waf: moved ROMFS embed script into waf folder

Tools/ardupilotwaf/boards.py

@@ -35,6 +35,7 @@ class Board:
 
     def configure(self, cfg):
         cfg.env.TOOLCHAIN = self.toolchain
+        cfg.env.ROMFS_FILES = []
         cfg.load('toolchain')
         cfg.load('cxx_checks')
 
@@ -191,7 +192,8 @@ class Board:
 
     def pre_build(self, bld):
         '''pre-build hook that gets called before dynamic sources'''
-        pass
+        if bld.env.ROMFS_FILES:
+            self.embed_ROMFS_files(bld)
 
     def build(self, bld):
         bld.ap_version_append_str('GIT_VERSION', bld.git_head_hash(short=True))
@@ -201,6 +203,13 @@ class Board:
         bld.ap_version_append_int('BUILD_DATE_MONTH', ltime.tm_mon)
         bld.ap_version_append_int('BUILD_DATE_DAY', ltime.tm_mday)
 
+    def embed_ROMFS_files(self, ctx):
+        '''embed some files using AP_ROMFS'''
+        import embed
+        header = ctx.bldnode.make_node('ap_romfs_embedded.h').abspath()
+        if not embed.create_embedded_h(header, ctx.env.ROMFS_FILES):
+            bld.fatal("Failed to created ap_romfs_embedded.h")
+
 Board = BoardMeta('Board', Board.__bases__, dict(Board.__dict__))
 
 def add_dynamic_boards():
@@ -262,10 +271,11 @@ class sitl(Board):
             'SITL',
         ]
 
-        if cfg.options.enable_osd:
-            env.LIB += ['sfml-graphics', 'sfml-window','sfml-system']
+        if cfg.options.enable_sfml:
+            if not cfg.check_SFML(env):
+                cfg.fatal("Failed to find SFML libraries")
             env.CXXFLAGS += ['-DWITH_SITL_OSD','-DOSD_ENABLED=ENABLED','-DHAL_HAVE_AP_ROMFS_EMBEDDED_H']
-            self.embed_files(cfg, [('osd_font.bin','libraries/AP_OSD/fonts/clarity.bin')])
+            env.ROMFS_FILES += [('osd_font.bin','libraries/AP_OSD/fonts/clarity.bin')]
 
         if sys.platform == 'cygwin':
             env.LIB += [
@@ -280,15 +290,6 @@ class sitl(Board):
                 '-fno-slp-vectorize' # compiler bug when trying to use SLP
             ]
             
-    def embed_files(self, cfg, files):
-        '''embed some files using AP_ROMFS'''
-        header = cfg.bldnode.make_node('sitl/ap_romfs_embedded.h').abspath()
-        paths = []
-        embed_path = cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/scripts').abspath()
-        sys.path.append(embed_path)
-        import embed
-        embed.create_embedded_h(header, files)
-
 class chibios(Board):
     toolchain = 'arm-none-eabi'
 
@@ -415,6 +416,7 @@ class chibios(Board):
 
     def pre_build(self, bld):
         '''pre-build hook that gets called before dynamic sources'''
+        super(chibios, self).pre_build(bld)
         from waflib.Context import load_tool
         module = load_tool('chibios', [], with_sys_path=True)
         fun = getattr(module, 'pre_build', None)

Tools/ardupilotwaf/chibios.py

@@ -198,6 +198,9 @@ def load_env_vars(env):
     e = pickle.load(open(env_py, 'rb'))
     for k in e.keys():
         v = e[k]
+        if k == 'ROMFS_FILES':
+            env.ROMFS_FILES += v
+            continue
         if k in env:
             if isinstance(env[k], dict):
                 a = v.split('=')

Tools/ardupilotwaf/cxx_checks.py

@@ -223,3 +223,25 @@ def check_libdl(cfg, env):
     if ret:
         env.LIB += cfg.env['LIB_DL']
     return ret
+
+@conf
+def check_SFML(cfg, env):
+    if not cfg.options.enable_sfml:
+        cfg.msg("Checking for SFML graphics:", 'disabled', color='YELLOW')
+        return False
+    libs = ['sfml-graphics', 'sfml-window','sfml-system']
+    for lib in libs:
+        if not cfg.check(compiler='cxx', lib=lib, mandatory=False,
+                         global_define=True):
+            return False
+    
+    # see if we need Graphics.hpp or Graphics.h
+    if not cfg.check(compiler='cxx',
+                     fragment='''#include <SFML/Graphics.hpp>\nint main() {}''', define_name="HAVE_SFML_GRAPHICS_HPP",
+                     msg="Checking for Graphics.hpp", mandatory=False):
+        if not cfg.check(compiler='cxx', fragment='''#include <SFML/Graphics.h>\nint main() {}''', define_name="HAVE_SFML_GRAPHICS_H",
+                         msg="Checking for Graphics.h", mandatory=False):
+            return False
+    env.LIB += libs
+    return True
+

Tools/ardupilotwaf/embed.py

@@ -1,39 +1,41 @@
 #!/usr/bin/env python
 
 '''
-script to create embedded.c from a set of static files
+script to create ap_romfs_embedded.h from a set of static files
 
 Andrew Tridgell
 May 2017
 '''
 
-import os
+import os, sys
 
 def write_encode(out, s):
     out.write(s.encode())
 
 def embed_file(out, f, idx):
     '''embed one file'''
-    contents = open(f,'rb').read()
+    try:
+        contents = open(f,'rb').read()
+    except Exception:
+        print("Failed to embed %s" % f)
+        return False
     write_encode(out, 'static const uint8_t ap_romfs_%u[] = {' % idx)
 
     for c in bytearray(contents):
         write_encode(out, '%u,' % c)
     write_encode(out, '};\n\n');
+    return True
 
 def create_embedded_h(filename, files):
     '''create a ap_romfs_embedded.h file'''
 
-    this_dir = os.path.realpath(__file__)
-    rootdir = os.path.relpath(os.path.join(this_dir, "../../../../.."))
-
     out = open(filename, "wb")
     write_encode(out, '''// generated embedded files for AP_ROMFS\n\n''')
 
     for i in range(len(files)):
         (name, filename) = files[i]
-        filename = os.path.join(rootdir, filename)
-        embed_file(out, filename, i)
+        if not embed_file(out, filename, i):
+            return False
 
     write_encode(out, '''const AP_ROMFS::embedded_file AP_ROMFS::files[] = {\n''')
 
@@ -43,6 +45,7 @@ def create_embedded_h(filename, files):
         write_encode(out, '{ "%s", sizeof(ap_romfs_%u), ap_romfs_%u },\n' % (name, i, i))
     write_encode(out, '};\n')
     out.close()
+    return True
 
 if __name__ == '__main__':
     import sys