waf: boards: use classes for boards definition

In order to provide board-specific behavior. For example, the incoming PX4
build will require custom build behavior.

Tools/ardupilotwaf/boards.py

@@ -5,34 +5,38 @@ import sys
 
 import waflib
 
-BOARDS = {}
+_board_classes = {}
 
-PROJECT_ENV = waflib.ConfigSet.ConfigSet()
+class BoardMeta(type):
+    def __init__(cls, name, bases, dct):
+        super(BoardMeta, cls).__init__(name, bases, dct)
+        if name == 'Board':
+            return
+        _board_classes[name] = cls
 
-def define_board(func, name, parent_name=None):
+class Board:
-    if parent_name is None:
+    def configure(self, cfg):
-        parent = PROJECT_ENV
+        env = waflib.ConfigSet.ConfigSet()
-    elif parent_name not in BOARDS:
+        self.configure_env(env)
-        print("Undefined parent board '%s' for '%s'" % (parent_name, name))
+
-        sys.exit(1)
+        d = env.get_merged_dict()
+        # Always prepend so that arguments passed in the command line get
+        # the priority.
+        for k, val in d.items():
+            # Dictionaries (like 'DEFINES') are converted to lists to
+            # conform to waf conventions.
+            if isinstance(val, dict):
+                for item in val.items():
+                    cfg.env.prepend_value(k, '%s=%s' % item)
             else:
-        parent = BOARDS[parent_name]
+                cfg.env.prepend_value(k, val)
-
-    env = parent.derive().detach()
-    if name in BOARDS:
-        print("Multiple definitions of " + name)
-        sys.exit(1)
-    BOARDS[name] = env
-    func(env)
-
-def get_boards_names():
-    return sorted(list(BOARDS.keys()))
 
+    def configure_env(self, env):
         # Use a dictionary instead of the convetional list for definitions to
         # make easy to override them. Convert back to list before consumption.
-PROJECT_ENV.DEFINES = {}
+        env.DEFINES = {}
 
-PROJECT_ENV.CFLAGS += [
+        env.CFLAGS += [
             '-ffunction-sections',
             '-fdata-sections',
             '-fsigned-char',
@@ -48,7 +52,7 @@ PROJECT_ENV.CFLAGS += [
             '-Wno-redundant-decls',
         ]
 
-PROJECT_ENV.CXXFLAGS += [
+        env.CXXFLAGS += [
             '-std=gnu++11',
 
             '-fdata-sections',
@@ -74,24 +78,33 @@ PROJECT_ENV.CXXFLAGS += [
             '-Wfatal-errors',
         ]
 
-PROJECT_ENV.LINKFLAGS += [
+        env.LINKFLAGS += [
             '-Wl,--gc-sections',
         ]
 
+Board = BoardMeta('Board', Board.__bases__, dict(Board.__dict__))
+
+def get_boards_names():
+    return sorted(list(_board_classes.keys()))
+
+def get_board(name):
+    return _board_classes[name]()
+
 # NOTE: Keeping all the board definitions together so we can easily
 # identify opportunities to simplify common flags. In the future might
 # be worthy to keep board definitions in files of their own.
 
-def sitl(env):
+class sitl(Board):
+    def configure_env(self, env):
+        super(sitl, self).configure_env(env)
+
         env.DEFINES.update(
             CONFIG_HAL_BOARD = 'HAL_BOARD_SITL',
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_NONE',
         )
-
         env.CXXFLAGS += [
             '-O3',
         ]
-
         env.LIB += [
             'm',
         ]
@@ -101,19 +114,17 @@ def sitl(env):
             'SITL',
         ]
 
-define_board(sitl, 'sitl')
+class linux(Board):
+    def configure_env(self, env):
+        super(linux, self).configure_env(env)
 
-
-def linux(env):
         env.DEFINES.update(
             CONFIG_HAL_BOARD = 'HAL_BOARD_LINUX',
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_NONE',
         )
-
         env.CXXFLAGS += [
             '-O3',
         ]
-
         env.LIB += [
             'm',
             'rt',
@@ -123,114 +134,102 @@ def linux(env):
             'AP_HAL_Linux',
         ]
 
-define_board(linux, 'linux')
+class minlure(linux):
+    def configure_env(self, env):
+        super(minlure, self).configure_env(env)
 
-
-def minlure(env):
         env.DEFINES.update(
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_MINLURE',
         )
 
-define_board(minlure, 'minlure', 'linux')
 
+class erleboard(linux):
+    def configure_env(self, env):
+        super(erleboard, self).configure_env(env)
 
-def erleboard(env):
         env.TOOLCHAIN = 'arm-linux-gnueabihf'
-
         env.DEFINES.update(
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD',
         )
 
-define_board(erleboard, 'erleboard', 'linux')
+class navio(linux):
+    def configure_env(self, env):
+        super(navio, self).configure_env(env)
 
-
-def navio(env):
         env.TOOLCHAIN = 'arm-linux-gnueabihf'
-
         env.DEFINES.update(
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_NAVIO',
         )
 
-define_board(navio, 'navio', 'linux')
+class zynq(linux):
+    def configure_env(self, env):
+        super(zynq, self).configure_env(env)
 
-
-def zynq(env):
         env.TOOLCHAIN = 'arm-xilinx-linux-gnueabi'
-
         env.DEFINES.update(
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_ZYNQ',
         )
 
-define_board(zynq, 'zynq', 'linux')
+class bbbmini(linux):
+    def configure_env(self, env):
+        super(bbbmini, self).configure_env(env)
 
-
-def bbbmini(env):
         env.TOOLCHAIN = 'arm-linux-gnueabihf'
-
         env.DEFINES.update(
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BBBMINI',
         )
 
-define_board(bbbmini, 'bbbmini', 'linux')
+class pxf(linux):
+    def configure_env(self, env):
+        super(pxf, self).configure_env(env)
 
-
-def pxf(env):
         env.TOOLCHAIN = 'arm-linux-gnueabihf'
-
         env.DEFINES.update(
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_PXF',
         )
 
-define_board(pxf, 'pxf', 'linux')
+class bebop(linux):
+    def configure_env(self, env):
+        super(bebop, self).configure_env(env)
 
-
-def bebop(env):
         env.TOOLCHAIN = 'arm-linux-gnueabihf'
-
         env.DEFINES.update(
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BEBOP',
         )
-
         env.STATIC_LINKING = [True]
 
-define_board(bebop, 'bebop', 'linux')
+class raspilot(linux):
+    def configure_env(self, env):
+        super(raspilot, self).configure_env(env)
 
-
-def raspilot(env):
         env.TOOLCHAIN = 'arm-linux-gnueabihf'
-
         env.DEFINES.update(
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_RASPILOT',
         )
 
-define_board(raspilot, 'raspilot', 'linux')
+class erlebrain2(linux):
+    def configure_env(self, env):
+        super(erlebrain2, self).configure_env(env)
 
-
-def erlebrain2(env):
         env.TOOLCHAIN = 'arm-linux-gnueabihf'
-
         env.DEFINES.update(
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2',
         )
 
-define_board(erlebrain2, 'erlebrain2', 'linux')
+class bhat(linux):
+    def configure_env(self, env):
+        super(bhat, self).configure_env(env)
 
-
-def bhat(env):
         env.TOOLCHAIN = 'arm-linux-gnueabihf'
-
         env.DEFINES.update(
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BH',
         )
 
-define_board(bhat, 'bhat', 'linux')
+class pxfmini(linux):
+    def configure_env(self, env):
+        super(pxfmini, self).configure_env(env)
 
-
-def pxfmini(env):
         env.TOOLCHAIN = 'arm-linux-gnueabihf'
-
         env.DEFINES.update(
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_PXFMINI',
         )
-
-define_board(pxfmini, 'pxfmini', 'linux')

wscript

@@ -61,19 +61,7 @@ def configure(cfg):
 
     cfg.msg('Setting board to', cfg.options.board)
     cfg.env.BOARD = cfg.options.board
-    board_dict = boards.BOARDS[cfg.env.BOARD].get_merged_dict()
+    boards.get_board(cfg.env.BOARD).configure(cfg)
-
-    # Always prepend so that arguments passed in the command line get
-    # the priority.
-    for k in board_dict:
-        val = board_dict[k]
-        # Dictionaries (like 'DEFINES') are converted to lists to
-        # conform to waf conventions.
-        if isinstance(val, dict):
-            for item in val.items():
-                cfg.env.prepend_value(k, '%s=%s' % item)
-        else:
-            cfg.env.prepend_value(k, val)
 
     cfg.load('toolchain')
     cfg.load('compiler_cxx compiler_c')