From 364452ffc8926e4eaf458e5f8bb470a110b6a1cb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 4 Jun 2024 19:13:57 +1000
Subject: [PATCH] autotest: add test for DroneCAN battery handling

---
 Tools/ardupilotwaf/boards.py | 13 ++++++++
 Tools/autotest/arducopter.py | 57 ++++++++++++++++++++++++++++++++++++
 Tools/autotest/autotest.py   | 13 ++++++++
 3 files changed, 83 insertions(+)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 5f5ce5434b..a941788940 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -944,6 +944,19 @@ class sitl_periph_gps(sitl_periph):
             HAL_PERIPH_ENABLE_GPS = 1,
         )
 
+class sitl_periph_battmon(sitl_periph):
+    def configure_env(self, cfg, env):
+        cfg.env.AP_PERIPH = 1
+        super(sitl_periph_battmon, self).configure_env(cfg, env)
+        env.DEFINES.update(
+            HAL_BUILD_AP_PERIPH = 1,
+            PERIPH_FW = 1,
+            CAN_APP_NODE_NAME = '"org.ardupilot.ap_periph_battmon"',
+            APJ_BOARD_ID = 101,
+
+            HAL_PERIPH_ENABLE_BATTERY = 1,
+        )
+
 class esp32(Board):
     abstract = True
     toolchain = 'xtensa-esp32-elf'
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index b646f909a7..96667e3b7c 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -11574,6 +11574,57 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
         ])
         return ret
 
+    def BattCANSplitAuxInfo(self):
+        '''test CAN battery periphs'''
+        self.start_subtest("Swap UAVCAN backend at runtime")
+        self.set_parameters({
+            "CAN_P1_DRIVER": 1,
+            "BATT_MONITOR": 4,  # 4 is ananlog volt+curr
+            "BATT2_MONITOR": 8,  # 8 is UAVCAN_BatteryInfo
+            "BATT_SERIAL_NUM": 0,
+            "BATT2_SERIAL_NUM": 0,
+            "BATT_OPTIONS": 128,  # allow split auxinfo
+            "BATT2_OPTIONS": 128,  # allow split auxinfo
+        })
+        self.reboot_sitl()
+        self.delay_sim_time(2)
+        self.set_parameters({
+            "BATT_MONITOR": 8,  # 8 is UAVCAN_BatteryInfo
+            "BATT2_MONITOR": 4,  # 8 is UAVCAN_BatteryInfo
+        })
+        self.delay_sim_time(2)
+        self.set_parameters({
+            "BATT_MONITOR": 4,  # 8 is UAVCAN_BatteryInfo
+            "BATT2_MONITOR": 8,  # 8 is UAVCAN_BatteryInfo
+        })
+        self.delay_sim_time(2)
+        self.set_parameters({
+            "BATT_MONITOR": 8,  # 8 is UAVCAN_BatteryInfo
+            "BATT2_MONITOR": 4,  # 8 is UAVCAN_BatteryInfo
+        })
+        self.delay_sim_time(2)
+
+    def BattCANReplaceRuntime(self):
+        '''test CAN battery periphs'''
+        self.start_subtest("Replace UAVCAN backend at runtime")
+        self.set_parameters({
+            "CAN_P1_DRIVER": 1,
+            "BATT_MONITOR": 11,  # 4 is ananlog volt+curr
+        })
+        self.reboot_sitl()
+        self.delay_sim_time(2)
+        self.set_parameters({
+            "BATT_MONITOR": 8,  # 4 is UAVCAN batterinfo
+        })
+        self.delay_sim_time(2)
+
+    def testcanbatt(self):
+        ret = ([
+            self.BattCANReplaceRuntime,
+            self.BattCANSplitAuxInfo,
+        ])
+        return ret
+
     def tests(self):
         ret = []
         ret.extend(self.tests1a())
@@ -11637,3 +11688,9 @@ class AutoTestCAN(AutoTestCopter):
 
     def tests(self):
         return self.testcan()
+
+
+class AutoTestBattCAN(AutoTestCopter):
+
+    def tests(self):
+        return self.testcanbatt()
diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
index 596a42db01..d11c11ff0e 100755
--- a/Tools/autotest/autotest.py
+++ b/Tools/autotest/autotest.py
@@ -287,7 +287,9 @@ __bin_names = {
     "BalanceBot": "ardurover",
     "Sailboat": "ardurover",
     "SITLPeriphUniversal": ("sitl_periph_universal", "AP_Periph"),
+    "SITLPeriphBattMon": ("sitl_periph_battmon", "AP_Periph"),
     "CAN": "arducopter",
+    "BattCAN": "arducopter",
 }
 
 
@@ -358,11 +360,15 @@ tester_class_map = {
     "test.Sub": ardusub.AutoTestSub,
     "test.Tracker": antennatracker.AutoTestTracker,
     "test.CAN": arducopter.AutoTestCAN,
+    "test.BattCAN": arducopter.AutoTestBattCAN,
 }
 
 supplementary_test_binary_map = {
     "test.CAN": ["sitl_periph_universal:AP_Periph:0:Tools/autotest/default_params/periph.parm,Tools/autotest/default_params/quad-periph.parm", # noqa: E501
                  "sitl_periph_universal:AP_Periph:1:Tools/autotest/default_params/periph.parm"],
+    "test.BattCAN": [
+        "sitl_periph_battmon:AP_Periph:0:Tools/autotest/default_params/periph-battmon.parm,Tools/autotest/default_params/quad-periph.parm", # noqa: E501
+    ],
 }
 
 
@@ -445,6 +451,10 @@ def run_step(step):
         vehicle_binary = 'bin/AP_Periph'
         board = 'sitl_periph_universal'
 
+    if step == 'build.SITLPeriphBattMon':
+        vehicle_binary = 'bin/AP_Periph'
+        board = 'sitl_periph_battmon'
+
     if step == 'build.Replay':
         return util.build_replay(board='SITL')
 
@@ -1081,6 +1091,9 @@ if __name__ == "__main__":
         'build.SITLPeriphUniversal',
         'test.CAN',
 
+        'build.SITLPeriphBattMon',
+        'test.BattCAN',
+
         # convertgps disabled as it takes 5 hours
         # 'convertgpx',
     ]