ardupilot/libraries/AP_DDS/wscript

#!/usr/bin/env python3


import pathlib


def configure(cfg):
    extra_src = [
        'modules/Micro-XRCE-DDS-Client/src/c/core/session/stream/*.c',
        'modules/Micro-XRCE-DDS-Client/src/c/core/session/*.c',
        'modules/Micro-XRCE-DDS-Client/src/c/core/serialization/*.c',
        'modules/Micro-XRCE-DDS-Client/src/c/util/*.c',
        'modules/Micro-XRCE-DDS-Client/src/c/profile/transport/custom/custom_transport.c',
        'modules/Micro-XRCE-DDS-Client/src/c/profile/transport/stream_framing/stream_framing_protocol.c',
        'modules/Micro-CDR/src/c/types/*.c',
        'modules/Micro-CDR/src/c/common.c',
    ]

    cfg.env.AP_LIB_EXTRA_SOURCES['AP_DDS'] = []
    for pattern in extra_src:
        s = cfg.srcnode.ant_glob(pattern, dir=False, src=True)
        for x in s:
            cfg.env.AP_LIB_EXTRA_SOURCES['AP_DDS'].append(str(x))

    extra_src_inc = [
        'modules/Micro-XRCE-DDS-Client/include',
        'modules/Micro-XRCE-DDS-Client/include/uxr/client',
        'modules/Micro-CDR/src/c',
        'modules/Micro-CDR/include',
        'modules/Micro-CDR/include/ucdr',
    ]
    for inc in extra_src_inc:
        cfg.env.INCLUDES += [str(cfg.srcnode.make_node(inc))]

    # auto update submodules
    cfg.env.append_value('GIT_SUBMODULES', 'Micro-XRCE-DDS-Client')
    cfg.env.append_value('GIT_SUBMODULES', 'Micro-CDR')


def build(bld):
    config_h_in = [
        'modules/Micro-XRCE-DDS-Client/include/uxr/client/config.h.in',
        'modules/Micro-CDR/include/ucdr/config.h.in',
    ]
    config_h_in_nodes = [bld.srcnode.make_node(h) for h in config_h_in]
    config_h_nodes = [bld.bldnode.find_or_declare(h[:-3]) for h in config_h_in]

    gen_path = "libraries/AP_DDS"
    extra_bld_inc = [
        'modules/Micro-CDR/include',
        'modules/Micro-XRCE-DDS-Client/include',
        str(pathlib.PurePath(gen_path, "generated")),
    ]
    for inc in extra_bld_inc:
        bld.env.INCLUDES += [bld.bldnode.find_or_declare(inc).abspath()]

    for i in range(len(config_h_nodes)):
        print(f"building {config_h_nodes[i].abspath()}")
        bld(
            # build config.h file
            source=config_h_in_nodes[i],
            target=config_h_nodes[i],
            rule="%s %s/%s %s %s"
            % (
                bld.env.get_flat('PYTHON'),
                bld.env.SRCROOT,
                "libraries/AP_DDS/gen_config_h.py",
                config_h_in_nodes[i].abspath(),
                config_h_nodes[i].abspath(),
            ),
            group='dynamic_sources',
        )

    # TODO instead of keeping standard IDL files in the source tree, copy them with "ros2 pkg prefix --share " tools
    idl_files = bld.srcnode.ant_glob('libraries/AP_DDS/Idl/**/*.idl')
    idl_include_path = bld.srcnode.make_node(str(pathlib.PurePath(gen_path, "Idl"))).abspath()

    for idl in idl_files:
        container_prealloc_size = 8

        idl_path = pathlib.PurePath(idl.abspath())
        b = idl_path.name

        gen_h = idl_path.with_suffix('.h').name
        gen_c = idl_path.with_suffix('.c').name

        idl_folder = idl_path.parts[-3:-1]
        dst_dir = pathlib.PurePath(gen_path, "generated", *idl_folder)
        gen = [bld.bldnode.find_or_declare(str(dst_dir / name)) for name in [gen_h, gen_c]]
        gen_cmd = f"{bld.env.MICROXRCEDDSGEN[0]} -cs -replace -default-container-prealloc-size {container_prealloc_size} -d {dst_dir} -I {idl_include_path} {idl}"
        bld(
            # build IDL file
            source=idl,
            target=gen,
            rule=gen_cmd,
            group='dynamic_sources',
        )

        bld.env.AP_LIB_EXTRA_SOURCES['AP_DDS'] += [str(gen[1])]