Allow runtime selection of storage backend

Tools/ardupilotwaf/boards.py

@@ -592,9 +592,6 @@ def configure_env(self, cfg, env):
                 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',

Tools/autotest/rover.py

@@ -5677,6 +5677,27 @@ def MAV_CMD_DO_SET_MISSION_CURRENT(self, target_sysid=None, target_compid=1):
                      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 @@ def tests(self):
              "Test end mission behavior",
              self.test_end_mission_behavior),
 
+            ("FlashStorage",
+             "Test flash storage (for parameters etc)",
+             self.FlashStorage),
+
             ("LogUpload",
              "Upload logs",
              self.log_upload),

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):

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' \

libraries/AP_HAL/board/sitl.h

@@ -10,8 +10,6 @@
 
 #define AP_FLASHSTORAGE_TYPE 3
 
-#if defined(STORAGE_USE_FLASH) && STORAGE_USE_FLASH==1
-
 #if AP_FLASHSTORAGE_TYPE == 1
 // emulate F1/F3 flash
 #define HAL_STORAGE_SIZE 15360
@@ -33,7 +31,6 @@
 #define HAL_FLASH_MIN_WRITE_SIZE 32
 #define HAL_FLASH_ALLOW_UPDATE 0
 #endif
-#endif
 
 #ifndef HAL_STORAGE_SIZE
 #define HAL_STORAGE_SIZE            32768

libraries/AP_HAL_SITL/HAL_SITL_Class.h

@@ -14,11 +14,24 @@ class HAL_SITL : public AP_HAL::HAL {
     void run(int argc, char * const argv[], Callbacks* callbacks) const override;
     static void actually_reboot();
 
+    void set_storage_posix_enabled(bool _enabled) {
+        storage_posix_enabled = _enabled;
+    }
+    bool get_storage_posix_enabled() const { return storage_posix_enabled; }
+    void set_storage_flash_enabled(bool _enabled) {
+        storage_flash_enabled = _enabled;
+    }
+    bool get_storage_flash_enabled() const { return storage_flash_enabled; }
+
 private:
     HALSITL::SITL_State *_sitl_state;
 
     void setup_signal_handlers() const;
     static void exit_signal_handler(int);
+
+    bool storage_posix_enabled;
+    bool storage_flash_enabled;
+
 };
 
 #if HAL_NUM_CAN_IFACES

libraries/AP_HAL_SITL/SITL_cmdline.cpp

@@ -7,6 +7,7 @@
 #include "HAL_SITL_Class.h"
 #include "UARTDriver.h"
 #include <AP_HAL/utility/getopt_cpp.h>
+#include <AP_HAL_SITL/Storage.h>
 #include <AP_Logger/AP_Logger_SITL.h>
 #include <AP_Param/AP_Param.h>
 
@@ -263,6 +264,12 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         CMDLINE_START_TIME,
         CMDLINE_SYSID,
         CMDLINE_SLAVE,
+#if STORAGE_USE_FLASH
+        CMDLINE_SET_STORAGE_FLASH_ENABLED,
+#endif
+#if STORAGE_USE_POSIX
+        CMDLINE_SET_STORAGE_POSIX_ENABLED,
+#endif
     };
 
     const struct GetOptLong::option options[] = {
@@ -311,6 +318,12 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         {"start-time",      true,   0, CMDLINE_START_TIME},
         {"sysid",           true,   0, CMDLINE_SYSID},
         {"slave",           true,   0, CMDLINE_SLAVE},
+#if STORAGE_USE_FLASH
+        {"set-storage-flash-enabled", true,   0, CMDLINE_SET_STORAGE_FLASH_ENABLED},
+#endif
+#if STORAGE_USE_POSIX
+        {"set-storage-posix-enabled", true,   0, CMDLINE_SET_STORAGE_POSIX_ENABLED},
+#endif
         {0, false, 0, 0}
     };
 
@@ -319,6 +332,11 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         HALSITL::UARTDriver::_console = true;
     }
 
+    // storage defaults are set here:
+    bool storage_posix_enabled = true;
+    bool storage_flash_enabled = false;
+    bool erase_all_storage = false;
+
     if (asprintf(&autotest_dir, SKETCHBOOK "/Tools/autotest") <= 0) {
         AP_HAL::panic("out of memory");
     }
@@ -332,12 +350,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
     while (!is_replay && (opt = gopt.getoption()) != -1) {
         switch (opt) {
         case 'w':
-#if HAL_LOGGING_FILESYSTEM_ENABLED
-            AP_Param::erase_all();
-#endif
-#if HAL_LOGGING_SITL_ENABLED
-            unlink(AP_Logger_SITL::filename);
-#endif
+            erase_all_storage = true;
             break;
         case 'u':
             AP_Param::set_hide_disabled_groups(false);
@@ -463,6 +476,16 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
             printf("Setting SYSID_THISMAV=%d\n", sysid);
             break;
         }
+#if STORAGE_USE_POSIX
+        case CMDLINE_SET_STORAGE_POSIX_ENABLED:
+            storage_posix_enabled = atoi(gopt.optarg);
+            break;
+#endif
+#if STORAGE_USE_FLASH
+        case CMDLINE_SET_STORAGE_FLASH_ENABLED:
+            storage_flash_enabled = atoi(gopt.optarg);
+            break;
+#endif
         case 'h':
             _usage();
             exit(0);
@@ -522,11 +545,28 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         exit(1);
     }
 
+    if (storage_posix_enabled && storage_flash_enabled) {
+        // this will change in the future!
+        printf("Only one of flash or posix storage may be selected");
+        exit(1);
+    }
+
     if (AP::sitl()) {
         // Set SITL start time.
         AP::sitl()->start_time_UTC = start_time_UTC;
     }
 
+    ((HAL_SITL&)hal).set_storage_posix_enabled(storage_posix_enabled);
+    ((HAL_SITL&)hal).set_storage_flash_enabled(storage_flash_enabled);
+
+    if (erase_all_storage) {
+        AP_Param::erase_all();
+#if HAL_LOGGING_SITL_ENABLED
+        unlink(AP_Logger_SITL::filename);
+#endif
+        unlink("flash.dat");
+    }
+
     fprintf(stdout, "Starting sketch '%s'\n", SKETCH);
 
     if (strcmp(SKETCH, "ArduCopter") == 0) {