ardupilot/Tools/ardupilotwaf/px4.py

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#!/usr/bin/env python
# encoding: utf-8
"""
Waf tool for PX4 build
"""
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from waflib import Errors, Logs, Task, Utils
from waflib.TaskGen import after_method, before_method, feature
import os
import shutil
import sys
_dynamic_env_data = {}
def _load_dynamic_env_data(bld):
bldnode = bld.bldnode.make_node('modules/PX4Firmware')
for name in ('cxx_flags', 'include_dirs', 'definitions'):
_dynamic_env_data[name] = bldnode.find_node(name).read().split(';')
@feature('px4_ap_library', 'px4_ap_program')
@before_method('process_source')
def px4_dynamic_env(self):
# The generated files from configuration possibly don't exist if it's just
# a list command (TODO: figure out a better way to address that).
if self.bld.cmd == 'list':
return
if not _dynamic_env_data:
_load_dynamic_env_data(self.bld)
self.env.append_value('INCLUDES', _dynamic_env_data['include_dirs'])
self.env.prepend_value('CXXFLAGS', _dynamic_env_data['cxx_flags'])
self.env.prepend_value('CXXFLAGS', _dynamic_env_data['definitions'])
# Single static library
# NOTE: This only works only for local static libraries dependencies - fake
# libraries aren't supported yet
@feature('px4_ap_program')
@after_method('apply_link')
@before_method('process_use')
def px4_import_objects_from_use(self):
queue = list(Utils.to_list(getattr(self, 'use', [])))
names = set()
while queue:
name = queue.pop(0)
if name in names:
continue
names.add(name)
try:
tg = self.bld.get_tgen_by_name(name)
except Errors.WafError:
continue
tg.post()
for t in getattr(tg, 'compiled_tasks', []):
self.link_task.set_inputs(t.outputs)
queue.extend(Utils.to_list(getattr(tg, 'use', [])))
class px4_copy(Task.Task):
color = 'CYAN'
def run(self):
shutil.copy2(self.inputs[0].abspath(), self.outputs[0].abspath())
def keyword(self):
return "PX4: Copying %s to" % self.inputs[0].name
def __str__(self):
return self.outputs[0].path_from(self.generator.bld.bldnode)
class px4_add_git_hashes(Task.Task):
run_str = '${PYTHON} ${PX4_ADD_GIT_HASHES} --ardupilot ${PX4_APM_ROOT} --px4 ${PX4_ROOT} --nuttx ${PX4_NUTTX_ROOT} ${SRC} ${TGT}'
color = 'CYAN'
def keyword(self):
return "PX4: Copying firmware and adding git hashes"
def __str__(self):
return self.outputs[0].path_from(self.outputs[0].ctx.launch_node())
def _update_firmware_sig(fw_task, firmware, elf):
original_post_run = fw_task.post_run
def post_run():
original_post_run()
firmware.sig = firmware.cache_sig = Utils.h_file(firmware.abspath())
elf.sig = elf.cache_sig = Utils.h_file(elf.abspath())
fw_task.post_run = post_run
_cp_px4io = None
_firmware_semaphorish_tasks = []
_upload_task = []
@feature('px4_ap_program')
@after_method('process_source')
def px4_firmware(self):
global _cp_px4io, _firmware_semaphorish_tasks, _upload_task
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board_name = self.env.get_flat('PX4_BOARD_NAME')
px4 = self.bld.cmake('px4')
px4.vars['APM_PROGRAM_LIB'] = self.link_task.outputs[0].abspath()
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if self.env.PX4_PX4IO_NAME and not _cp_px4io:
px4io_task = self.create_cmake_build_task('px4', 'fw_io')
px4io = px4io_task.cmake.bldnode.make_node(
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'src/modules/px4iofirmware/%s.bin' % self.env.PX4_PX4IO_NAME,
)
px4io_elf = px4.bldnode.make_node(
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'src/modules/px4iofirmware/%s' % self.env.PX4_PX4IO_NAME
)
px4io_task.set_outputs([px4io, px4io_elf])
romfs = self.bld.bldnode.make_node(self.env.PX4_ROMFS_BLD)
romfs_px4io = romfs.make_node('px4io/px4io.bin')
romfs_px4io.parent.mkdir()
_cp_px4io = self.create_task('px4_copy', px4io, romfs_px4io)
_cp_px4io.keyword = lambda: 'PX4: Copying PX4IO to ROMFS'
px4io_elf_dest = self.bld.bldnode.make_node(self.env.PX4IO_ELF_DEST)
cp_px4io_elf = self.create_task('px4_copy', px4io_elf, px4io_elf_dest)
fw_task = self.create_cmake_build_task(
'px4',
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'build_firmware_%s' % board_name,
)
fw_task.set_run_after(self.link_task)
# we need to synchronize in order to avoid the output expected by the
# previous ap_program being overwritten before used
for t in _firmware_semaphorish_tasks:
fw_task.set_run_after(t)
_firmware_semaphorish_tasks = []
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if self.env.PX4_PX4IO_NAME and _cp_px4io.generator is self:
fw_task.set_run_after(_cp_px4io)
firmware = px4.bldnode.make_node(
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'src/firmware/nuttx/nuttx-%s-apm.px4' % board_name,
)
fw_elf = px4.bldnode.make_node(
'src/firmware/nuttx/firmware_nuttx',
)
_update_firmware_sig(fw_task, firmware, fw_elf)
fw_dest = self.bld.bldnode.make_node(
os.path.join(self.program_dir, '%s.px4' % self.program_name)
)
git_hashes = self.create_task('px4_add_git_hashes', firmware, fw_dest)
git_hashes.set_run_after(fw_task)
_firmware_semaphorish_tasks.append(git_hashes)
fw_elf_dest = self.bld.bldnode.make_node(
os.path.join(self.program_dir, self.program_name)
)
cp_elf = self.create_task('px4_copy', fw_elf, fw_elf_dest)
cp_elf.set_run_after(fw_task)
_firmware_semaphorish_tasks.append(cp_elf)
self.build_summary = dict(
target=self.name,
binary=fw_elf_dest.path_from(self.bld.bldnode),
)
if self.bld.options.upload:
if _upload_task:
Logs.warn('PX4: upload for %s ignored' % self.name)
return
_upload_task = self.create_cmake_build_task('px4', 'upload')
_upload_task.set_run_after(fw_task)
_firmware_semaphorish_tasks.append(_upload_task)
def _px4_taskgen(bld, **kw):
if 'cls_keyword' in kw and not callable(kw['cls_keyword']):
cls_keyword = str(kw['cls_keyword'])
kw['cls_keyword'] = lambda tsk: 'PX4: ' + cls_keyword
if 'cls_str' in kw and not callable(kw['cls_str']):
cls_str = str(kw['cls_str'])
kw['cls_str'] = lambda tsk: cls_str
kw['color'] = 'CYAN'
return bld(**kw)
@feature('_px4_romfs')
def _process_romfs(self):
bld = self.bld
file_list = [
'init.d/rc.APM',
'init.d/rc.error',
(bld.env.PX4_RC_S_SCRIPT, 'init.d/rcS'),
'tones/startup',
(bld.env.PX4_BOOTLOADER, 'bootloader/fmu_bl.bin'),
]
if bld.env.PX4_BOARD_RC:
board_rc = 'init.d/rc.%s' % bld.env.get_flat('PX4_BOARD_NAME')
file_list.append((board_rc, 'init.d/rc.board'))
if bld.env.PX4_PARAM_DEFAULTS:
file_list.append((bld.env.PX4_PARAM_DEFAULTS, 'defaults.parm'))
romfs_src = bld.srcnode.find_dir(bld.env.PX4_ROMFS_SRC)
romfs_bld = bld.bldnode.make_node(bld.env.PX4_ROMFS_BLD)
for item in file_list:
if isinstance(item, str):
src = romfs_src.make_node(item)
dst = romfs_bld.make_node(item)
else:
src = romfs_src.make_node(item[0])
dst = romfs_bld.make_node(item[1])
bname = os.path.basename(str(src))
if bname in bld.env.ROMFS_EXCLUDE:
print("Excluding %s" % bname)
continue
dst.parent.mkdir()
self.create_task('px4_copy', src, dst)
def configure(cfg):
cfg.env.CMAKE_MIN_VERSION = '3.2'
cfg.load('cmake')
bldnode = cfg.bldnode.make_node(cfg.variant)
env = cfg.env
env.AP_PROGRAM_FEATURES += ['px4_ap_program']
kw = env.AP_LIBRARIES_OBJECTS_KW
kw['features'] = Utils.to_list(kw.get('features', [])) + ['px4_ap_library']
def srcpath(path):
return cfg.srcnode.make_node(path).abspath()
def bldpath(path):
return bldnode.make_node(path).abspath()
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board_name = env.get_flat('PX4_BOARD_NAME')
# TODO: we should move stuff from mk/PX4 to Tools/ardupilotwaf/px4 after
# stop using the make-based build system
env.PX4_ROMFS_SRC = 'mk/PX4/ROMFS'
env.PX4_ROMFS_BLD = 'px4-extra-files/ROMFS'
env.PX4_BOOTLOADER = '/../bootloader/%s' % env.PX4_BOOTLOADER_NAME
env.PX4_ADD_GIT_HASHES = srcpath('Tools/scripts/add_git_hashes.py')
env.PX4_APM_ROOT = srcpath('')
env.PX4_ROOT = srcpath('modules/PX4Firmware')
env.PX4_NUTTX_ROOT = srcpath('modules/PX4NuttX')
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if env.PX4_PX4IO_NAME:
env.PX4IO_ELF_DEST = 'px4-extra-files/px4io'
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nuttx_config='nuttx_%s_apm' % board_name
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env.PX4_CMAKE_VARS = dict(
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CONFIG=nuttx_config,
CMAKE_MODULE_PATH=srcpath('Tools/ardupilotwaf/px4/cmake'),
NUTTX_SRC=env.PX4_NUTTX_ROOT,
PX4_NUTTX_ROMFS=bldpath(env.PX4_ROMFS_BLD),
ARDUPILOT_BUILD='YES',
EXTRA_CXX_FLAGS=' '.join((
# NOTE: these "-Wno-error=*" flags should be removed as we update
# the submodule
'-Wno-error=double-promotion',
'-Wno-error=reorder',
# NOTE: *Temporarily* using this definition so that both
# PX4Firmware build systems (cmake and legacy make-based) can live
# together
'-DCMAKE_BUILD',
'-DARDUPILOT_BUILD',
'-I%s' % bldpath('libraries/GCS_MAVLink'),
'-I%s' % bldpath('libraries/GCS_MAVLink/include/mavlink'),
'-Wl,--gc-sections',
)),
EXTRA_C_FLAGS=' '.join((
# NOTE: *Temporarily* using this definition so that both
# PX4Firmware build systems (cmake and legacy make-based) can live
# together
'-DCMAKE_BUILD',
)),
)
def build(bld):
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board_name = bld.env.get_flat('PX4_BOARD_NAME')
px4 = bld.cmake(
name='px4',
cmake_src=bld.srcnode.find_dir('modules/PX4Firmware'),
cmake_vars=bld.env.PX4_CMAKE_VARS,
cmake_flags=['-Wno-deprecated'],
)
px4.build(
'msg_gen',
group='dynamic_sources',
cmake_output_patterns='src/modules/uORB/topics/*.h',
)
px4.build(
'prebuild_targets',
group='dynamic_sources',
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cmake_output_patterns='%s/NuttX/nuttx-export/**/*.h' % board_name,
)
bld(
name='px4_romfs_static_files',
group='dynamic_sources',
features='_px4_romfs',
)
bld.extra_build_summary = _extra_build_summary
def _extra_build_summary(bld, build_summary):
build_summary.text('')
build_summary.text('PX4')
build_summary.text('', '''
The ELF files are pointed by the path in the "%s" column. The .px4 files are in
the same directory of their corresponding ELF files.
''' % build_summary.header_text['target'])
if not bld.options.upload:
build_summary.text('')
build_summary.text('', '''
You can use the option --upload to upload the firmware to the PX4 board if you
have one connected.''')
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if bld.env.PX4_PX4IO_NAME:
build_summary.text('')
build_summary.text('PX4IO')
summary_data_list = bld.size_summary([bld.env.PX4IO_ELF_DEST])
header = bld.env.BUILD_SUMMARY_HEADER[:]
try:
header.remove('target')
except ValueError:
pass
header.insert(0, 'binary_path')
build_summary.print_table(summary_data_list, header)