, size);
/*
simulate byte loss at the link layer
*/
size_t nwrite = size;
#if !defined(HAL_BUILD_AP_PERIPH)
SITL::SIM *_sitl = AP::sitl();
if (_sitl && _sitl->uart_byte_loss_pct > 0) {
if (fabsf(rand_float()) < _sitl->uart_byte_loss_pct.get() * 0.01 * size) {
nwrite--;
}
if (nwrite == 0) {
return size;
}
}
#endif // HAL_BUILD_AP_PERIPH
_writebuffer.write(buffer, nwrite);
}
return size;
}