ardupilot/libraries/AP_DDS/wscript

#!/usr/bin/env python3


import os


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/serial/serial_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',
        gen_path,
    ]
    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("building %s" % 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',
        )

    # temporary whitelist while include issue is sorted out
    whitelist = [
        'BatteryState.idl',
        'Duration.idl',
        'Header.idl',
        'NavSatFix.idl',
        'NavSatStatus.idl',
        'Point.idl',
        'Pose.idl',
        'PoseStamped.idl',
        'Quaternion.idl',
        'Time.idl',
        'Twist.idl',
        'TwistStamped.idl',
        'Vector3.idl',
    ]

    idl_files = bld.srcnode.ant_glob('libraries/AP_DDS/Idl/**/*.idl')
    for idl in idl_files:
        b = os.path.basename(idl.abspath())
        if not b in whitelist:
            continue
        gen_h = b.replace('.idl', '.h')
        gen_c = b.replace('.idl', '.c')
        gen = [
            bld.bldnode.find_or_declare(os.path.join(gen_path, "generated", gen_h)),
            bld.bldnode.find_or_declare(os.path.join(gen_path, "generated", gen_c)),
        ]
        bld(
            # build IDL file
            source=idl,
            target=gen,
            rule=f"{bld.env.MICROXRCEDDSGEN[0]} -cs -replace -d {os.path.join(gen_path, 'generated')} {idl}",
            group='dynamic_sources',
        )
        bld.env.AP_LIB_EXTRA_SOURCES['AP_DDS'] += [os.path.join('generated', gen_c)]