autotest: add test for the CircuitStatus lua driver

adds periph_board to the quadplane-can frame so restart_SITL_frame
spawns the AP_Periph companion, driver script install helpers and a
plane test checking that scripting monitors fed from CircuitStatus
match a DroneCAN reference monitor on the same periph battery

Tools/autotest/pysim/vehicleinfo.json

@@ -439,7 +439,8 @@
                 "periph_params_filename": [
                     "default_params/periph.parm",
                     "default_params/quadplane-periph.parm"
-                ]
+                ],
+                "periph_board": "sitl_periph_universal"
             },
             "quadplane-PPP": {
                 "waf_target": "bin/arduplane",

Tools/autotest/quadplane.py

@@ -3522,6 +3522,59 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
 
         self.do_RTL()
 
+    def CircuitStatusScript(self):
+        '''test CircuitStatus lua driver against a CAN periph'''
+        self.context_collect('STATUSTEXT')
+
+        self.install_driver_script_context("CircuitStatus.lua")
+
+        # CAN_P1_DRIVER=1 is needed so plane publishes the SITL multicast
+        # sim state the periph blocks on at boot. BATT_MONITOR=8
+        # (DroneCAN) gives a reference monitor fed by BatteryInfo from
+        # the same periph battery the CircuitStatus messages come from.
+        self.set_parameters({
+            "SCR_ENABLE": 1,
+            "CAN_P1_DRIVER": 1,
+            "BATT_MONITOR": 8,  # DroneCAN
+            "BATT2_MONITOR": 29,  # scripting
+            "BATT3_MONITOR": 29,  # scripting
+        })
+        self.restart_SITL_frame('quadplane-can', customisations=[])
+
+        # first boot of the script creates DCS_NUM_CIRCUITS; setting it
+        # and rebooting creates the per-circuit parameters
+        self.set_parameters({
+            "DCS_NUM_CIRCUITS": 2,
+        })
+        self.reboot_sitl()
+        self.wait_statustext("CircuitStatus: loaded 2 circuits", check_context=True, timeout=60)
+
+        # per-circuit parameters are polled at runtime, so no further
+        # reboot is needed. The SITL periph sends a circuit per battery
+        # backend with circuit_id of instance+1; map its first battery
+        # to both scripting monitors
+        self.set_parameters({
+            "DCS1_CIRCUIT_ID": 1,
+            "DCS1_BATT_IDX": 2,
+            "DCS2_CIRCUIT_ID": 1,
+            "DCS2_BATT_IDX": 3,
+        })
+
+        # the scripting monitors should match the DroneCAN reference
+        # monitor, with tolerance for float16 quantisation and sampling
+        # time differences. SYS_STATUS gives the pack voltage of the
+        # reference monitor; BATTERY_STATUS voltages[] of the DroneCAN
+        # monitor holds per-cell voltages so is not comparable
+        self.set_message_rate_hz('BATTERY_STATUS', 10)
+        ref = self.assert_receive_message('SYS_STATUS', timeout=10)
+        for instance in 1, 2:
+            self.wait_message_field_values('BATTERY_STATUS', {
+                "voltages[0]": ref.voltage_battery,
+            }, instance=instance, epsilon=100, timeout=60)
+            self.wait_message_field_values('BATTERY_STATUS', {
+                "current_battery": ref.current_battery,
+            }, instance=instance, epsilon=25, timeout=60)
+
     def tests(self):
         '''return list of all tests'''
 
@@ -3608,5 +3661,6 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
             self.HighServoFunctionDefault,
             self.WPSpdChange,
             self.TECSThrSpikeOnModeChange,
+            self.CircuitStatusScript,
         ])
         return ret

Tools/autotest/vehicle_test_suite.py

@@ -5392,6 +5392,13 @@ class TestSuite(abc.ABC):
         self.install_applet_script(scriptname, **kwargs)
         self.context_get().installed_scripts.append(scriptname)
 
+    def install_driver_script_context(self, scriptname, install_name=None):
+        '''installs a driver script which will be removed when the context goes
+        away'''
+        self.install_driver_script(scriptname, install_name=install_name)
+        installed_name = install_name if install_name is not None else scriptname
+        self.context_get().installed_scripts.append(installed_name)
+
     def rootdir(self):
         this_dir = os.path.dirname(__file__)
         return os.path.realpath(os.path.join(this_dir, "../.."))
@@ -9678,6 +9685,9 @@ Also, ignores heartbeats not from our target system'''
     def script_applet_source_path(self, scriptname):
         return os.path.join(self.rootdir(), "libraries", "AP_Scripting", "applets", scriptname)
 
+    def script_driver_source_path(self, scriptname):
+        return os.path.join(self.rootdir(), "libraries", "AP_Scripting", "drivers", scriptname)
+
     def script_modules_source_path(self, scriptname):
         return os.path.join(self.rootdir(), "libraries", "AP_Scripting", "modules", scriptname)
 
@@ -9743,6 +9753,10 @@ Also, ignores heartbeats not from our target system'''
         source = self.script_applet_source_path(scriptname)
         self.install_script(source, scriptname, install_name=install_name)
 
+    def install_driver_script(self, scriptname, install_name=None):
+        source = self.script_driver_source_path(scriptname)
+        self.install_script(source, scriptname, install_name=install_name)
+
     def remove_installed_script(self, scriptname):
         dest = self.installed_script_path(os.path.basename(scriptname))
         try: