waf: ap_library: add tool

That's a tool for creating task generators for libraries object files. One of
the key objectives of this patch is to provide a way to avoid recompiling
sources that are independent of vehicles.

Tools/ardupilotwaf/ap_library.py

@@ -0,0 +1,200 @@
+# Copyright (C) 2016  Intel Corporation. All rights reserved.
+#
+# This file is free software: you can redistribute it and/or modify it
+# under the terms of the GNU General Public License as published by the
+# Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This file is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with this program.  If not, see <http://www.gnu.org/licenses/>.
+"""
+Waf tool for Ardupilot libraries. The function bld.ap_library() creates the
+necessary task generators for creating the objects of a library for a vehicle.
+That includes the common objects, which are shared among vehicles. That
+function is used by bld.ap_stlib() and shouldn't need to be called otherwise.
+
+The environment variable AP_LIBRARIES_OBJECTS_KW is a dictionary of keyword
+arguments to be passed to bld.objects() when during the creation of the task
+generators. You can use it to pass extra arguments to that function (although
+some of them will be rewritten, see the implementation for details).
+
+This tool also provides a feature to check if the headers used by the source
+files don't use vehicle-related headers. The task generators for performing the
+checks are created with bld.ap_library_check_headers(). They should be created
+in a build group that is processed after the compilation tasks, because they
+use the result of Waf's C preprocessor to know what headers should be checked.
+The results can be reported to the user by calling
+bld.ap_library_check_summary() to add the post build callback.
+"""
+import re
+
+from waflib import Errors, Logs, Task, Utils
+from waflib.Configure import conf
+from waflib.TaskGen import before_method, feature
+from waflib.Tools import c_preproc
+
+import ardupilotwaf as ap
+
+UTILITY_SOURCE_EXTS = ['utility/' + glob for glob in ap.SOURCE_EXTS]
+
+def _common_tgen_name(library):
+    return 'objs/%s' % library
+
+def _vehicle_tgen_name(library, vehicle):
+    return 'objs/%s/%s' % (library, vehicle)
+
+_vehicle_indexes = {}
+def _vehicle_index(vehicle):
+    """ Used for the objects taskgens idx parameter """
+    if vehicle not in _vehicle_indexes:
+        _vehicle_indexes[vehicle] = len(_vehicle_indexes) + 1
+    return _vehicle_indexes[vehicle]
+
+_vehicle_macros = ('SKETCHNAME', 'SKETCH', 'APM_BUILD_DIRECTORY',
+                   'APM_BUILD_TYPE')
+_macros_re = re.compile(r'\b(%s)\b' % '|'.join(_vehicle_macros))
+
+def _remove_comments(s):
+    return c_preproc.re_cpp.sub(c_preproc.repl, s)
+
+_depends_on_vehicle_cache = {}
+def _depends_on_vehicle(bld, source_node):
+    path = source_node.srcpath()
+
+    if path not in _depends_on_vehicle_cache:
+        s = _remove_comments(source_node.read())
+        _depends_on_vehicle_cache[path] = _macros_re.search(s) is not None
+
+    return _depends_on_vehicle_cache[path]
+
+@conf
+def ap_library(bld, library, vehicle):
+    try:
+        common_tg = bld.get_tgen_by_name(_common_tgen_name(library))
+    except Errors.WafError:
+        common_tg = None
+
+    try:
+        vehicle_tg = bld.get_tgen_by_name(_vehicle_tgen_name(library, vehicle))
+    except Errors.WafError:
+        vehicle_tg = None
+
+    if common_tg and vehicle_tg:
+        return
+
+    library_dir = bld.srcnode.find_dir('libraries/%s' % library)
+    if not library_dir:
+        bld.fatal('ap_library: %s not found' % library)
+
+    src = library_dir.ant_glob(ap.SOURCE_EXTS + UTILITY_SOURCE_EXTS)
+
+    if not common_tg:
+        kw = dict(bld.env.AP_LIBRARIES_OBJECTS_KW)
+        kw['features'] = kw.get('features', []) + ['ap_library_object']
+        kw.update(
+            name=_common_tgen_name(library),
+            source=[s for s in src if not _depends_on_vehicle(bld, s)],
+            idx=0,
+        )
+        bld.objects(**kw)
+
+    if not vehicle_tg:
+        source = [s for s in src if _depends_on_vehicle(bld, s)]
+
+        if not source:
+            return
+
+        kw = dict(bld.env.AP_LIBRARIES_OBJECTS_KW)
+        kw['features'] = kw.get('features', []) + ['ap_library_object']
+        kw.update(
+            name=_vehicle_tgen_name(library, vehicle),
+            source=source,
+            defines=ap.get_legacy_defines(vehicle),
+            idx=_vehicle_index(vehicle),
+        )
+        bld.objects(**kw)
+
+@before_method('process_use')
+@feature('cxxstlib')
+def process_ap_libraries(self):
+    self.use = Utils.to_list(getattr(self, 'use', []))
+    libraries = Utils.to_list(getattr(self, 'ap_libraries', []))
+    vehicle = getattr(self, 'ap_vehicle', None)
+
+    for l in libraries:
+        self.use.append(_common_tgen_name(l))
+        if vehicle:
+            self.use.append(_vehicle_tgen_name(l, vehicle))
+
+class ap_library_check_header(Task.Task):
+    color = 'PINK'
+    tasks = []
+
+    def run(self):
+        self.tasks.append(self)
+        n = self.inputs[0]
+        s = _remove_comments(n.read())
+        self.guilty = _macros_re.search(s) is not None
+
+    def post_run(self):
+        super(ap_library_check_header, self).post_run()
+        if self.guilty:
+            self.generator.bld.task_sigs[self.uid()] = None
+
+    def keyword(self):
+        return 'Checking header'
+
+_object_tgens = []
+@feature('ap_library_object')
+def ap_library_register_for_check(self):
+    _object_tgens.append(self)
+
+_headers_exceptions = (
+    'libraries/AP_Vehicle/AP_Vehicle_Type.h',
+)
+_headers = set()
+@feature('ap_library_check_headers')
+def ap_library_process_headers(self):
+    for o in _object_tgens:
+        if not hasattr(o, 'compiled_tasks'):
+            continue
+
+        for t in o.compiled_tasks:
+            for n in self.bld.node_deps[t.uid()]:
+                if not n.is_src():
+                    continue
+                if n.srcpath() in _headers_exceptions:
+                    continue
+                if n in _headers:
+                    continue
+                _headers.add(n)
+                self.create_task('ap_library_check_header', n)
+
+@conf
+def ap_library_check_headers(bld, name):
+    return bld(name=name, features='ap_library_check_headers')
+
+def _check_summary(bld):
+    if not ap_library_check_header.tasks:
+        return
+
+    guilty = [t.inputs[0].srcpath() for t in ap_library_check_header.tasks if t.guilty]
+    if guilty:
+        Logs.warn('ap_libraries: the following headers use vehicle-dependent macros:')
+        for path in guilty:
+            Logs.warn('    %s' % path)
+        bld.fatal('ap_libraries: there are headers using vehicle-dependent macros')
+    else:
+        Logs.info('ap_libraries: all headers okay')
+
+@conf
+def ap_library_check_summary(bld):
+    bld.add_post_fun(_check_summary)
+
+def configure(cfg):
+    cfg.env.AP_LIBRARIES_OBJECTS_KW = dict()