HAL_SITL: support command line args for replay

libraries/AP_HAL_SITL/HAL_SITL_Class.cpp

@@ -176,6 +176,7 @@ void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
 {
     assert(callbacks);
 
+    utilInstance.init(argc, argv);
     _sitl_state->init(argc, argv);
 
     scheduler->init();

libraries/AP_HAL_SITL/UARTDriver.cpp

@@ -593,6 +593,7 @@ bool UARTDriver::_select_check(int fd)
     if (fd == -1) {
         return false;
     }
+#if !APM_BUILD_TYPE(APM_BUILD_Replay)
     fd_set fds;
     struct timeval tv;
 
@@ -606,6 +607,7 @@ bool UARTDriver::_select_check(int fd)
     if (select(fd+1, &fds, nullptr, nullptr, &tv) == 1) {
         return true;
     }
+#endif
     return false;
 }
 

libraries/AP_HAL_SITL/Util.cpp

@@ -147,4 +147,13 @@ void HALSITL::Util::set_cmdline_parameters()
         AP_Param::set_default_by_name(param.name, param.value);
     }
 }
+
+/**
+   return commandline arguments, if available
+*/
+void HALSITL::Util::commandline_arguments(uint8_t &argc, char * const *&argv)
+{
+    argc = saved_argc;
+    argv = saved_argv;
+}
 #endif

libraries/AP_HAL_SITL/Util.h

@@ -33,6 +33,11 @@ public:
         return sitlState->defaults_path;
     }
 
+    /**
+       return commandline arguments, if available
+     */
+    void commandline_arguments(uint8_t &argc, char * const *&argv) override;
+    
     uint64_t get_hw_rtc() const override;
 
     bool get_system_id(char buf[40]) override;
@@ -71,6 +76,11 @@ public:
 #endif
     }
 
+    void init(int argc, char *const *argv) {
+        saved_argc = argc;
+        saved_argv = argv;
+    }
+
 private:
     SITL_State *sitlState;
 
@@ -88,4 +98,7 @@ private:
       size_t current_heap_usage;
     };
 #endif // ENABLE_HEAP
+
+    int saved_argc;
+    char *const *saved_argv;
 };