mirror of https://github.com/ArduPilot/ardupilot
waf: removed px4 build targets
This commit is contained in:
Andrew Tridgell
parent
a07ab93846
commit
7c5d82ed15
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@ -708,177 +708,3 @@ class rst_zynq(linux):
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CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ',
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)
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class px4(Board):
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abstract = True
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toolchain = 'arm-none-eabi'
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def __init__(self):
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# bootloader name: a file with that name will be used and installed
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# on ROMFS
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super(px4, self).__init__()
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self.bootloader_name = None
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# board name: it's the name of this board that's also used as path
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# in ROMFS: don't add spaces
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self.board_name = None
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# px4io binary name: this is the name of the IO binary to be installed
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# in ROMFS
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self.px4io_name = None
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# board-specific init script: if True a file with `board_name` name will
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# be searched for in sources and installed in ROMFS as rc.board. This
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# init script is used to change the init behavior among different boards.
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self.board_rc = False
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# Path relative to the ROMFS directory where to find a file with default
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# parameters. If set this file will be copied to /etc/defaults.parm
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# inside the ROMFS
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self.param_defaults = None
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self.ROMFS_EXCLUDE = []
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# use ardupilot version of uploader.py
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os.environ['UPLOADER'] = os.path.realpath(os.path.join(os.path.dirname(__file__), '..', 'scripts', 'uploader.py'))
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def configure(self, cfg):
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if not self.bootloader_name:
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cfg.fatal('configure: px4: bootloader name is required')
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if not self.board_name:
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cfg.fatal('configure: px4: board name is required')
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super(px4, self).configure(cfg)
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cfg.load('px4')
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def configure_env(self, cfg, env):
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super(px4, self).configure_env(cfg, env)
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env.DEFINES.update(
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CONFIG_HAL_BOARD = 'HAL_BOARD_PX4',
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HAVE_OCLOEXEC = 0,
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HAVE_STD_NULLPTR_T = 0,
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)
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env.CXXFLAGS += [
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'-Wlogical-op',
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'-Wframe-larger-than=1300',
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'-fsingle-precision-constant',
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'-Wno-attributes',
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'-Wno-error=double-promotion',
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'-Wno-error=missing-declarations',
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'-Wno-error=float-equal',
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'-Wno-error=undef',
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'-Wno-error=cpp',
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]
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env.AP_LIBRARIES += [
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'AP_HAL_PX4',
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]
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env.GIT_SUBMODULES += [
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'PX4Firmware',
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'PX4NuttX',
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'uavcan',
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]
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if sys.platform == 'cygwin':
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env.CXXFLAGS += ['-DCYGWIN_BUILD']
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env.ROMFS_EXCLUDE = self.ROMFS_EXCLUDE
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env.PX4_BOOTLOADER_NAME = self.bootloader_name
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env.PX4_BOARD_NAME = self.board_name
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env.PX4_BOARD_RC = self.board_rc
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env.PX4_PX4IO_NAME = self.px4io_name
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env.PX4_PARAM_DEFAULTS = self.param_defaults
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env.PX4_RC_S_SCRIPT = 'init.d/rcS'
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env.AP_PROGRAM_AS_STLIB = True
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def build(self, bld):
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super(px4, self).build(bld)
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bld.ap_version_append_str('NUTTX_GIT_VERSION', bld.git_submodule_head_hash('PX4NuttX', short=True))
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bld.ap_version_append_str('PX4_GIT_VERSION', bld.git_submodule_head_hash('PX4Firmware', short=True))
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bld.load('px4')
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def romfs_exclude(self, exclude):
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self.ROMFS_EXCLUDE += exclude
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class px4_v1(px4):
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name = 'px4-v1'
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def __init__(self):
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super(px4_v1, self).__init__()
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self.bootloader_name = 'px4fmu_bl.bin'
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self.board_name = 'px4fmu-v1'
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self.px4io_name = 'px4io-v1'
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self.romfs_exclude(['oreoled.bin'])
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class px4_v2(px4):
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name = 'px4-v2'
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def __init__(self):
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super(px4_v2, self).__init__()
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self.bootloader_name = 'px4fmuv2_bl.bin'
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self.board_name = 'px4fmu-v2'
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self.px4io_name = 'px4io-v2'
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self.romfs_exclude(['oreoled.bin'])
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self.with_uavcan = True
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class px4_v3(px4):
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name = 'px4-v3'
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def __init__(self):
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super(px4_v3, self).__init__()
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self.bootloader_name = 'px4fmuv2_bl.bin'
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self.board_name = 'px4fmu-v3'
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self.px4io_name = 'px4io-v2'
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self.with_uavcan = True
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class skyviper_v2450_px4(px4_v3):
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name = 'skyviper-v2450-px4'
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def __init__(self):
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super(skyviper_v2450_px4, self).__init__()
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self.px4io_name = None
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self.param_defaults = '../../../Tools/Frame_params/SkyViper-2450GPS/defaults.parm'
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def configure_env(self, cfg, env):
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super(skyviper_v2450_px4, self).configure_env(cfg, env)
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env.DEFINES.update(
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TOY_MODE_ENABLED = 'ENABLED',
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USE_FLASH_STORAGE = 1,
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ARMING_DELAY_SEC = 0,
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LAND_START_ALT = 700,
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HAL_RCINPUT_WITH_AP_RADIO = 1,
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LAND_DETECTOR_ACCEL_MAX = 2,
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CYRF_SPI_PX4_SPI_BUS = 2,
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CYRF_SPI_PX4_SPIDEV_EXT = '(spi_dev_e)1',
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CYRF_IRQ_INPUT = '(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)',
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)
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env.PX4_RC_S_SCRIPT = 'init.d/rcS_no_microSD'
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env.BUILD_ABIN = True
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class px4_v4(px4):
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name = 'px4-v4'
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def __init__(self):
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super(px4_v4, self).__init__()
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self.bootloader_name = 'px4fmuv4_bl.bin'
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self.board_name = 'px4fmu-v4'
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self.romfs_exclude(['oreoled.bin'])
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self.with_uavcan = True
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class px4_v4pro(px4):
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name = 'px4-v4pro'
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def __init__(self):
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super(px4_v4pro, self).__init__()
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self.bootloader_name = 'px4fmuv4pro_bl.bin'
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self.board_name = 'px4fmu-v4pro'
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self.px4io_name = 'px4io-v2'
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self.romfs_exclude(['oreoled.bin'])
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self.with_uavcan = True
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class aerofc_v1(px4):
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name = 'aerofc-v1'
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def __init__(self):
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super(aerofc_v1, self).__init__()
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self.bootloader_name = 'aerofcv1_bl.bin'
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self.board_name = 'aerofc-v1'
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self.romfs_exclude(['oreoled.bin'])
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self.board_rc = True
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self.param_defaults = '../../../Tools/Frame_params/intel-aero-rtf.param'
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@ -16,7 +16,7 @@ def configure(cfg):
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return
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board = cfg.get_board()
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if isinstance(board, boards.px4) or isinstance(board, boards.chibios):
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if isinstance(board, boards.chibios):
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# toolchain is currently broken for gtest
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cfg.msg(
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'Gtest',
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@ -1,369 +0,0 @@
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#!/usr/bin/env python
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# encoding: utf-8
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"""
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Waf tool for PX4 build
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"""
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from waflib import Errors, Logs, Task, Utils
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from waflib.TaskGen import after_method, before_method, feature
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import os
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import shutil
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import sys
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_dynamic_env_data = {}
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def _load_dynamic_env_data(bld):
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bldnode = bld.bldnode.make_node('modules/PX4Firmware')
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for name in ('cxx_flags', 'include_dirs', 'definitions'):
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_dynamic_env_data[name] = bldnode.find_node(name).read().split(';')
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@feature('px4_ap_library', 'px4_ap_program')
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@before_method('process_source')
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def px4_dynamic_env(self):
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# The generated files from configuration possibly don't exist if it's just
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# a list command (TODO: figure out a better way to address that).
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if self.bld.cmd == 'list':
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return
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if not _dynamic_env_data:
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_load_dynamic_env_data(self.bld)
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self.env.append_value('INCLUDES', _dynamic_env_data['include_dirs'])
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self.env.prepend_value('CXXFLAGS', _dynamic_env_data['cxx_flags'])
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self.env.prepend_value('CXXFLAGS', _dynamic_env_data['definitions'])
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# Single static library
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# NOTE: This only works only for local static libraries dependencies - fake
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# libraries aren't supported yet
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@feature('px4_ap_program')
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@after_method('apply_link')
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@before_method('process_use')
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def px4_import_objects_from_use(self):
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queue = list(Utils.to_list(getattr(self, 'use', [])))
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names = set()
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while queue:
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name = queue.pop(0)
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if name in names:
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continue
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names.add(name)
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try:
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tg = self.bld.get_tgen_by_name(name)
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except Errors.WafError:
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continue
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tg.post()
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for t in getattr(tg, 'compiled_tasks', []):
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self.link_task.set_inputs(t.outputs)
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queue.extend(Utils.to_list(getattr(tg, 'use', [])))
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class px4_copy(Task.Task):
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color = 'CYAN'
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def run(self):
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shutil.copy2(self.inputs[0].abspath(), self.outputs[0].abspath())
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def keyword(self):
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return "PX4: Copying %s to" % self.inputs[0].name
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def __str__(self):
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return self.outputs[0].path_from(self.generator.bld.bldnode)
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class create_abin(Task.Task):
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'''create an abin file - used for uploading to a skyviper'''
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color = 'CYAN'
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def run(self):
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from subprocess import call
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elf_name = self.inputs[0].abspath()
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bin_name = elf_name + ".bin"
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abin_name = self.outputs[0].abspath()
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call(['arm-none-eabi-objcopy', '-Obinary', elf_name, bin_name])
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call(['Tools/scripts/make_abin.sh', bin_name, abin_name])
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def keyword(self):
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return "Creating abin for %s to" % self.inputs[0].name
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def __str__(self):
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return self.outputs[0].path_from(self.generator.bld.bldnode)
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class px4_add_git_hashes(Task.Task):
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run_str = '${PYTHON} ${PX4_ADD_GIT_HASHES} --ardupilot ${PX4_APM_ROOT} --px4 ${PX4_ROOT} --nuttx ${PX4_NUTTX_ROOT} ${SRC} ${TGT}'
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color = 'CYAN'
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def keyword(self):
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return "PX4: Copying firmware and adding git hashes"
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def __str__(self):
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return self.outputs[0].path_from(self.outputs[0].ctx.launch_node())
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def _update_firmware_sig(fw_task, firmware, elf):
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original_post_run = fw_task.post_run
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def post_run():
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original_post_run()
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firmware.sig = firmware.cache_sig = Utils.h_file(firmware.abspath())
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elf.sig = elf.cache_sig = Utils.h_file(elf.abspath())
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fw_task.post_run = post_run
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_cp_px4io = None
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_firmware_semaphorish_tasks = []
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_upload_task = []
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@feature('px4_ap_program')
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@after_method('process_source')
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def px4_firmware(self):
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global _cp_px4io, _firmware_semaphorish_tasks, _upload_task
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board_name = self.env.get_flat('PX4_BOARD_NAME')
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px4 = self.bld.cmake('px4')
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px4.vars['APM_PROGRAM_LIB'] = self.link_task.outputs[0].abspath()
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if self.env.PX4_PX4IO_NAME and not _cp_px4io:
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px4io_task = self.create_cmake_build_task('px4', 'fw_io')
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px4io = px4io_task.cmake.bldnode.make_node(
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'src/modules/px4iofirmware/%s.bin' % self.env.PX4_PX4IO_NAME,
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)
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px4io_elf = px4.bldnode.make_node(
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'src/modules/px4iofirmware/%s' % self.env.PX4_PX4IO_NAME
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)
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px4io_task.set_outputs([px4io, px4io_elf])
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romfs = self.bld.bldnode.make_node(self.env.PX4_ROMFS_BLD)
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romfs_px4io = romfs.make_node('px4io/px4io.bin')
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romfs_px4io.parent.mkdir()
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_cp_px4io = self.create_task('px4_copy', px4io, romfs_px4io)
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_cp_px4io.keyword = lambda: 'PX4: Copying PX4IO to ROMFS'
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px4io_elf_dest = self.bld.bldnode.make_node(self.env.PX4IO_ELF_DEST)
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cp_px4io_elf = self.create_task('px4_copy', px4io_elf, px4io_elf_dest)
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fw_task = self.create_cmake_build_task(
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'px4',
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'build_firmware_%s' % board_name,
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)
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fw_task.set_run_after(self.link_task)
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# we need to synchronize in order to avoid the output expected by the
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# previous ap_program being overwritten before used
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for t in _firmware_semaphorish_tasks:
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fw_task.set_run_after(t)
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_firmware_semaphorish_tasks = []
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if self.env.PX4_PX4IO_NAME and _cp_px4io.generator is self:
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fw_task.set_run_after(_cp_px4io)
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firmware = px4.bldnode.make_node(
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'src/firmware/nuttx/nuttx-%s-apm.px4' % board_name,
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)
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fw_elf = px4.bldnode.make_node(
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'src/firmware/nuttx/firmware_nuttx',
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)
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_update_firmware_sig(fw_task, firmware, fw_elf)
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fw_dest = self.bld.bldnode.make_node(
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os.path.join(self.program_dir, '%s.px4' % self.program_name)
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)
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git_hashes = self.create_task('px4_add_git_hashes', firmware, fw_dest)
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git_hashes.set_run_after(fw_task)
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_firmware_semaphorish_tasks.append(git_hashes)
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fw_elf_dest = self.bld.bldnode.make_node(
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os.path.join(self.program_dir, self.program_name)
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)
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cp_elf = self.create_task('px4_copy', fw_elf, fw_elf_dest)
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cp_elf.set_run_after(fw_task)
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_firmware_semaphorish_tasks.append(cp_elf)
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if self.env.BUILD_ABIN:
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fw_abin_dest = self.bld.bldnode.make_node(os.path.join(self.program_dir, self.program_name + '.abin'))
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create_abin = self.create_task('create_abin', fw_elf, fw_abin_dest)
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create_abin.set_run_after(fw_task)
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self.build_summary = dict(
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target=self.name,
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binary=fw_elf_dest.path_from(self.bld.bldnode),
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)
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if self.bld.options.upload:
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if _upload_task:
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Logs.warn('PX4: upload for %s ignored' % self.name)
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return
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_upload_task = self.create_cmake_build_task('px4', 'upload')
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_upload_task.set_run_after(fw_task)
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_firmware_semaphorish_tasks.append(_upload_task)
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def _px4_taskgen(bld, **kw):
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if 'cls_keyword' in kw and not callable(kw['cls_keyword']):
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cls_keyword = str(kw['cls_keyword'])
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kw['cls_keyword'] = lambda tsk: 'PX4: ' + cls_keyword
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if 'cls_str' in kw and not callable(kw['cls_str']):
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cls_str = str(kw['cls_str'])
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kw['cls_str'] = lambda tsk: cls_str
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kw['color'] = 'CYAN'
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return bld(**kw)
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@feature('_px4_romfs')
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def _process_romfs(self):
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bld = self.bld
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board_name = bld.env.get_flat('PX4_BOARD_NAME')
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file_list = [
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'init.d/rc.APM',
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'init.d/rc.error',
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(bld.env.PX4_RC_S_SCRIPT, 'init.d/rcS'),
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'tones/startup'
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]
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if board_name != "px4fmu-v2":
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# we omit the bootloader on px4-v2 to save flash space
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file_list.append((bld.env.PX4_BOOTLOADER, 'bootloader/fmu_bl.bin'))
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if bld.env.PX4_BOARD_RC:
|
||||
board_rc = 'init.d/rc.%s' % bld.env.get_flat('PX4_BOARD_NAME')
|
||||
file_list.append((board_rc, 'init.d/rc.board'))
|
||||
|
||||
if bld.env.PX4_PARAM_DEFAULTS:
|
||||
file_list.append((bld.env.PX4_PARAM_DEFAULTS, 'defaults.parm'))
|
||||
|
||||
romfs_src = bld.srcnode.find_dir(bld.env.PX4_ROMFS_SRC)
|
||||
romfs_bld = bld.bldnode.make_node(bld.env.PX4_ROMFS_BLD)
|
||||
|
||||
for item in file_list:
|
||||
if isinstance(item, str):
|
||||
src = romfs_src.make_node(item)
|
||||
dst = romfs_bld.make_node(item)
|
||||
else:
|
||||
src = romfs_src.make_node(item[0])
|
||||
dst = romfs_bld.make_node(item[1])
|
||||
|
||||
bname = os.path.basename(str(src))
|
||||
if bname in bld.env.ROMFS_EXCLUDE:
|
||||
print("Excluding %s" % bname)
|
||||
continue
|
||||
|
||||
dst.parent.mkdir()
|
||||
self.create_task('px4_copy', src, dst)
|
||||
|
||||
def configure(cfg):
|
||||
cfg.env.CMAKE_MIN_VERSION = '3.2'
|
||||
cfg.load('cmake')
|
||||
|
||||
bldnode = cfg.bldnode.make_node(cfg.variant)
|
||||
env = cfg.env
|
||||
|
||||
env.AP_PROGRAM_FEATURES += ['px4_ap_program']
|
||||
|
||||
kw = env.AP_LIBRARIES_OBJECTS_KW
|
||||
kw['features'] = Utils.to_list(kw.get('features', [])) + ['px4_ap_library']
|
||||
|
||||
def srcpath(path):
|
||||
return cfg.srcnode.make_node(path).abspath()
|
||||
|
||||
def bldpath(path):
|
||||
return bldnode.make_node(path).abspath()
|
||||
|
||||
board_name = env.get_flat('PX4_BOARD_NAME')
|
||||
|
||||
# TODO: we should move stuff from mk/PX4 to Tools/ardupilotwaf/px4 after
|
||||
# stop using the make-based build system
|
||||
env.PX4_ROMFS_SRC = 'mk/PX4/ROMFS'
|
||||
env.PX4_ROMFS_BLD = 'px4-extra-files/ROMFS'
|
||||
env.PX4_BOOTLOADER = '/../../../Tools/bootloaders/%s' % env.PX4_BOOTLOADER_NAME
|
||||
|
||||
env.PX4_ADD_GIT_HASHES = srcpath('Tools/scripts/add_git_hashes.py')
|
||||
env.PX4_APM_ROOT = srcpath('')
|
||||
env.PX4_ROOT = srcpath('modules/PX4Firmware')
|
||||
env.PX4_NUTTX_ROOT = srcpath('modules/PX4NuttX')
|
||||
|
||||
if env.PX4_PX4IO_NAME:
|
||||
env.PX4IO_ELF_DEST = 'px4-extra-files/px4io'
|
||||
|
||||
nuttx_config='nuttx_%s_apm' % board_name
|
||||
|
||||
env.PX4_CMAKE_VARS = dict(
|
||||
CONFIG=nuttx_config,
|
||||
CMAKE_MODULE_PATH=srcpath('Tools/ardupilotwaf/px4/cmake'),
|
||||
NUTTX_SRC=env.PX4_NUTTX_ROOT,
|
||||
PX4_NUTTX_ROMFS=bldpath(env.PX4_ROMFS_BLD),
|
||||
ARDUPILOT_BUILD='YES',
|
||||
EXTRA_CXX_FLAGS=' '.join((
|
||||
# NOTE: these "-Wno-error=*" flags should be removed as we update
|
||||
# the submodule
|
||||
'-Wno-error=double-promotion',
|
||||
'-Wno-error=reorder',
|
||||
# NOTE: *Temporarily* using this definition so that both
|
||||
# PX4Firmware build systems (cmake and legacy make-based) can live
|
||||
# together
|
||||
'-DCMAKE_BUILD',
|
||||
'-DARDUPILOT_BUILD',
|
||||
'-I%s' % bldpath('libraries/GCS_MAVLink'),
|
||||
'-I%s' % bldpath('libraries/GCS_MAVLink/include/mavlink'),
|
||||
'-Wl,--gc-sections',
|
||||
)),
|
||||
EXTRA_C_FLAGS=' '.join((
|
||||
# NOTE: *Temporarily* using this definition so that both
|
||||
# PX4Firmware build systems (cmake and legacy make-based) can live
|
||||
# together
|
||||
'-DCMAKE_BUILD',
|
||||
)),
|
||||
)
|
||||
|
||||
def build(bld):
|
||||
board_name = bld.env.get_flat('PX4_BOARD_NAME')
|
||||
px4 = bld.cmake(
|
||||
name='px4',
|
||||
cmake_src=bld.srcnode.find_dir('modules/PX4Firmware'),
|
||||
cmake_vars=bld.env.PX4_CMAKE_VARS,
|
||||
cmake_flags=['-Wno-deprecated'],
|
||||
)
|
||||
|
||||
px4.build(
|
||||
'msg_gen',
|
||||
group='dynamic_sources',
|
||||
cmake_output_patterns='src/modules/uORB/topics/*.h',
|
||||
)
|
||||
px4.build(
|
||||
'prebuild_targets',
|
||||
group='dynamic_sources',
|
||||
cmake_output_patterns='%s/NuttX/nuttx-export/**/*.h' % board_name,
|
||||
)
|
||||
|
||||
bld(
|
||||
name='px4_romfs_static_files',
|
||||
group='dynamic_sources',
|
||||
features='_px4_romfs',
|
||||
)
|
||||
|
||||
bld.extra_build_summary = _extra_build_summary
|
||||
|
||||
def _extra_build_summary(bld, build_summary):
|
||||
build_summary.text('')
|
||||
build_summary.text('PX4')
|
||||
build_summary.text('', '''
|
||||
The ELF files are pointed by the path in the "%s" column. The .px4 files are in
|
||||
the same directory of their corresponding ELF files.
|
||||
''' % build_summary.header_text['target'])
|
||||
|
||||
if not bld.options.upload:
|
||||
build_summary.text('')
|
||||
build_summary.text('', '''
|
||||
You can use the option --upload to upload the firmware to the PX4 board if you
|
||||
have one connected.''')
|
||||
|
||||
if bld.env.PX4_PX4IO_NAME:
|
||||
build_summary.text('')
|
||||
build_summary.text('PX4IO')
|
||||
summary_data_list = bld.size_summary([bld.env.PX4IO_ELF_DEST])
|
||||
header = bld.env.BUILD_SUMMARY_HEADER[:]
|
||||
try:
|
||||
header.remove('target')
|
||||
except ValueError:
|
||||
pass
|
||||
header.insert(0, 'binary_path')
|
||||
build_summary.print_table(summary_data_list, header)
|
||||
Loading…
Reference in New Issue