From d380447cd5f0ffd43b228f73e8664cf0dba50fa1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 9 Nov 2020 08:48:25 +1100
Subject: [PATCH] HAL_SITL: support command line args for replay

---
 libraries/AP_HAL_SITL/HAL_SITL_Class.cpp |  1 +
 libraries/AP_HAL_SITL/UARTDriver.cpp     |  2 ++
 libraries/AP_HAL_SITL/Util.cpp           |  9 +++++++++
 libraries/AP_HAL_SITL/Util.h             | 13 +++++++++++++
 4 files changed, 25 insertions(+)

diff --git a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
index 47dd2509c4..45ab9d3237 100644
--- a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
+++ b/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();
diff --git a/libraries/AP_HAL_SITL/UARTDriver.cpp b/libraries/AP_HAL_SITL/UARTDriver.cpp
index 0196e23a81..eca0ae62ac 100644
--- a/libraries/AP_HAL_SITL/UARTDriver.cpp
+++ b/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;
 }
 
diff --git a/libraries/AP_HAL_SITL/Util.cpp b/libraries/AP_HAL_SITL/Util.cpp
index d9d428151e..7c20fa2f54 100644
--- a/libraries/AP_HAL_SITL/Util.cpp
+++ b/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
diff --git a/libraries/AP_HAL_SITL/Util.h b/libraries/AP_HAL_SITL/Util.h
index dacb7badf8..249f87f9df 100644
--- a/libraries/AP_HAL_SITL/Util.h
+++ b/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;
 };