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AP_HAL_SITL: process inbound data in outqueue-length delay loop #28570

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Nov 12, 2024
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AP_HAL_SITL: process inbound data in outqueue-length delay loop #28570

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4 changes: 3 additions & 1 deletion libraries/AP_HAL_SITL/SITL_State.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -185,12 +185,14 @@ void SITL_State::wait_clock(uint64_t wait_time_usec)
// conditions.
if (speedup > 1 && hal.scheduler->in_main_thread()) {
while (true) {
const int queue_length = ((HALSITL::UARTDriver*)hal.serial(0))->get_system_outqueue_length();
HALSITL::UARTDriver *uart = (HALSITL::UARTDriver*)hal.serial(0);
const int queue_length = uart->get_system_outqueue_length();
// ::fprintf(stderr, "queue_length=%d\n", (signed)queue_length);
if (queue_length < 1024) {
break;
}
_serial_0_outqueue_full_count++;
uart->handle_reading_from_device_to_readbuffer();
usleep(1000);
}
}
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