From 4f6653e5c797dc7bc78f09c8cf81d233af8c8747 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 27 May 2024 11:22:18 +1000
Subject: [PATCH] HAL_SITL: avoid std::vector in command line handling

use ObjectArray instead
---
 libraries/AP_HAL_SITL/SITL_State.h     | 3 ++-
 libraries/AP_HAL_SITL/SITL_cmdline.cpp | 6 +++---
 libraries/AP_HAL_SITL/Util.cpp         | 7 +++++--
 3 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_HAL_SITL/SITL_State.h b/libraries/AP_HAL_SITL/SITL_State.h
index 1a0074f14a..4ff1c0c046 100644
--- a/libraries/AP_HAL_SITL/SITL_State.h
+++ b/libraries/AP_HAL_SITL/SITL_State.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/utility/RingBuffer.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 
@@ -40,7 +41,7 @@ public:
         "tcp:7",
         "tcp:8",
     };
-    std::vector<struct AP_Param::defaults_table_struct> cmdline_param;
+    ObjectArray<struct AP_Param::defaults_table_struct> cmdline_param{100};
 
     /* parse a home location string */
     static bool parse_home(const char *home_str,
diff --git a/libraries/AP_HAL_SITL/SITL_cmdline.cpp b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
index 2151d5eab4..30cea03245 100644
--- a/libraries/AP_HAL_SITL/SITL_cmdline.cpp
+++ b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
@@ -384,13 +384,13 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         case 's':
             speedup = strtof(gopt.optarg, nullptr);
             temp_cmdline_param = {"SIM_SPEEDUP", speedup};
-            cmdline_param.push_back(temp_cmdline_param);
+            cmdline_param.push(temp_cmdline_param);
             printf("Setting SIM_SPEEDUP=%f\n", speedup);
             break;
         case 'r':
             sim_rate_hz = strtof(gopt.optarg, nullptr);
             temp_cmdline_param = {"SIM_RATE_HZ", sim_rate_hz};
-            cmdline_param.push_back(temp_cmdline_param);
+            cmdline_param.push(temp_cmdline_param);
             printf("Setting SIM_RATE_HZ=%f\n", sim_rate_hz);
             break;
         case 'C':
@@ -513,7 +513,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
                 exit(1);
             }
             temp_cmdline_param = {"SYSID_THISMAV", static_cast<float>(sysid)};
-            cmdline_param.push_back(temp_cmdline_param);
+            cmdline_param.push(temp_cmdline_param);
             printf("Setting SYSID_THISMAV=%d\n", sysid);
             break;
         }
diff --git a/libraries/AP_HAL_SITL/Util.cpp b/libraries/AP_HAL_SITL/Util.cpp
index f5c6bbeeaa..ce51bd8fd3 100644
--- a/libraries/AP_HAL_SITL/Util.cpp
+++ b/libraries/AP_HAL_SITL/Util.cpp
@@ -160,8 +160,11 @@ enum AP_HAL::Util::safety_state HALSITL::Util::safety_switch_state(void)
 
 void HALSITL::Util::set_cmdline_parameters()
 {
-    for (auto param: sitlState->cmdline_param) {
-        AP_Param::set_default_by_name(param.name, param.value);
+    for (uint16_t i=0; i<sitlState->cmdline_param.available(); i++) {
+        const auto param = sitlState->cmdline_param[i];
+        if (param != nullptr) {
+            AP_Param::set_default_by_name(param->name, param->value);
+        }
     }
 }
 #endif