From b2a78416720fcf4848915b2fefd3be31595ab664 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 11 Jun 2021 12:30:39 +1000
Subject: [PATCH] Tools: allow for selection of Storage backend type at runtime

---
 Tools/ardupilotwaf/boards.py  |  3 ---
 Tools/autotest/rover.py       | 25 +++++++++++++++++++++++++
 Tools/autotest/sim_vehicle.py |  6 +++---
 Tools/completion/zsh/_waf     |  2 +-
 4 files changed, 29 insertions(+), 7 deletions(-)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 099b6f18cf..fe48b1897b 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -592,9 +592,6 @@ class sitl(Board):
                 cfg.fatal("Failed to find SFML Audio libraries")
             env.CXXFLAGS += ['-DWITH_SITL_TONEALARM']
 
-        if cfg.options.sitl_flash_storage:
-            env.CXXFLAGS += ['-DSTORAGE_USE_FLASH=1']
-
         if cfg.env.DEST_OS == 'cygwin':
             env.LIB += [
                 'winmm',
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 97c651b7ea..5855cea759 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -5677,6 +5677,27 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
                      target_compid=target_compid,
                      want_result=mavutil.mavlink.MAV_RESULT_FAILED)
 
+    def FlashStorage(self):
+        self.set_parameter("LOG_BITMASK", 1)
+        self.reboot_sitl()
+
+        self.customise_SITL_commandline([
+            "--set-storage-posix-enabled", "0",
+            "--set-storage-flash-enabled", "1",
+        ])
+        if self.get_parameter("LOG_BITMASK") == 1:
+            raise NotAchievedException("not using flash storage?")
+        self.set_parameter("LOG_BITMASK", 2)
+        self.reboot_sitl()
+        self.assert_parameter_value("LOG_BITMASK", 2)
+        self.set_parameter("LOG_BITMASK", 3)
+        self.reboot_sitl()
+        self.assert_parameter_value("LOG_BITMASK", 3)
+
+        self.customise_SITL_commandline([])
+        # make sure we're back at our original value:
+        self.assert_parameter_value("LOG_BITMASK", 1)
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()
@@ -5899,6 +5920,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
              "Test end mission behavior",
              self.test_end_mission_behavior),
 
+            ("FlashStorage",
+             "Test flash storage (for parameters etc)",
+             self.FlashStorage),
+
             ("LogUpload",
              "Upload logs",
              self.log_upload),
diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py
index 0c626da28d..6352ac3586 100755
--- a/Tools/autotest/sim_vehicle.py
+++ b/Tools/autotest/sim_vehicle.py
@@ -320,9 +320,6 @@ def do_build(opts, frame_options):
     if opts.tonealarm:
         cmd_configure.append("--enable-sfml-audio")
 
-    if opts.flash_storage:
-        cmd_configure.append("--sitl-flash-storage")
-
     if opts.math_check_indexes:
         cmd_configure.append("--enable-math-check-indexes")
 
@@ -671,6 +668,9 @@ def start_vehicle(binary, opts, stuff, spawns=None):
                 sys.exit(1)
         path = ",".join(paths)
         progress("Using defaults from (%s)" % (path,))
+    if opts.flash_storage:
+        cmd.append("--set-storage-flash-enabled 1")
+        cmd.append("--set-storage-posix-enabled 0")
     if opts.add_param_file:
         for file in opts.add_param_file:
             if not os.path.isfile(file):
diff --git a/Tools/completion/zsh/_waf b/Tools/completion/zsh/_waf
index e5556955d3..e2d0ce6d63 100644
--- a/Tools/completion/zsh/_waf
+++ b/Tools/completion/zsh/_waf
@@ -33,7 +33,7 @@ _waf() {
           '--sitl-osd[Enable SITL OSD]' \
           '--sitl-rgbled[Enable SITL RGBLed]' \
           '--build-dates[Include build date in binaries]' \
-          '--sitl-flash-storage[Building SITL with flash storage emulation.]' \
+          '--sitl-flash-storage[Use flash storage emulation.]' \
           '--upload[Upload applicable targets to a connected device]' \
           '--board[Board name]:board:_waf_boards' \
           '--target=[Target name]:target:_waf_targets' \