From c5f3beb2977b5bac1b6cc18403cfa7bc3d875762 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 2 Aug 2018 15:22:30 +1000
Subject: [PATCH] waf: added --enable-asserts option for ChibiOS

---
 Tools/ardupilotwaf/boards.py  | 7 +++++++
 Tools/ardupilotwaf/chibios.py | 3 +++
 wscript                       | 6 ++++++
 3 files changed, 16 insertions(+)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 0e9203595d..8e217abed3 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -405,6 +405,13 @@ class chibios(Board):
                 '-g',
             ]
 
+        if cfg.env.ENABLE_ASSERTS:
+            cfg.msg("Enabling ChibiOS asserts", "yes")
+            env.CFLAGS += [ '-DHAL_CHIBIOS_ENABLE_ASSERTS' ]
+            env.CXXFLAGS += [ '-DHAL_CHIBIOS_ENABLE_ASSERTS' ]
+        else:
+            cfg.msg("Enabling ChibiOS asserts", "no")
+            
         env.LIB += ['gcc', 'm']
 
         env.GIT_SUBMODULES += [
diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index c10aaad520..feb2e2f163 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -215,6 +215,8 @@ def load_env_vars(env):
         else:
             env[k] = v
             print("env set %s=%s" % (k, v))
+    if env.ENABLE_ASSERTS:
+        env.CHIBIOS_BUILD_FLAGS += ' ENABLE_ASSERTS=yes'
 
 def configure(cfg):
     cfg.find_program('make', var='MAKE')
@@ -294,6 +296,7 @@ def pre_build(bld):
         bld.get_board().with_uavcan = True
 
 def build(bld):
+
     bld(
         # build hwdef.h and apj.prototype from hwdef.dat. This is needed after a waf clean
         source=bld.path.ant_glob(bld.env.HWDEF),
diff --git a/wscript b/wscript
index 1749cd72cc..aa0a687142 100644
--- a/wscript
+++ b/wscript
@@ -67,6 +67,11 @@ def options(opt):
         default=False,
         help='Configure as debug variant.')
 
+    g.add_option('--enable-asserts',
+        action='store_true',
+        default=False,
+        help='enable OS level asserts.')
+    
     g.add_option('--bootloader',
         action='store_true',
         default=False,
@@ -176,6 +181,7 @@ def configure(cfg):
 
     cfg.env.BOARD = cfg.options.board
     cfg.env.DEBUG = cfg.options.debug
+    cfg.env.ENABLE_ASSERTS = cfg.options.enable_asserts
     cfg.env.BOOTLOADER = cfg.options.bootloader
 
     # Allow to differentiate our build from the make build