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AP_HAL: ensure all UARTDriver implementations have receive_time_constraint_us

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this fixes NMEA over network ports
This commit is contained in:
Andrew Tridgell 2024-01-02 17:47:25 +11:00
parent 85537c2e97
commit d1fcb76c9f
2 changed files with 12 additions and 3 deletions
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11
libraries/AP_HAL/UARTDriver.cpp
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@ -152,3 +152,14 @@ bool AP_HAL::UARTDriver::discard_input()
} }
return _discard_input(); return _discard_input();
} }
/*
default implementation of receive_time_constraint_us() will be used
for subclasses that don't implement the call (eg. network
sockets). Best we can do is to use the current timestamp as we don't
know the transport delay
*/
uint64_t AP_HAL::UARTDriver::receive_time_constraint_us(uint16_t nbytes)
{
return AP_HAL::micros64();
}

4
libraries/AP_HAL/UARTDriver.h
View File

@ -137,10 +137,8 @@ public:
This takes account of the baudrate of the link. For transports This takes account of the baudrate of the link. For transports
that have no baudrate (such as USB) the time estimate may be that have no baudrate (such as USB) the time estimate may be
less accurate. less accurate.
A return value of zero means the HAL does not support this API
*/ */
virtual uint64_t receive_time_constraint_us(uint16_t nbytes) { return 0; } virtual uint64_t receive_time_constraint_us(uint16_t nbytes);
virtual uint32_t bw_in_bytes_per_second() const { virtual uint32_t bw_in_bytes_per_second() const {
return 5760; return 5760;