mirror of https://github.com/ArduPilot/ardupilot
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.
This commit is contained in:
Gustavo Jose de Sousa
Lucas De Marchi
parent
49a4bde5d9
commit
393bea8945
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@ -5,34 +5,38 @@ import sys
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import waflib
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BOARDS = {}
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_board_classes = {}
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PROJECT_ENV = waflib.ConfigSet.ConfigSet()
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class BoardMeta(type):
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def __init__(cls, name, bases, dct):
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super(BoardMeta, cls).__init__(name, bases, dct)
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if name == 'Board':
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return
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_board_classes[name] = cls
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def define_board(func, name, parent_name=None):
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if parent_name is None:
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parent = PROJECT_ENV
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elif parent_name not in BOARDS:
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print("Undefined parent board '%s' for '%s'" % (parent_name, name))
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sys.exit(1)
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class Board:
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def configure(self, cfg):
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env = waflib.ConfigSet.ConfigSet()
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self.configure_env(env)
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d = env.get_merged_dict()
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# Always prepend so that arguments passed in the command line get
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# the priority.
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for k, val in d.items():
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# Dictionaries (like 'DEFINES') are converted to lists to
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# conform to waf conventions.
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if isinstance(val, dict):
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for item in val.items():
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cfg.env.prepend_value(k, '%s=%s' % item)
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else:
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parent = BOARDS[parent_name]
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cfg.env.prepend_value(k, val)
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env = parent.derive().detach()
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if name in BOARDS:
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print("Multiple definitions of " + name)
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sys.exit(1)
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BOARDS[name] = env
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func(env)
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def configure_env(self, env):
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# Use a dictionary instead of the convetional list for definitions to
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# make easy to override them. Convert back to list before consumption.
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env.DEFINES = {}
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def get_boards_names():
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return sorted(list(BOARDS.keys()))
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# Use a dictionary instead of the convetional list for definitions to
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# make easy to override them. Convert back to list before consumption.
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PROJECT_ENV.DEFINES = {}
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PROJECT_ENV.CFLAGS += [
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env.CFLAGS += [
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'-ffunction-sections',
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'-fdata-sections',
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'-fsigned-char',
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@ -46,9 +50,9 @@ PROJECT_ENV.CFLAGS += [
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'-Wno-missing-field-initializers',
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'-Wno-unused-parameter',
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'-Wno-redundant-decls',
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]
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]
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PROJECT_ENV.CXXFLAGS += [
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env.CXXFLAGS += [
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'-std=gnu++11',
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'-fdata-sections',
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@ -72,26 +76,35 @@ PROJECT_ENV.CXXFLAGS += [
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'-Werror=uninitialized',
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'-Werror=init-self',
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'-Wfatal-errors',
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]
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]
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PROJECT_ENV.LINKFLAGS += [
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env.LINKFLAGS += [
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'-Wl,--gc-sections',
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]
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]
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Board = BoardMeta('Board', Board.__bases__, dict(Board.__dict__))
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def get_boards_names():
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return sorted(list(_board_classes.keys()))
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def get_board(name):
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return _board_classes[name]()
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# NOTE: Keeping all the board definitions together so we can easily
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# identify opportunities to simplify common flags. In the future might
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# be worthy to keep board definitions in files of their own.
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def sitl(env):
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class sitl(Board):
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def configure_env(self, env):
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super(sitl, self).configure_env(env)
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env.DEFINES.update(
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CONFIG_HAL_BOARD = 'HAL_BOARD_SITL',
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_NONE',
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)
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env.CXXFLAGS += [
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'-O3',
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]
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env.LIB += [
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'm',
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]
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@ -101,19 +114,17 @@ def sitl(env):
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'SITL',
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]
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define_board(sitl, 'sitl')
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class linux(Board):
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def configure_env(self, env):
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super(linux, self).configure_env(env)
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def linux(env):
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env.DEFINES.update(
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CONFIG_HAL_BOARD = 'HAL_BOARD_LINUX',
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_NONE',
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)
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env.CXXFLAGS += [
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'-O3',
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]
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env.LIB += [
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'm',
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'rt',
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@ -123,114 +134,102 @@ def linux(env):
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'AP_HAL_Linux',
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]
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define_board(linux, 'linux')
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class minlure(linux):
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def configure_env(self, env):
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super(minlure, self).configure_env(env)
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def minlure(env):
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_MINLURE',
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)
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define_board(minlure, 'minlure', 'linux')
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class erleboard(linux):
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def configure_env(self, env):
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super(erleboard, self).configure_env(env)
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def erleboard(env):
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env.TOOLCHAIN = 'arm-linux-gnueabihf'
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD',
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)
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define_board(erleboard, 'erleboard', 'linux')
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class navio(linux):
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def configure_env(self, env):
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super(navio, self).configure_env(env)
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def navio(env):
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env.TOOLCHAIN = 'arm-linux-gnueabihf'
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_NAVIO',
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)
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define_board(navio, 'navio', 'linux')
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class zynq(linux):
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def configure_env(self, env):
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super(zynq, self).configure_env(env)
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def zynq(env):
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env.TOOLCHAIN = 'arm-xilinx-linux-gnueabi'
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_ZYNQ',
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)
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define_board(zynq, 'zynq', 'linux')
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class bbbmini(linux):
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def configure_env(self, env):
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super(bbbmini, self).configure_env(env)
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def bbbmini(env):
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env.TOOLCHAIN = 'arm-linux-gnueabihf'
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BBBMINI',
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)
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define_board(bbbmini, 'bbbmini', 'linux')
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class pxf(linux):
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def configure_env(self, env):
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super(pxf, self).configure_env(env)
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def pxf(env):
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env.TOOLCHAIN = 'arm-linux-gnueabihf'
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_PXF',
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)
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define_board(pxf, 'pxf', 'linux')
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class bebop(linux):
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def configure_env(self, env):
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super(bebop, self).configure_env(env)
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def bebop(env):
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env.TOOLCHAIN = 'arm-linux-gnueabihf'
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BEBOP',
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)
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env.STATIC_LINKING = [True]
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define_board(bebop, 'bebop', 'linux')
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class raspilot(linux):
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def configure_env(self, env):
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super(raspilot, self).configure_env(env)
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def raspilot(env):
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env.TOOLCHAIN = 'arm-linux-gnueabihf'
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_RASPILOT',
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)
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define_board(raspilot, 'raspilot', 'linux')
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class erlebrain2(linux):
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def configure_env(self, env):
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super(erlebrain2, self).configure_env(env)
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def erlebrain2(env):
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env.TOOLCHAIN = 'arm-linux-gnueabihf'
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2',
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)
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define_board(erlebrain2, 'erlebrain2', 'linux')
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class bhat(linux):
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def configure_env(self, env):
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super(bhat, self).configure_env(env)
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def bhat(env):
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env.TOOLCHAIN = 'arm-linux-gnueabihf'
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BH',
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)
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define_board(bhat, 'bhat', 'linux')
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class pxfmini(linux):
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def configure_env(self, env):
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super(pxfmini, self).configure_env(env)
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def pxfmini(env):
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env.TOOLCHAIN = 'arm-linux-gnueabihf'
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env.DEFINES.update(
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_PXFMINI',
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)
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define_board(pxfmini, 'pxfmini', 'linux')
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14
wscript
14
wscript
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@ -61,19 +61,7 @@ def configure(cfg):
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cfg.msg('Setting board to', cfg.options.board)
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cfg.env.BOARD = cfg.options.board
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board_dict = boards.BOARDS[cfg.env.BOARD].get_merged_dict()
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# Always prepend so that arguments passed in the command line get
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# the priority.
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for k in board_dict:
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val = board_dict[k]
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# Dictionaries (like 'DEFINES') are converted to lists to
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# conform to waf conventions.
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if isinstance(val, dict):
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for item in val.items():
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cfg.env.prepend_value(k, '%s=%s' % item)
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else:
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cfg.env.prepend_value(k, val)
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boards.get_board(cfg.env.BOARD).configure(cfg)
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cfg.load('toolchain')
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cfg.load('compiler_cxx compiler_c')
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