mirror of https://github.com/ArduPilot/ardupilot
132 lines
3.1 KiB
Python
132 lines
3.1 KiB
Python
|
#!/usr/bin/env python
|
||
|
|
# encoding: utf-8
|
||
|
|
|
||
|
|
SOURCE_EXTS = [
|
||
|
|
'*.S',
|
||
|
|
'*.c',
|
||
|
|
'*.cpp',
|
||
|
|
]
|
||
|
|
|
||
|
|
UTILITY_SOURCE_EXTS = [ 'utility/' + glob for glob in SOURCE_EXTS ]
|
||
|
|
|
||
|
|
# TODO: Once HAL patches get in, need to filter out the HAL based
|
||
|
|
# on the bld.env.BOARD.
|
||
|
|
COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
|
||
|
|
'AP_ADC',
|
||
|
|
'AP_ADC_AnalogSource',
|
||
|
|
'AP_AHRS',
|
||
|
|
'AP_Airspeed',
|
||
|
|
'AP_Baro',
|
||
|
|
'AP_BattMonitor',
|
||
|
|
'AP_BoardConfig',
|
||
|
|
'AP_Buffer',
|
||
|
|
'AP_Common',
|
||
|
|
'AP_Compass',
|
||
|
|
'AP_Declination',
|
||
|
|
'AP_GPS',
|
||
|
|
'AP_HAL',
|
||
|
|
'AP_HAL_Empty',
|
||
|
|
'AP_InertialSensor',
|
||
|
|
'AP_Math',
|
||
|
|
'AP_Mission',
|
||
|
|
'AP_NavEKF',
|
||
|
|
'AP_NavEKF2',
|
||
|
|
'AP_Notify',
|
||
|
|
'AP_OpticalFlow',
|
||
|
|
'AP_Param',
|
||
|
|
'AP_Progmem',
|
||
|
|
'AP_Rally',
|
||
|
|
'AP_RangeFinder',
|
||
|
|
'AP_Scheduler',
|
||
|
|
'AP_SerialManager',
|
||
|
|
'AP_Terrain',
|
||
|
|
'AP_Vehicle',
|
||
|
|
'DataFlash',
|
||
|
|
'Filter',
|
||
|
|
'GCS_MAVLink',
|
||
|
|
'RC_Channel',
|
||
|
|
'SITL',
|
||
|
|
'StorageManager',
|
||
|
|
]
|
||
|
|
|
||
|
|
def _get_legacy_defines(name):
|
||
|
|
return [
|
||
|
|
'APM_BUILD_DIRECTORY=' + name,
|
||
|
|
'SKETCH="' + name + '"',
|
||
|
|
'SKETCHNAME="' + name + '"',
|
||
|
|
]
|
||
|
|
|
||
|
|
IGNORED_AP_LIBRARIES = [
|
||
|
|
'doc',
|
||
|
|
'AP_Limits',
|
||
|
|
'GCS_Console',
|
||
|
|
]
|
||
|
|
|
||
|
|
def get_all_libraries(bld):
|
||
|
|
libraries = []
|
||
|
|
for lib_node in bld.srcnode.ant_glob('libraries/*', dir=True):
|
||
|
|
name = lib_node.name
|
||
|
|
if name in IGNORED_AP_LIBRARIES:
|
||
|
|
continue
|
||
|
|
if name.startswith('AP_HAL'):
|
||
|
|
continue
|
||
|
|
libraries.append(name)
|
||
|
|
libraries.extend(['AP_HAL', 'AP_HAL_Empty'])
|
||
|
|
return libraries
|
||
|
|
|
||
|
|
def program(bld, **kw):
|
||
|
|
if 'target' in kw:
|
||
|
|
bld.fatal('Do not pass target for program')
|
||
|
|
if 'defines' not in kw:
|
||
|
|
kw['defines'] = []
|
||
|
|
if 'source' not in kw:
|
||
|
|
kw['source'] = bld.path.ant_glob(SOURCE_EXTS)
|
||
|
|
|
||
|
|
name = bld.path.name
|
||
|
|
kw['defines'].extend(_get_legacy_defines(name))
|
||
|
|
|
||
|
|
target = bld.bldnode.make_node(name + '.' + bld.env.BOARD)
|
||
|
|
bld.program(
|
||
|
|
target=target,
|
||
|
|
**kw
|
||
|
|
)
|
||
|
|
|
||
|
|
# NOTE: Code in libraries/ is compiled multiple times. So ensure each
|
||
|
|
# compilation is independent by providing different index for each.
|
||
|
|
# The need for this should disappear when libraries change to be
|
||
|
|
# independent of vehicle type.
|
||
|
|
LAST_IDX = 0
|
||
|
|
|
||
|
|
def _get_next_idx():
|
||
|
|
global LAST_IDX
|
||
|
|
LAST_IDX += 1
|
||
|
|
return LAST_IDX
|
||
|
|
|
||
|
|
def vehicle_stlib(bld, **kw):
|
||
|
|
if 'name' not in kw:
|
||
|
|
bld.fatal('Missing name for vehicle_stlib')
|
||
|
|
if 'vehicle' not in kw:
|
||
|
|
bld.fatal('Missing vehicle for vehicle_stlib')
|
||
|
|
if 'libraries' not in kw:
|
||
|
|
bld.fatal('Missing libraries for vehicle_stlib')
|
||
|
|
|
||
|
|
sources = []
|
||
|
|
libraries = kw['libraries'] + bld.env.AP_LIBRARIES
|
||
|
|
|
||
|
|
for lib_name in libraries:
|
||
|
|
lib_node = bld.srcnode.find_dir('libraries/' + lib_name)
|
||
|
|
if lib_node is None:
|
||
|
|
bld.fatal('Could not find library ' + lib_name)
|
||
|
|
lib_sources = lib_node.ant_glob(SOURCE_EXTS + UTILITY_SOURCE_EXTS)
|
||
|
|
sources.extend(lib_sources)
|
||
|
|
|
||
|
|
name = kw['name']
|
||
|
|
vehicle = kw['vehicle']
|
||
|
|
|
||
|
|
bld.stlib(
|
||
|
|
source=sources,
|
||
|
|
target=name,
|
||
|
|
defines=_get_legacy_defines(vehicle),
|
||
|
|
idx=_get_next_idx(),
|
||
|
|
)
|