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AP_HAL_SITL: strip -w parameter on SITL reboot

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This commit is contained in:
Peter Barker 2018-06-27 13:42:30 +10:00 committed by Peter Barker
parent 975b8c2e5f
commit ed724bc2be
1 changed files with 15 additions and 2 deletions
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17
libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
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@ -3,6 +3,7 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <assert.h>
#include <errno.h>
#include "AP_HAL_SITL.h"
#include "AP_HAL_SITL_Namespace.h"
@ -69,6 +70,8 @@ HAL_SITL::HAL_SITL() :
_sitl_state(&sitlState)
{}
static char *new_argv[100];
void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
{
assert(callbacks);
@ -90,8 +93,18 @@ void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
callbacks->loop();
HALSITL::Scheduler::_run_io_procs();
}
execv(argv[0], argv);
AP_HAL::panic("PANIC: REBOOT FAILED");
// form a new argv, removing problem parameters
uint8_t new_argv_offset = 0;
for (uint8_t i=0; i<ARRAY_SIZE(new_argv) && i<argc; i++) {
if (!strcmp(argv[i], "-w")) {
// don't wipe params on reboot
continue;
}
new_argv[new_argv_offset++] = argv[i];
}
execv(new_argv[0], new_argv);
AP_HAL::panic("PANIC: REBOOT FAILED: %s", strerror(errno));
}
const AP_HAL::HAL& AP_HAL::get_HAL() {