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Tools: rename sim_periph_gps to sim_gps_universal, recreate sim_periph_gps

This commit is contained in:
Peter Barker 2024-01-12 13:50:43 +11:00 committed by Andrew Tridgell
parent 48b555f8e6
commit a77df87b01
7 changed files with 84 additions and 55 deletions
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1
Tools/AP_Periph/can.cpp
View File

@ -34,6 +34,7 @@
#include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <AP_HAL_SITL/CANSocketIface.h>
#include <AP_HAL_SITL/AP_HAL_SITL.h>
#endif
#define IFACE_ALL ((1U<<(HAL_NUM_CAN_IFACES))-1U)

106
Tools/ardupilotwaf/boards.py
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@ -837,14 +837,65 @@ class sitl(Board):
return self.__class__.__name__
class sitl_periph_gps(sitl):
class sitl_periph(sitl):
def configure_env(self, cfg, env):
cfg.env.AP_PERIPH = 1
super(sitl_periph_gps, self).configure_env(cfg, env)
super(sitl_periph, self).configure_env(cfg, env)
env.DEFINES.update(
HAL_BUILD_AP_PERIPH = 1,
PERIPH_FW = 1,
CAN_APP_NODE_NAME = '"org.ardupilot.ap_periph"',
HAL_RAM_RESERVE_START = 0,
CANARD_ENABLE_CANFD = 1,
CANARD_ENABLE_TAO_OPTION = 1,
CANARD_MULTI_IFACE = 1,
# FIXME: SITL library should not be using AP_AHRS:
AP_AHRS_ENABLED = 1,
AP_AHRS_BACKEND_DEFAULT_ENABLED = 0,
AP_AHRS_DCM_ENABLED = 1, # need a default backend
HAL_EXTERNAL_AHRS_ENABLED = 0,
HAL_MAVLINK_BINDINGS_ENABLED = 1,
AP_AIRSPEED_AUTOCAL_ENABLE = 0,
AP_CAN_SLCAN_ENABLED = 0,
AP_ICENGINE_ENABLED = 0,
AP_MISSION_ENABLED = 0,
AP_RCPROTOCOL_ENABLED = 0,
AP_RTC_ENABLED = 0,
AP_SCHEDULER_ENABLED = 0,
AP_SCRIPTING_ENABLED = 0,
AP_STATS_ENABLED = 0,
AP_UART_MONITOR_ENABLED = 1,
COMPASS_CAL_ENABLED = 0,
COMPASS_LEARN_ENABLED = 0,
COMPASS_MOT_ENABLED = 0,
HAL_CAN_DEFAULT_NODE_ID = 0,
HAL_CANMANAGER_ENABLED = 0,
HAL_GCS_ENABLED = 0,
HAL_GENERATOR_ENABLED = 0,
HAL_LOGGING_ENABLED = 0,
HAL_LOGGING_MAVLINK_ENABLED = 0,
HAL_PROXIMITY_ENABLED = 0,
HAL_RALLY_ENABLED = 0,
HAL_SUPPORT_RCOUT_SERIAL = 0,
AP_TERRAIN_AVAILABLE = 0,
)
try:
env.CXXFLAGS.remove('-DHAL_NAVEKF2_AVAILABLE=1')
except ValueError:
pass
env.CXXFLAGS += ['-DHAL_NAVEKF2_AVAILABLE=0']
class sitl_periph_universal(sitl_periph):
def configure_env(self, cfg, env):
super(sitl_periph_universal, self).configure_env(cfg, env)
env.DEFINES.update(
CAN_APP_NODE_NAME = '"org.ardupilot.ap_periph_universal"',
APJ_BOARD_ID = 100,
HAL_PERIPH_ENABLE_GPS = 1,
HAL_PERIPH_ENABLE_AIRSPEED = 1,
HAL_PERIPH_ENABLE_MAG = 1,
@ -856,48 +907,25 @@ class sitl_periph_gps(sitl):
HAL_PERIPH_ENABLE_RC_OUT = 1,
HAL_PERIPH_ENABLE_ADSB = 1,
HAL_PERIPH_ENABLE_SERIAL_OPTIONS = 1,
AP_ICENGINE_ENABLED = 0,
AP_AIRSPEED_ENABLED = 1,
AP_AIRSPEED_AUTOCAL_ENABLE = 0,
AP_AHRS_ENABLED = 1,
AP_UART_MONITOR_ENABLED = 1,
HAL_CAN_DEFAULT_NODE_ID = 0,
HAL_RAM_RESERVE_START = 0,
APJ_BOARD_ID = 100,
HAL_GCS_ENABLED = 0,
HAL_MAVLINK_BINDINGS_ENABLED = 1,
HAL_LOGGING_ENABLED = 0,
HAL_LOGGING_MAVLINK_ENABLED = 0,
AP_MISSION_ENABLED = 0,
HAL_RALLY_ENABLED = 0,
AP_SCHEDULER_ENABLED = 0,
CANARD_ENABLE_TAO_OPTION = 1,
AP_RCPROTOCOL_ENABLED = 0,
CANARD_ENABLE_CANFD = 1,
CANARD_MULTI_IFACE = 1,
HAL_CANMANAGER_ENABLED = 0,
COMPASS_CAL_ENABLED = 0,
COMPASS_MOT_ENABLED = 0,
COMPASS_LEARN_ENABLED = 0,
AP_BATTERY_ESC_ENABLED = 1,
HAL_EXTERNAL_AHRS_ENABLED = 0,
HAL_GENERATOR_ENABLED = 0,
AP_STATS_ENABLED = 0,
HAL_SUPPORT_RCOUT_SERIAL = 0,
AP_CAN_SLCAN_ENABLED = 0,
HAL_PROXIMITY_ENABLED = 0,
AP_SCRIPTING_ENABLED = 0,
HAL_NAVEKF3_AVAILABLE = 0,
HAL_PWM_COUNT = 32,
HAL_WITH_ESC_TELEM = 1,
AP_RTC_ENABLED = 0,
AP_TERRAIN_AVAILABLE = 1,
)
try:
env.CXXFLAGS.remove('-DHAL_NAVEKF2_AVAILABLE=1')
except ValueError:
pass
env.CXXFLAGS += ['-DHAL_NAVEKF2_AVAILABLE=0']
class sitl_periph_gps(sitl_periph):
def configure_env(self, cfg, env):
cfg.env.AP_PERIPH = 1
super(sitl_periph_gps, self).configure_env(cfg, env)
env.DEFINES.update(
HAL_BUILD_AP_PERIPH = 1,
PERIPH_FW = 1,
CAN_APP_NODE_NAME = '"org.ardupilot.ap_periph_gps"',
APJ_BOARD_ID = 101,
HAL_PERIPH_ENABLE_GPS = 1,
)
class esp32(Board):
abstract = True

12
Tools/autotest/autotest.py
View File

@ -286,7 +286,7 @@ __bin_names = {
"Blimp": "blimp",
"BalanceBot": "ardurover",
"Sailboat": "ardurover",
"SITLPeriphGPS": "sitl_periph_gp.AP_Periph",
"SITLPeriphUniversal": "sitl_periph_universal.AP_Periph",
"CAN": "arducopter",
}
@ -362,8 +362,8 @@ tester_class_map = {
}
supplementary_test_binary_map = {
"test.CAN": ["sitl_periph_gps:AP_Periph:0:Tools/autotest/default_params/periph.parm,Tools/autotest/default_params/quad-periph.parm", # noqa: E501
"sitl_periph_gps:AP_Periph:1:Tools/autotest/default_params/periph.parm"],
"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"],
}
@ -441,8 +441,8 @@ def run_step(step):
if step == 'build.Sub':
vehicle_binary = 'bin/ardusub'
if step == 'build.SITLPeriphGPS':
vehicle_binary = 'sitl_periph_gps.bin/AP_Periph'
if step == 'build.SITLPeriphUniversal':
vehicle_binary = 'sitl_periph_universal.bin/AP_Periph'
if step == 'build.Replay':
return util.build_replay(board='SITL')
@ -1085,7 +1085,7 @@ if __name__ == "__main__":
'build.Blimp',
'test.Blimp',
'build.SITLPeriphGPS',
'build.SITLPeriphUniversal',
'test.CAN',
# convertgps disabled as it takes 5 hours

6
Tools/autotest/pysim/vehicleinfo.py
View File

@ -424,10 +424,10 @@ class VehicleInfo(object):
},
},
},
"sitl_periph_gps": {
"sitl_periph_universal": {
"frames": {
"gps": {
"configure_target": "sitl_periph_gps",
"universal": {
"configure_target": "sitl_periph_universal",
"waf_target": "bin/AP_Periph",
"default_params_filename": "default_params/periph.parm",
},

8
Tools/autotest/sim_vehicle.py
View File

@ -672,8 +672,8 @@ def start_antenna_tracker(opts):
def start_CAN_Periph(opts, frame_info):
"""Compile and run the sitl_periph"""
progress("Preparing sitl_periph_gps")
options = vinfo.options["sitl_periph_gps"]['frames']['gps']
progress("Preparing sitl_periph_universal")
options = vinfo.options["sitl_periph_universal"]['frames']['universal']
defaults_path = frame_info.get('periph_params_filename', None)
if defaults_path is None:
defaults_path = options.get('default_params_filename', None)
@ -686,9 +686,9 @@ def start_CAN_Periph(opts, frame_info):
if not cmd_opts.no_rebuild:
do_build(opts, options)
exe = os.path.join(root_dir, 'build/sitl_periph_gps', 'bin/AP_Periph')
exe = os.path.join(root_dir, 'build/sitl_periph_universal', 'bin/AP_Periph')
cmd = ["nice"]
cmd_name = "sitl_periph_gps"
cmd_name = "sitl_periph_universal"
if opts.valgrind:
cmd_name += " (valgrind)"
cmd.append("valgrind")

2
Tools/scripts/build_ci.sh
View File

@ -132,7 +132,7 @@ for t in $CI_BUILD_TARGET; do
echo "Building SITL Periph GPS"
$waf configure --board sitl
$waf copter
run_autotest "Copter" "build.SITLPeriphGPS" "test.CAN"
run_autotest "Copter" "build.SITLPeriphUniversal" "test.CAN"
continue
fi
if [ "$t" == "sitltest-plane" ]; then

4
Tools/scripts/run_coverage.py
View File

@ -238,8 +238,8 @@ class CoverageRunner(object):
root_dir + "/build/linux/modules/*",
root_dir + "/build/sitl/libraries/*",
root_dir + "/build/sitl/modules/*",
root_dir + "/build/sitl_periph_gps/libraries/*",
root_dir + "/build/sitl_periph_gps/modules/*",
root_dir + "/build/sitl_periph_universal/libraries/*",
root_dir + "/build/sitl_periph_universal/modules/*",
root_dir + "/libraries/*/examples/*",
root_dir + "/libraries/*/tests/*",
"-o", self.INFO_FILE