AP_HAL_SITL: add support for starting node in maintenance mode

libraries/AP_HAL_SITL/HAL_SITL_Class.cpp

@@ -193,6 +193,13 @@ uint8_t HAL_SITL::get_instance() const
     return _sitl_state->get_instance();
 }
 
+#if defined(HAL_BUILD_AP_PERIPH)
+bool HAL_SITL::run_in_maintenance_mode() const
+{
+    return _sitl_state->run_in_maintenance_mode();
+}
+#endif
+
 void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
 {
     assert(callbacks);

libraries/AP_HAL_SITL/HAL_SITL_Class.h

@@ -37,6 +37,10 @@ public:
 
     uint8_t get_instance() const;
 
+#if defined(HAL_BUILD_AP_PERIPH)
+    bool run_in_maintenance_mode() const;
+#endif
+
 private:
     HALSITL::SITL_State *_sitl_state;
 

libraries/AP_HAL_SITL/SITL_Periph_State.cpp

@@ -29,12 +29,13 @@ void SITL_State::init(int argc, char * const argv[]) {
     const struct GetOptLong::option options[] = {
         {"help",            false,  0, 'h'},
         {"instance",        true,   0, 'I'},
+        {"maintenance",     false,  0, 'M'},
     };
 
     setvbuf(stdout, (char *)0, _IONBF, 0);
     setvbuf(stderr, (char *)0, _IONBF, 0);
 
-    GetOptLong gopt(argc, argv, "hI:",
+    GetOptLong gopt(argc, argv, "hI:M",
                     options);
 
     while((opt = gopt.getoption()) != -1) {
@@ -42,10 +43,15 @@ void SITL_State::init(int argc, char * const argv[]) {
             case 'I':
                 _instance = atoi(gopt.optarg);
                 break;
+            case 'M':
+                printf("Running in Maintenance Mode\n");
+                _maintenance = true;
+                break;
             default:
                 printf("Options:\n"
                     "\t--help|-h                display this help information\n"
-                    "\t--instance|-I N          set instance of SITL Periph\n");
+                    "\t--instance|-I N          set instance of SITL Periph\n"
+                    "\t--maintenance|-M         run in maintenance mode\n");
                 exit(1);
         }
     }

libraries/AP_HAL_SITL/SITL_Periph_State.h

@@ -61,6 +61,8 @@ public:
 
     uint8_t get_instance() const { return _instance; }
 
+    bool run_in_maintenance_mode() const { return _maintenance; }
+
     SITL::SerialDevice *create_serial_sim(const char *name, const char *arg) {
         return nullptr;
     }
@@ -74,6 +76,7 @@ private:
     const char *defaults_path = HAL_PARAM_DEFAULTS_PATH;
 
     uint8_t _instance;
+    bool _maintenance;
 };
 
 #endif