From 0b7a913b3053b26444230dac81431adf409ff5af Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Thu, 30 Sep 2021 14:43:08 +0530
Subject: [PATCH] waf: regenerate canard dsdl sources after clean

---
 wscript | 49 +++++++++++++++++++++++++++++++++----------------
 1 file changed, 33 insertions(+), 16 deletions(-)

diff --git a/wscript b/wscript
index 4441e23b31..e6b7e5e2cc 100644
--- a/wscript
+++ b/wscript
@@ -453,22 +453,7 @@ def configure(cfg):
     ])
 
     if cfg.env.AP_PERIPH:
-        src = cfg.srcnode.ant_glob('modules/pyuavcan/uavcan/dsdl_files/* libraries/AP_UAVCAN/dsdl/*', dir=True, src=False)
-        src = ' '.join([s.abspath() for s in src])
-        cmd = '{} {} -O {} {}'.format(cfg.env.get_flat('PYTHON'),
-                            cfg.srcnode.make_node('Tools/canard_dsdlc/canard_dsdlc.py').abspath(),
-                            cfg.bldnode.make_node(cfg.variant + '/modules/libcanard/dsdlc_generated').abspath(),
-                            src)
-        cfg.start_msg('Generating DSDL C bindings')
-        ret = subprocess.run(cmd, shell=True, capture_output=True)
-        if ret.returncode != 0:
-            cfg.end_msg('failed', color='RED')
-            print('Failed to run: ', cmd)
-            print(ret.stdout.decode('utf-8'))
-            print(ret.stderr.decode('utf-8'))
-            raise RuntimeError('Failed to generate DSDL C bindings')
-        else:
-            cfg.end_msg('OK')
+        generate_canard_dsdlc(cfg)
 
     # Always use system extensions
     cfg.define('_GNU_SOURCE', 1)
@@ -480,6 +465,32 @@ def configure(cfg):
 
     _collect_autoconfig_files(cfg)
 
+def generate_canard_dsdlc(cfg, in_configure=True):
+    if in_configure:
+        dsdlc_gen_path = cfg.bldnode.make_node(os.path.join(cfg.variant, 'modules/libcanard/dsdlc_generated')).abspath()
+    else:
+        dsdlc_gen_path = cfg.bldnode.make_node('modules/libcanard/dsdlc_generated').abspath()
+    src = cfg.srcnode.ant_glob('modules/pyuavcan/uavcan/dsdl_files/* libraries/AP_UAVCAN/dsdl/*', dir=True, src=False)
+    src = ' '.join([s.abspath() for s in src])
+    cmd = '{} {} -O {} {}'.format(cfg.env.get_flat('PYTHON'),
+                        cfg.srcnode.make_node('Tools/canard_dsdlc/canard_dsdlc.py').abspath(),
+                        dsdlc_gen_path,
+                        src)
+    if in_configure:
+        cfg.start_msg('Generating DSDL C bindings')
+    else:
+        print("Generating DSDLC for CANARD: " + cmd)
+    ret = subprocess.run(cmd, shell=True, capture_output=True)
+    if ret.returncode != 0:
+        if in_configure:
+            cfg.end_msg('failed', color='RED')
+        print('Failed to run: ', cmd)
+        print(ret.stdout.decode('utf-8'))
+        print(ret.stderr.decode('utf-8'))
+        raise RuntimeError('Failed to generate DSDL C bindings')
+    elif in_configure:
+        cfg.end_msg('OK')
+
 def collect_dirs_to_recurse(bld, globs, **kw):
     dirs = []
     globs = Utils.to_list(globs)
@@ -684,6 +695,12 @@ def _load_pre_build(bld):
     if bld.cmd == 'clean':
         return
     brd = bld.get_board()
+    if bld.env.AP_PERIPH:
+        dsdlc_gen_path = bld.bldnode.make_node('modules/libcanard/dsdlc_generated/include').abspath()
+        #check if canard dsdlc directory empty
+        # check if directory exists
+        if not os.path.exists(dsdlc_gen_path) or not os.listdir(dsdlc_gen_path):
+            generate_canard_dsdlc(bld, False)
     if getattr(brd, 'pre_build', None):
         brd.pre_build(bld)