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HAL_SITL: avoid std::vector in command line handling 

use ObjectArray instead
This commit is contained in:
Andrew Tridgell 2024-05-27 11:22:18 +10:00
parent c764e60aa0
commit 4f6653e5c7
3 changed files with 10 additions and 6 deletions
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3
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -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,

6
libraries/AP_HAL_SITL/SITL_cmdline.cpp
View File

@ -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;
}

7
libraries/AP_HAL_SITL/Util.cpp
View File

@ -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