waf: use bld for dronecangen export headers for including

Tools/AP_Periph/wscript

@@ -72,6 +72,7 @@ def build(bld):
         name= 'AP_Periph_libs',
         ap_vehicle='AP_Periph',
         ap_libraries= libraries,
+        use='dronecan',
         exclude_src=[
             'libraries/AP_HAL_ChibiOS/Storage.cpp'
         ]
@@ -80,14 +81,11 @@ def build(bld):
     # build external libcanard library
     bld.stlib(source=['../../modules/DroneCAN/libcanard/canard.c'] +
                      bld.bldnode.ant_glob('modules/DroneCAN/libcanard/dsdlc_generated/src/**.c'),
-              includes=[bld.env.SRCROOT + '/modules/DroneCAN/libcanard', 
-                        bld.env.BUILDROOT + '/modules/DroneCAN/libcanard/dsdlc_generated/include'],
+              use='dronecan',
               target='libcanard')
 
     bld.ap_program(
         program_name='AP_Periph',
-        use=['AP_Periph_libs', 'libcanard'],
+        use=['AP_Periph_libs', 'libcanard', 'dronecan'],
         program_groups=['bin','AP_Periph'],
-        includes=[bld.env.SRCROOT + '/modules/DroneCAN/libcanard',
-                  bld.env.BUILDROOT + '/modules/DroneCAN/libcanard/dsdlc_generated/include']
     )

Tools/ardupilotwaf/boards.py

@@ -423,9 +423,6 @@ class Board:
                 UAVCAN_NULLPTR = 'nullptr'
             )
 
-            env.INCLUDES += [
-                cfg.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath()
-            ]
 
         if cfg.options.build_dates:
             env.build_dates = True

Tools/ardupilotwaf/chibios.py

@@ -459,10 +459,6 @@ def setup_canmgr_build(cfg):
     else:
         env.DEFINES += ['UAVCAN_SUPPORT_CANFD=0']
 
-
-    env.INCLUDES += [
-        cfg.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath(),
-        ]
     cfg.get_board().with_can = True
 
 def load_env_vars(env):

Tools/ardupilotwaf/dronecangen.py

@@ -0,0 +1,75 @@
+# encoding: utf-8
+
+"""
+generate DSDLC headers for uavcan
+"""
+
+from waflib import Logs, Task, Utils, Node
+from waflib.TaskGen import feature, before_method, extension
+import os
+import os.path
+from xml.etree import ElementTree as et
+
+class dronecangen(Task.Task):
+    """generate uavcan header files"""
+    color   = 'BLUE'
+    before  = 'cxx c'
+
+    def run(self):
+        python = self.env.get_flat('PYTHON')
+        out = self.env.get_flat('OUTPUT_DIR')
+        src = self.env.get_flat('SRC')
+        dsdlc = self.env.get_flat("DSDL_COMPILER")
+
+        ret = self.exec_command(['{}'.format(python),
+                                 '{}'.format(dsdlc),
+                                 '-O{}'.format(out)] + [x.abspath() for x in self.inputs])
+        if ret != 0:
+            # ignore if there was a signal to the interpreter rather
+            # than a real error in the script. Some environments use a
+            # signed and some an unsigned return for this
+            if ret > 128 or ret < 0:
+                Logs.warn('dronecangen crashed with code: {}'.format(ret))
+                ret = 0
+            else:
+                Logs.error('dronecangen returned {} error code'.format(ret))
+        return ret
+
+    def post_run(self):
+        super(dronecangen, self).post_run()
+        for header in self.generator.output_dir.ant_glob("*.h **/*.h", remove=False):
+            header.sig = header.cache_sig = self.cache_sig
+
+def options(opt):
+    opt.load('python')
+
+@feature('dronecangen')
+@before_method('process_rule')
+def process_dronecangen(self):
+    if not hasattr(self, 'output_dir'):
+        self.bld.fatal('dronecangen: missing option output_dir')
+
+    inputs = self.to_nodes(self.source)
+    outputs = []
+
+    self.source = []
+
+    if not isinstance(self.output_dir, Node.Node):
+        self.output_dir = self.bld.bldnode.find_or_declare(self.output_dir)
+
+    task = self.create_task('dronecangen', inputs, outputs)
+    task.env['OUTPUT_DIR'] = self.output_dir.abspath()
+
+    task.env.env = dict(os.environ)
+
+def configure(cfg):
+    """
+    setup environment for uavcan header generator
+    """
+    cfg.load('python')
+    cfg.check_python_version(minver=(2,7,0))
+
+    env = cfg.env
+    env.DSDL_COMPILER_DIR = cfg.srcnode.make_node('modules/DroneCAN/dronecan_dsdlc/').abspath()
+    env.DSDL_COMPILER = env.DSDL_COMPILER_DIR + '/dronecan_dsdlc.py'
+    cfg.msg('DSDL compiler', env.DSDL_COMPILER)

Tools/ardupilotwaf/uavcangen.py

@@ -73,3 +73,4 @@ def configure(cfg):
     env = cfg.env
     env.DSDL_COMPILER_DIR = cfg.srcnode.make_node('modules/uavcan/libuavcan/dsdl_compiler').abspath()
     env.DSDL_COMPILER = env.DSDL_COMPILER_DIR + '/libuavcan_dsdlc'
+    cfg.msg('DSDL compiler', env.DSDL_COMPILER)

wscript

@@ -447,7 +447,10 @@ def configure(cfg):
     cfg.load('clang_compilation_database')
     cfg.load('waf_unit_test')
     cfg.load('mavgen')
-    cfg.load('uavcangen')
+    if cfg.options.board in cfg.ap_periph_boards():
+        cfg.load('dronecangen')
+    else:
+        cfg.load('uavcangen')
 
     cfg.env.SUBMODULE_UPDATE = cfg.options.submodule_update
 
@@ -545,26 +548,6 @@ def configure(cfg):
 
     _collect_autoconfig_files(cfg)
 
-def generate_dronecan_dsdlc(cfg):
-    dsdlc_gen_path = cfg.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated').abspath()
-    src = cfg.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_UAVCAN/dsdl/*', dir=True, src=False)
-    dsdlc_path = cfg.srcnode.make_node('modules/DroneCAN/dronecan_dsdlc/dronecan_dsdlc.py').abspath()
-    if not os.path.exists(dsdlc_path):
-        print("Please update submodules with: git submodule update --recursive --init")
-        sys.exit(1)
-    src = ' '.join([s.abspath() for s in src])
-    cmd = '{} {} -O {} {}'.format(cfg.env.get_flat('PYTHON'),
-                        dsdlc_path,
-                        dsdlc_gen_path,
-                        src)
-    print("Generating DSDLC for CANARD: " + cmd)
-    ret = subprocess.run(cmd, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
-    if ret.returncode != 0:
-        print('Failed to run: ', cmd)
-        print(ret.stdout.decode('utf-8'))
-        print(ret.stderr.decode('utf-8'))
-        raise RuntimeError('Failed to generate DSDL C bindings')
-
 def collect_dirs_to_recurse(bld, globs, **kw):
     dirs = []
     globs = Utils.to_list(globs)
@@ -661,9 +644,20 @@ def _build_dynamic_sources(bld):
             name='uavcan',
             export_includes=[
                 bld.bldnode.make_node('modules/uavcan/libuavcan/include/dsdlc_generated').abspath(),
+                bld.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath()
+            ]
+        )
+    elif bld.env.AP_PERIPH:
+        bld(
+            features='dronecangen',
+            source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_UAVCAN/dsdl/*', dir=True, src=False),
+            output_dir='modules/DroneCAN/libcanard/dsdlc_generated/',
+            name='dronecan',
+            export_includes=[
+                bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/include').abspath(),
+                bld.srcnode.find_dir('modules/DroneCAN/libcanard/').abspath(),
             ]
         )
-
 
     def write_version_header(tsk):
         bld = tsk.generator.bld
@@ -768,12 +762,6 @@ def _load_pre_build(bld):
     if bld.cmd == 'clean':
         return
     brd = bld.get_board()
-    if bld.env.AP_PERIPH:
-        dsdlc_gen_path = bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/include').abspath()
-        #check if canard dsdlc directory empty
-        # check if directory exists
-        if not os.path.exists(dsdlc_gen_path) or not os.listdir(dsdlc_gen_path):
-            generate_dronecan_dsdlc(bld)
     if getattr(brd, 'pre_build', None):
         brd.pre_build(bld)