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SITL: add code to add, remove or corrupt bytes in SITL::SerialDevice xfrs

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This commit is contained in:
Peter Barker 2023-11-14 14:06:05 +11:00 committed by Peter Barker
parent 4dcc64d82d
commit bd05fad850
3 changed files with 56 additions and 11 deletions
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61
libraries/SITL/SIM_SerialDevice.cpp
View File

@ -44,9 +44,45 @@ bool SerialDevice::init_sitl_pointer()
return true;
}
#if AP_SIM_SERIALDEVICE_CORRUPTION_ENABLED
ssize_t SerialDevice::corrupt_transfer(char *buffer, const ssize_t ret, const size_t size) const
{
if (ret > 0 && (rand() % 100) < 2) {
// drop a random byte from returned data:
const size_t byte_ofs_to_drop = rand() % ret;
fprintf(stderr, "dropping byte at offset %u\n", unsigned(byte_ofs_to_drop));
memmove(&buffer[byte_ofs_to_drop], &buffer[byte_ofs_to_drop+1], ret - byte_ofs_to_drop - 1);
return ret - 1;
}
if (ret > 0 && size_t(ret) < size && (rand() % 100) < 2) {
// add a random byte to the stream:
const size_t byte_ofs_to_add = rand() % ret;
fprintf(stderr, "adding byte at offset %u\n", unsigned(byte_ofs_to_add));
memmove(&buffer[byte_ofs_to_add+1], &buffer[byte_ofs_to_add], ret - byte_ofs_to_add);
buffer[byte_ofs_to_add] = rand()*256;
return ret + 1;
}
if (ret > 0 && unsigned(ret) < size && (rand() % 100) < 2) {
// corrupt a random byte in the stream:
const size_t byte_ofs_to_corrupt = rand() % ret;
fprintf(stderr, "corrupting byte at offset=%u\n", unsigned(byte_ofs_to_corrupt));
buffer[byte_ofs_to_corrupt] = rand()*256;
return ret;
}
return ret;
}
#endif
ssize_t SerialDevice::read_from_autopilot(char *buffer, const size_t size) const
{
const ssize_t ret = from_autopilot->read((uint8_t*)buffer, size);
ssize_t ret = from_autopilot->read((uint8_t*)buffer, size);
#if AP_SIM_SERIALDEVICE_CORRUPTION_ENABLED
ret = corrupt_transfer(buffer, ret, size);
#endif
// if (ret > 0) {
// ::fprintf(stderr, "SIM_SerialDevice: read from autopilot (%u): (", (unsigned)ret);
// for (ssize_t i=0; i<ret; i++) {
@ -69,15 +105,6 @@ ssize_t SerialDevice::write_to_autopilot(const char *buffer, const size_t size)
}
const ssize_t ret = to_autopilot->write((uint8_t*)buffer, size);
// ::fprintf(stderr, "write to autopilot: (");
// for (ssize_t i=0; i<ret; i++) {
// ::fprintf(stderr, "%02X", (uint8_t)buffer[i]);
// }
// ::fprintf(stderr, ") (\n");
// for (ssize_t i=0; i<ret; i++) {
// ::fprintf(stderr, "%c", (uint8_t)buffer[i]);
// }
// ::fprintf(stderr, ")\n");
return ret;
}
@ -87,7 +114,19 @@ ssize_t SerialDevice::read_from_device(char *buffer, const size_t size) const
return -1;
}
const ssize_t ret = to_autopilot->read((uint8_t*)buffer, size);
ssize_t ret = to_autopilot->read((uint8_t*)buffer, size);
#if AP_SIM_SERIALDEVICE_CORRUPTION_ENABLED
ret = corrupt_transfer(buffer, ret, size);
#endif
// ::fprintf(stderr, "read_from_device: (");
// for (ssize_t i=0; i<ret; i++) {
// ::fprintf(stderr, "%02X", (uint8_t)buffer[i]);
// }
// ::fprintf(stderr, ") (\n");
// for (ssize_t i=0; i<ret; i++) {
// ::fprintf(stderr, "%c", (uint8_t)buffer[i]);
// }
// ::fprintf(stderr, ")\n");
return ret;
}
ssize_t SerialDevice::write_to_device(const char *buffer, const size_t size) const

2
libraries/SITL/SIM_SerialDevice.h
View File

@ -53,6 +53,8 @@ private:
bool is_match_baud(void) const;
uint32_t autopilot_baud;
ssize_t corrupt_transfer(char *buffer, const ssize_t ret, const size_t size) const;
};
}

4
libraries/SITL/SIM_config.h
View File

@ -33,3 +33,7 @@
#ifndef AP_SIM_ADSB_SAGETECH_MXS_ENABLED
#define AP_SIM_ADSB_SAGETECH_MXS_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
#endif
#ifndef AP_SIM_SERIALDEVICE_CORRUPTION_ENABLED
#define AP_SIM_SERIALDEVICE_CORRUPTION_ENABLED 0
#endif