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waf: px4: keep ELF files around

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Including px4io. We need them for the build summary. Also, that makes it easier
to use gdb on them.
This commit is contained in:
Gustavo Jose de Sousa 2016-05-25 13:43:18 -03:00 committed by Lucas De Marchi
parent 260de62f94
commit d65a7897e4
1 changed files with 25 additions and 5 deletions
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30
Tools/ardupilotwaf/px4.py
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@ -79,11 +79,12 @@ class px4_add_git_hashes(Task.Task):
def __str__(self): def __str__(self):
return self.outputs[0].path_from(self.outputs[0].ctx.launch_node()) 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 original_post_run = fw_task.post_run
def post_run(): def post_run():
original_post_run() original_post_run()
firmware.sig = firmware.cache_sig = Utils.h_file(firmware.abspath()) 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 fw_task.post_run = post_run
_cp_px4io = None _cp_px4io = None
@ -96,12 +97,18 @@ def px4_firmware(self):
global _cp_px4io, _firmware_semaphorish_tasks, _upload_task global _cp_px4io, _firmware_semaphorish_tasks, _upload_task
version = self.env.get_flat('PX4_VERSION') 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: if self.env.PX4_USE_PX4IO and not _cp_px4io:
px4io_task = self.create_cmake_build_task('px4', 'fw_io') px4io_task = self.create_cmake_build_task('px4', 'fw_io')
px4io = px4io_task.cmake.bldnode.make_node( px4io = px4io_task.cmake.bldnode.make_node(
'src/modules/px4iofirmware/px4io-v%s.bin' % version, '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 = self.bld.bldnode.make_node(self.env.PX4_ROMFS_BLD)
romfs_px4io = romfs.make_node('px4io/px4io.bin') 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 = self.create_task('px4_copy', px4io, romfs_px4io)
_cp_px4io.keyword = lambda: 'PX4: Copying PX4IO to ROMFS' _cp_px4io.keyword = lambda: 'PX4: Copying PX4IO to ROMFS'
px4 = self.bld.cmake('px4') px4io_elf_dest = self.bld.bldnode.make_node(self.env.PX4IO_ELF_DEST)
px4.vars['APM_PROGRAM_LIB'] = self.link_task.outputs[0].abspath() cp_px4io_elf = self.create_task('px4_copy', px4io_elf, px4io_elf_dest)
fw_task = self.create_cmake_build_task( fw_task = self.create_cmake_build_task(
'px4', 'px4',
@ -129,7 +136,10 @@ def px4_firmware(self):
firmware = px4.bldnode.make_node( firmware = px4.bldnode.make_node(
'src/firmware/nuttx/nuttx-px4fmu-v%s-apm.px4' % version, '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( fw_dest = self.bld.bldnode.make_node(
os.path.join(self.program_dir, '%s.px4' % self.program_name) 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) git_hashes.set_run_after(fw_task)
_firmware_semaphorish_tasks.append(git_hashes) _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 self.bld.options.upload:
if _upload_task: if _upload_task:
Logs.warn('PX4: upload for %s ignored' % self.name) 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_NUTTX_ROOT = srcpath('modules/PX4NuttX')
env.PX4_UAVCAN_ROOT = srcpath('modules/uavcan') 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( env.PX4_CMAKE_VARS = dict(
CONFIG='nuttx_px4fmu-v%s_apm' % env.get_flat('PX4_VERSION'), CONFIG='nuttx_px4fmu-v%s_apm' % env.get_flat('PX4_VERSION'),
CMAKE_MODULE_PATH=srcpath('Tools/ardupilotwaf/px4/cmake'), CMAKE_MODULE_PATH=srcpath('Tools/ardupilotwaf/px4/cmake'),