From 3ad0d118a3260fce4fd6e3b0884b754f56421a25 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@krausaerospace.com>
Date: Mon, 12 Aug 2024 15:20:39 -0700
Subject: [PATCH] AP_HAL_SITL: allow overriding args on reboot

---
 libraries/AP_HAL_SITL/HAL_SITL_Class.cpp | 16 ++++++++++++++++
 libraries/AP_HAL_SITL/HAL_SITL_Class.h   |  1 +
 2 files changed, 17 insertions(+)

diff --git a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
index be72972e269d4..28fc7c6fd3606 100644
--- a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
+++ b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
@@ -305,6 +305,22 @@ void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
     actually_reboot();
 }
 
+void HAL_SITL::update_new_args(const char* opt, const char* val)
+{
+    for (uint8_t i=0; i<ARRAY_SIZE(new_argv)-1; i++) {
+        if (new_argv[i] == nullptr && new_argv[i+1] == nullptr) {
+            // add new option and value
+            new_argv[i] = (char*)opt;
+            new_argv[i+1] = (char*)val;
+            return;
+        } else if (!strcmp(new_argv[i], opt)) {
+            // update existing value
+            strncpy(new_argv[i+1], val, 100);
+            return;
+        }
+    }
+}
+
 void HAL_SITL::actually_reboot()
 {
     execv(new_argv[0], new_argv);
diff --git a/libraries/AP_HAL_SITL/HAL_SITL_Class.h b/libraries/AP_HAL_SITL/HAL_SITL_Class.h
index 495405c62bfa4..29329830c3c15 100644
--- a/libraries/AP_HAL_SITL/HAL_SITL_Class.h
+++ b/libraries/AP_HAL_SITL/HAL_SITL_Class.h
@@ -13,6 +13,7 @@ class HAL_SITL : public AP_HAL::HAL {
     HAL_SITL();
     void run(int argc, char * const argv[], Callbacks* callbacks) const override;
     static void actually_reboot();
+    static void update_new_args(const char* opt, const char* val);
 
     void set_storage_posix_enabled(bool _enabled) {
         storage_posix_enabled = _enabled;