SITL: new sitl-on-hw.py script

this makes it easier to build SITL on hardware for a wide range of
frames

libraries/SITL/examples/on-hardware/sitl-on-hw.py

@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+'''
+script to build a firmware for SITL-on-hardware
+see https://ardupilot.org/dev/docs/sim-on-hardware.html
+'''
+
+import subprocess
+import sys
+import os
+import tempfile
+
+from argparse import ArgumentParser
+parser = ArgumentParser("SITL on hardware builder")
+parser.add_argument("--board", default=None, help="board type")
+parser.add_argument("--vehicle", default=None, help="vehicle type")
+parser.add_argument("--frame", default=None, help="frame type")
+parser.add_argument("--simclass", default=None, help="simulation class")
+parser.add_argument("--defaults", default=None, help="extra defaults file")
+parser.add_argument("--upload", action='store_true', default=False, help="upload firmware")
+
+args, unknown_args = parser.parse_known_args()
+
+extra_hwdef = None
+
+def run_program(cmd_list):
+    '''run a program from a command list'''
+    print("Running (%s)" % " ".join(cmd_list))
+    retcode = subprocess.call(cmd_list)
+    if retcode != 0:
+       print("FAILED: %s" % (' '.join(cmd_list)))
+       global extra_hwdef
+       if extra_hwdef is not None:
+           extra_hwdef.close()
+           os.unlink(extra_hwdef.name)
+       sys.exit(1)
+
+extra_hwdef = tempfile.NamedTemporaryFile(mode='w')
+extra_defaults = tempfile.NamedTemporaryFile(mode='w')
+
+def hwdef_write(s):
+    '''write to the hwdef temp file'''
+    extra_hwdef.write(s)
+
+def defaults_write(s):
+    '''write to the hwdef temp file'''
+    extra_defaults.write(s)
+
+def sohw_path(fname):
+    '''get path to a file in on-hardware directory'''
+    return os.path.join(os.path.dirname(os.path.realpath(__file__)), fname)
+
+if args.vehicle == "plane":
+    extra_hwdef_base = "plane-extra-hwdef-sitl-on-hw.dat"
+    defaults_base = "plane-default.param"
+else:
+    extra_hwdef_base = "extra-hwdef-sitl-on-hw.dat"
+    defaults_base = "default.param"
+
+# add base hwdef to extra_hwdef
+hwdef_write(open(sohw_path(extra_hwdef_base), "r").read() + "\n")
+
+# add base defaults to extra_defaults
+defaults_write(open(sohw_path(defaults_base), "r").read() + "\n")
+
+if args.defaults:
+    defaults_write(open(args.defaults,"r").read() + "\n")
+
+if args.simclass:
+    hwdef_write("define AP_SIM_FRAME_CLASS %s\n" % args.simclass)
+if args.frame:
+    hwdef_write('define AP_SIM_FRAME_STRING "%s"\n' % args.frame)
+
+extra_hwdef.flush()
+extra_defaults.flush()
+
+configure_args = ["./waf", "configure",
+                  "--board=%s" % args.board,
+                  "--extra-hwdef=%s" % extra_hwdef.name,
+                  "--default-param=%s" % extra_defaults.name]
+configure_args.extend(unknown_args)
+run_program(configure_args)
+
+build_cmd = ["./waf", args.vehicle]
+if args.upload:
+   build_cmd.append("--upload")
+
+run_program(build_cmd)
+
+# cleanup
+extra_hwdef.close()
+