From d65a7897e47ec2fe527dc20482fa31b4865fc3b7 Mon Sep 17 00:00:00 2001 From: Gustavo Jose de Sousa Date: Wed, 25 May 2016 13:43:18 -0300 Subject: [PATCH] waf: px4: keep ELF files around Including px4io. We need them for the build summary. Also, that makes it easier to use gdb on them. --- Tools/ardupilotwaf/px4.py | 30 +++++++++++++++++++++++++----- 1 file changed, 25 insertions(+), 5 deletions(-) diff --git a/Tools/ardupilotwaf/px4.py b/Tools/ardupilotwaf/px4.py index a22615bfab..31d54471ab 100644 --- a/Tools/ardupilotwaf/px4.py +++ b/Tools/ardupilotwaf/px4.py @@ -79,11 +79,12 @@ class px4_add_git_hashes(Task.Task): def __str__(self): return self.outputs[0].path_from(self.outputs[0].ctx.launch_node()) -def _update_firmware_sig(fw_task, firmware): +def _update_firmware_sig(fw_task, firmware, elf): original_post_run = fw_task.post_run def post_run(): original_post_run() firmware.sig = firmware.cache_sig = Utils.h_file(firmware.abspath()) + elf.sig = elf.cache_sig = Utils.h_file(elf.abspath()) fw_task.post_run = post_run _cp_px4io = None @@ -96,12 +97,18 @@ def px4_firmware(self): global _cp_px4io, _firmware_semaphorish_tasks, _upload_task version = self.env.get_flat('PX4_VERSION') + px4 = self.bld.cmake('px4') + px4.vars['APM_PROGRAM_LIB'] = self.link_task.outputs[0].abspath() + if self.env.PX4_USE_PX4IO and not _cp_px4io: px4io_task = self.create_cmake_build_task('px4', 'fw_io') px4io = px4io_task.cmake.bldnode.make_node( 'src/modules/px4iofirmware/px4io-v%s.bin' % version, ) - px4io_task.set_outputs(px4io) + px4io_elf = px4.bldnode.make_node( + 'src/modules/px4iofirmware/px4io-v%s' % version + ) + px4io_task.set_outputs([px4io, px4io_elf]) romfs = self.bld.bldnode.make_node(self.env.PX4_ROMFS_BLD) romfs_px4io = romfs.make_node('px4io/px4io.bin') @@ -109,8 +116,8 @@ def px4_firmware(self): _cp_px4io = self.create_task('px4_copy', px4io, romfs_px4io) _cp_px4io.keyword = lambda: 'PX4: Copying PX4IO to ROMFS' - px4 = self.bld.cmake('px4') - px4.vars['APM_PROGRAM_LIB'] = self.link_task.outputs[0].abspath() + px4io_elf_dest = self.bld.bldnode.make_node(self.env.PX4IO_ELF_DEST) + cp_px4io_elf = self.create_task('px4_copy', px4io_elf, px4io_elf_dest) fw_task = self.create_cmake_build_task( 'px4', @@ -129,7 +136,10 @@ def px4_firmware(self): firmware = px4.bldnode.make_node( 'src/firmware/nuttx/nuttx-px4fmu-v%s-apm.px4' % version, ) - _update_firmware_sig(fw_task, firmware) + fw_elf = px4.bldnode.make_node( + 'src/firmware/nuttx/firmware_nuttx', + ) + _update_firmware_sig(fw_task, firmware, fw_elf) fw_dest = self.bld.bldnode.make_node( os.path.join(self.program_dir, '%s.px4' % self.program_name) @@ -138,6 +148,13 @@ def px4_firmware(self): git_hashes.set_run_after(fw_task) _firmware_semaphorish_tasks.append(git_hashes) + fw_elf_dest = self.bld.bldnode.make_node( + os.path.join(self.program_dir, self.program_name) + ) + cp_elf = self.create_task('px4_copy', fw_elf, fw_elf_dest) + cp_elf.set_run_after(fw_task) + _firmware_semaphorish_tasks.append(cp_elf) + if self.bld.options.upload: if _upload_task: Logs.warn('PX4: upload for %s ignored' % self.name) @@ -217,6 +234,9 @@ def configure(cfg): env.PX4_NUTTX_ROOT = srcpath('modules/PX4NuttX') env.PX4_UAVCAN_ROOT = srcpath('modules/uavcan') + if env.PX4_USE_PX4IO: + env.PX4IO_ELF_DEST = 'px4-extra-files/px4io' + env.PX4_CMAKE_VARS = dict( CONFIG='nuttx_px4fmu-v%s_apm' % env.get_flat('PX4_VERSION'), CMAKE_MODULE_PATH=srcpath('Tools/ardupilotwaf/px4/cmake'),