From 3ec938fae6e0aa90ad73e748f9a620349eb1cd85 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Mon, 24 Oct 2022 08:46:08 +0530
Subject: [PATCH] waf: add dynamic source option to ap_stlib

---
 Tools/AP_Bootloader/wscript      | 19 ++++++-------------
 Tools/AP_Periph/wscript          |  5 +++--
 Tools/ardupilotwaf/ap_library.py |  8 ++++++++
 wscript                          |  2 ++
 4 files changed, 19 insertions(+), 15 deletions(-)

diff --git a/Tools/AP_Bootloader/wscript b/Tools/AP_Bootloader/wscript
index 73cd64f011..22887ea9d3 100644
--- a/Tools/AP_Bootloader/wscript
+++ b/Tools/AP_Bootloader/wscript
@@ -12,27 +12,20 @@ def build(bld):
     
     # build external libcanard library
     bld.stlib(source='../../modules/DroneCAN/libcanard/canard.c',
+              use='dronecan',
               target='libcanard')
 
     bld.ap_program(
-        use=['ap','libcanard','AP_Bootloader_libs'],
-        program_groups='bootloader',
-        includes=[bld.env.SRCROOT + '/modules/DroneCAN/libcanard',
-                  bld.env.BUILDROOT + '/modules/DroneCAN/libcanard/dsdlc_generated']
-        )
+        use=['ap','libcanard','AP_Bootloader_libs', 'dronecan'],
+        program_groups='bootloader'
+    )
 
     bld.ap_stlib(
         name= 'AP_Bootloader_libs',
+        use='dronecan',
+        dynamic_source='modules/DroneCAN/libcanard/dsdlc_generated/src/**.c',
         ap_vehicle='AP_Bootloader',
         ap_libraries= flashiface_lib + [
         'AP_Math',
         'AP_CheckFirmware'
         ])
-    
-    bld(
-        # build libcanard headers
-        source=bld.path.ant_glob("modules/DroneCAN/DSDL/**/*.uavcan"),
-        rule="python3 ${SRCROOT}/modules/DroneCAN/libcanard/dsdl_compiler/libcanard_dsdlc --header_only --outdir ${BUILDROOT}/modules/DroneCAN/libcanard/dsdlc_generated ${SRCROOT}/modules/DroneCAN/DSDL/uavcan ${SRCROOT}/modules/DroneCAN/DSDL/ardupilot ${SRCROOT}/modules/DroneCAN/DSDL/com ${SRCROOT}/modules/DroneCAN/DSDL/dronecan",
-        group='dynamic_sources',
-    )
-        
diff --git a/Tools/AP_Periph/wscript b/Tools/AP_Periph/wscript
index cce626760f..bc8e2831f0 100644
--- a/Tools/AP_Periph/wscript
+++ b/Tools/AP_Periph/wscript
@@ -70,6 +70,7 @@ def build(bld):
                      ]
     bld.ap_stlib(
         name= 'AP_Periph_libs',
+        dynamic_source='modules/DroneCAN/libcanard/dsdlc_generated/src/**.c',
         ap_vehicle='AP_Periph',
         ap_libraries= libraries,
         use='dronecan',
@@ -79,8 +80,8 @@ def build(bld):
     )
 
     # build external libcanard library
-    bld.stlib(source=['../../modules/DroneCAN/libcanard/canard.c'] +
-                     bld.bldnode.ant_glob('modules/DroneCAN/libcanard/dsdlc_generated/src/**.c'),
+    bld.stlib(source='../../modules/DroneCAN/libcanard/canard.c',
+              name='libcanard',
               use='dronecan',
               target='libcanard')
 
diff --git a/Tools/ardupilotwaf/ap_library.py b/Tools/ardupilotwaf/ap_library.py
index dff91e2015..e6fe07f574 100644
--- a/Tools/ardupilotwaf/ap_library.py
+++ b/Tools/ardupilotwaf/ap_library.py
@@ -156,6 +156,14 @@ def process_ap_libraries(self):
         if vehicle:
             self.use.append(_vehicle_tgen_name(l, vehicle))
 
+@before_method('process_source')
+@feature('cxxstlib')
+def dynamic_post(self):
+    if not getattr(self, 'dynamic_source', None):
+        return
+    self.source = Utils.to_list(self.source)
+    self.source.extend(self.bld.bldnode.ant_glob(self.dynamic_source))
+
 class ap_library_check_headers(Task.Task):
     color = 'PINK'
     before  = 'cxx c'
diff --git a/wscript b/wscript
index 5243bf7569..b72d2a6eb3 100644
--- a/wscript
+++ b/wscript
@@ -783,6 +783,8 @@ def build(bld):
 
     if bld.get_board().with_can:
         bld.env.AP_LIBRARIES_OBJECTS_KW['use'] += ['uavcan']
+    if bld.env.AP_PERIPH:
+        bld.env.AP_LIBRARIES_OBJECTS_KW['use'] += ['dronecan']
 
     _build_cmd_tweaks(bld)