Tools: add and use linux_hwdef.py

like chibios_hwdef.py - but for Linux

Tools/ardupilotwaf/boards.py

@@ -1398,10 +1398,14 @@ class linux(Board):
             self.with_can = False
 
     def configure_env(self, cfg, env):
+        if hasattr(self, 'hwdef'):
+            cfg.env.HWDEF = self.hwdef
         if cfg.options.board == 'linux':
             self.with_can = True
         super(linux, self).configure_env(cfg, env)
 
+        cfg.load('linux')
+
         env.BOARD_CLASS = "LINUX"
 
         env.DEFINES.update(
@@ -1470,8 +1474,18 @@ class linux(Board):
                 HAL_PARAM_DEFAULTS_PATH='"@ROMFS/defaults.parm"',
             )
 
+    def pre_build(self, bld):
+        '''pre-build hook that gets called before dynamic sources'''
+        from waflib.Context import load_tool
+        module = load_tool('linux', [], with_sys_path=True)
+        fun = getattr(module, 'pre_build', None)
+        if fun:
+            fun(bld)
+        super(linux, self).pre_build(bld)
+
     def build(self, bld):
         super(linux, self).build(bld)
+        bld.load('linux')
         if bld.options.upload:
             waflib.Options.commands.append('rsync')
             # Avoid infinite recursion

Tools/ardupilotwaf/linux.py

@@ -0,0 +1,146 @@
+# encoding: utf-8
+
+"""
+Waf tool for Linux build
+
+AP_FLAKE8_CLEAN
+"""
+
+from waflib.TaskGen import after_method, before_method, feature
+
+import os
+import pickle
+import sys
+import traceback
+
+sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../libraries/AP_HAL_Linux/hwdef/scripts'))
+import linux_hwdef  # noqa:501
+
+
+@feature('linux_ap_library', 'linux_ap_program')
+@before_method('process_source')
+def linux_dynamic_env(self):
+    # The generated files from configuration possibly don't exist if it's just
+    # a list command (TODO: figure out a better way to address that).
+    if self.bld.cmd == 'list':
+        return
+
+    def exec_command(self, cmd, **kw):
+        kw['stdout'] = sys.stdout
+        return super(exec_command, self).exec_command(cmd, **kw)
+
+
+@feature('linux_ap_program')
+@after_method('process_source')
+def linux_firmware(self):
+    pass
+
+
+def load_env_vars(env):
+    '''optionally load extra environment variables from env.py in the build directory'''
+    print("Checking for env.py")
+    env_py = os.path.join(env.BUILDROOT, 'env.py')
+    if not os.path.exists(env_py):
+        print("No env.py found")
+        return
+    e = pickle.load(open(env_py, 'rb'))
+    for k in e.keys():
+        v = e[k]
+        if k in env:
+            if isinstance(env[k], dict):
+                a = v.split('=')
+                env[k][a[0]] = '='.join(a[1:])
+                print("env updated %s=%s" % (k, v))
+            elif isinstance(env[k], list):
+                env[k].append(v)
+                print("env appended %s=%s" % (k, v))
+            else:
+                env[k] = v
+                print("env added %s=%s" % (k, v))
+        else:
+            env[k] = v
+            print("env set %s=%s" % (k, v))
+
+
+def configure(cfg):
+
+    def srcpath(path):
+        return cfg.srcnode.make_node(path).abspath()
+
+    def bldpath(path):
+        return bldnode.make_node(path).abspath()
+
+    env = cfg.env
+    bldnode = cfg.bldnode.make_node(cfg.variant)
+    env.SRCROOT = srcpath('')
+    env.BUILDROOT = bldpath('')
+
+    def srcpath(path):
+        return cfg.srcnode.make_node(path).abspath()
+
+    def bldpath(path):
+        return bldnode.make_node(path).abspath()
+    env.AP_PROGRAM_FEATURES += ['linux_ap_program']
+
+    try:
+        generate_hwdef_h(env)
+    except Exception as e:
+        print(get_exception_stacktrace(e))
+        cfg.fatal("Failed to generate hwdef")
+    load_env_vars(cfg.env)
+
+
+def get_exception_stacktrace(e):
+    ret = "%s\n" % e
+    ret += ''.join(traceback.format_exception(type(e),
+                                              e,
+                                              tb=e.__traceback__))
+    return ret
+
+
+def generate_hwdef_h(env):
+    '''run linux_hwdef.py'''
+    hwdef_dir = os.path.join(env.SRCROOT, 'libraries/AP_HAL_Linux/hwdef')
+
+    if len(env.HWDEF) == 0:
+        env.HWDEF = os.path.join(hwdef_dir, env.BOARD, 'hwdef.dat')
+    hwdef_out = env.BUILDROOT
+    if not os.path.exists(hwdef_out):
+        os.mkdir(hwdef_out)
+    hwdef = [env.HWDEF]
+    if env.HWDEF_EXTRA:
+        hwdef.append(env.HWDEF_EXTRA)
+    lh = linux_hwdef.LinuxHWDef(
+        outdir=hwdef_out,
+        hwdef=hwdef,
+        quiet=False,
+    )
+    lh.run()
+
+
+def pre_build(bld):
+    '''pre-build hook to change dynamic sources'''
+    load_env_vars(bld.env)
+    if bld.env.HAL_NUM_CAN_IFACES:
+        bld.get_board().with_can = True
+    if bld.env.WITH_LITTLEFS:
+        bld.get_board().with_littlefs = True
+    hwdef_h = os.path.join(bld.env.BUILDROOT, 'hwdef.h')
+    if not os.path.exists(hwdef_h):
+        print("Generating hwdef.h")
+        try:
+            generate_hwdef_h(bld.env)
+        except Exception:
+            bld.fatal(f"Failed to process hwdef.dat {hwdef_h}")
+
+
+def build(bld):
+    bld(
+        # build hwdef.h from hwdef.dat. This is needed after a waf clean
+        source=bld.path.ant_glob(bld.env.HWDEF),
+        rule="",
+        group='dynamic_sources',
+        target=[
+            bld.bldnode.find_or_declare('hwdef.h'),
+        ]
+    )