Tools: added --can-gps option to sim_vehicle.py

allows for easy DroneCAN testing

Tools/autotest/pysim/vehicleinfo.py

@@ -392,6 +392,14 @@ class VehicleInfo(object):
             },
         },
     },
+    "sitl_periph_gps": {
+        "frames": {
+            "gps": {
+                "configure_target": "sitl_periph_gps",
+                "waf_target": "bin/AP_Periph",
+                },
+            }
+    },
 }
 
 

Tools/autotest/sim_vehicle.py

@@ -319,7 +319,9 @@ def do_build(opts, frame_options):
 
     waf_light = os.path.join(root_dir, "modules/waf/waf-light")
 
-    cmd_configure = [waf_light, "configure", "--board", "sitl"]
+    configure_target = frame_options.get('configure_target', 'sitl')
+
+    cmd_configure = [waf_light, "configure", "--board", configure_target]
     if opts.debug:
         cmd_configure.append("--debug")
 
@@ -382,6 +384,7 @@ def do_build(opts, frame_options):
     if opts.clean:
         run_cmd_blocking("Building clean", [waf_light, "clean"])
 
+    print(frame_options)
     cmd_build = [waf_light, "build", "--target", frame_options["waf_target"]]
     if opts.jobs is not None:
         cmd_build += ['-j', str(opts.jobs)]
@@ -623,6 +626,18 @@ def start_antenna_tracker(opts):
     os.chdir(oldpwd)
 
 
+def start_CAN_GPS(opts):
+    """Compile and run the sitl_periph_gps"""
+
+    global can_uarta
+    progress("Preparing sitl_periph_gps")
+    options = vinfo.options["sitl_periph_gps"]['frames']['gps']
+    do_build(opts, options)
+    exe = os.path.join(root_dir, 'build/sitl_periph_gps', 'bin/AP_Periph')
+    run_in_terminal_window("sitl_periph_gps",
+                           ["nice", exe])
+
+
 def start_vehicle(binary, opts, stuff, spawns=None):
     """Run the ArduPilot binary"""
 
@@ -1036,6 +1051,10 @@ group_sim.add_option("-T", "--tracker",
 group_sim.add_option("", "--enable-onvif",
                      action="store_true",
                      help="enable onvif camera control sim using AntennaTracker")
+group_sim.add_option("", "--can-gps",
+                     action='store_true',
+                     default=False,
+                     help="start a DroneCAN GPS instance (use Tools/scripts/CAN/can_sitl_nodev.sh first)")
 group_sim.add_option("-A", "--sitl-instance-args",
                      type='string',
                      default=None,
@@ -1378,6 +1397,9 @@ if cmd_opts.instance == 0:
 if cmd_opts.tracker:
     start_antenna_tracker(cmd_opts)
 
+if cmd_opts.can_gps:
+    start_CAN_GPS(cmd_opts)
+
 if cmd_opts.custom_location:
     location = [(float)(x) for x in cmd_opts.custom_location.split(",")]
     progress("Starting up at %s" % (location,))