mirror of https://github.com/ArduPilot/ardupilot
waf: use bld for dronecangen export headers for including
This commit is contained in:
bugobliterator
Andrew Tridgell
parent
04adfc814a
commit
e4ada09fc3
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@ -72,6 +72,7 @@ def build(bld):
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name= 'AP_Periph_libs',
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ap_vehicle='AP_Periph',
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ap_libraries= libraries,
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use='dronecan',
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exclude_src=[
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'libraries/AP_HAL_ChibiOS/Storage.cpp'
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]
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@ -80,14 +81,11 @@ def build(bld):
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# build external libcanard library
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bld.stlib(source=['../../modules/DroneCAN/libcanard/canard.c'] +
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bld.bldnode.ant_glob('modules/DroneCAN/libcanard/dsdlc_generated/src/**.c'),
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includes=[bld.env.SRCROOT + '/modules/DroneCAN/libcanard',
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bld.env.BUILDROOT + '/modules/DroneCAN/libcanard/dsdlc_generated/include'],
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use='dronecan',
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target='libcanard')
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bld.ap_program(
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program_name='AP_Periph',
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use=['AP_Periph_libs', 'libcanard'],
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use=['AP_Periph_libs', 'libcanard', 'dronecan'],
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program_groups=['bin','AP_Periph'],
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includes=[bld.env.SRCROOT + '/modules/DroneCAN/libcanard',
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bld.env.BUILDROOT + '/modules/DroneCAN/libcanard/dsdlc_generated/include']
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)
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@ -423,9 +423,6 @@ class Board:
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UAVCAN_NULLPTR = 'nullptr'
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)
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env.INCLUDES += [
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cfg.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath()
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]
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if cfg.options.build_dates:
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env.build_dates = True
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@ -459,10 +459,6 @@ def setup_canmgr_build(cfg):
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else:
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env.DEFINES += ['UAVCAN_SUPPORT_CANFD=0']
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env.INCLUDES += [
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cfg.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath(),
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]
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cfg.get_board().with_can = True
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def load_env_vars(env):
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@ -0,0 +1,75 @@
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# encoding: utf-8
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"""
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generate DSDLC headers for uavcan
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"""
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from waflib import Logs, Task, Utils, Node
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from waflib.TaskGen import feature, before_method, extension
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import os
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import os.path
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from xml.etree import ElementTree as et
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class dronecangen(Task.Task):
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"""generate uavcan header files"""
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color = 'BLUE'
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before = 'cxx c'
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def run(self):
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python = self.env.get_flat('PYTHON')
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out = self.env.get_flat('OUTPUT_DIR')
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src = self.env.get_flat('SRC')
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dsdlc = self.env.get_flat("DSDL_COMPILER")
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ret = self.exec_command(['{}'.format(python),
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'{}'.format(dsdlc),
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'-O{}'.format(out)] + [x.abspath() for x in self.inputs])
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if ret != 0:
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# ignore if there was a signal to the interpreter rather
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# than a real error in the script. Some environments use a
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# signed and some an unsigned return for this
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if ret > 128 or ret < 0:
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Logs.warn('dronecangen crashed with code: {}'.format(ret))
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ret = 0
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else:
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Logs.error('dronecangen returned {} error code'.format(ret))
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return ret
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def post_run(self):
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super(dronecangen, self).post_run()
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for header in self.generator.output_dir.ant_glob("*.h **/*.h", remove=False):
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header.sig = header.cache_sig = self.cache_sig
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def options(opt):
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opt.load('python')
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@feature('dronecangen')
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@before_method('process_rule')
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def process_dronecangen(self):
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if not hasattr(self, 'output_dir'):
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self.bld.fatal('dronecangen: missing option output_dir')
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inputs = self.to_nodes(self.source)
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outputs = []
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self.source = []
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if not isinstance(self.output_dir, Node.Node):
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self.output_dir = self.bld.bldnode.find_or_declare(self.output_dir)
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task = self.create_task('dronecangen', inputs, outputs)
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task.env['OUTPUT_DIR'] = self.output_dir.abspath()
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task.env.env = dict(os.environ)
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def configure(cfg):
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"""
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setup environment for uavcan header generator
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"""
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cfg.load('python')
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cfg.check_python_version(minver=(2,7,0))
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env = cfg.env
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env.DSDL_COMPILER_DIR = cfg.srcnode.make_node('modules/DroneCAN/dronecan_dsdlc/').abspath()
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env.DSDL_COMPILER = env.DSDL_COMPILER_DIR + '/dronecan_dsdlc.py'
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cfg.msg('DSDL compiler', env.DSDL_COMPILER)
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@ -73,3 +73,4 @@ def configure(cfg):
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env = cfg.env
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env.DSDL_COMPILER_DIR = cfg.srcnode.make_node('modules/uavcan/libuavcan/dsdl_compiler').abspath()
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env.DSDL_COMPILER = env.DSDL_COMPILER_DIR + '/libuavcan_dsdlc'
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cfg.msg('DSDL compiler', env.DSDL_COMPILER)
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42
wscript
42
wscript
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@ -447,6 +447,9 @@ def configure(cfg):
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cfg.load('clang_compilation_database')
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cfg.load('waf_unit_test')
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cfg.load('mavgen')
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if cfg.options.board in cfg.ap_periph_boards():
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cfg.load('dronecangen')
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else:
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cfg.load('uavcangen')
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cfg.env.SUBMODULE_UPDATE = cfg.options.submodule_update
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@ -545,26 +548,6 @@ def configure(cfg):
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_collect_autoconfig_files(cfg)
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def generate_dronecan_dsdlc(cfg):
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dsdlc_gen_path = cfg.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated').abspath()
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src = cfg.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_UAVCAN/dsdl/*', dir=True, src=False)
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dsdlc_path = cfg.srcnode.make_node('modules/DroneCAN/dronecan_dsdlc/dronecan_dsdlc.py').abspath()
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if not os.path.exists(dsdlc_path):
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print("Please update submodules with: git submodule update --recursive --init")
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sys.exit(1)
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src = ' '.join([s.abspath() for s in src])
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cmd = '{} {} -O {} {}'.format(cfg.env.get_flat('PYTHON'),
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dsdlc_path,
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dsdlc_gen_path,
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src)
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print("Generating DSDLC for CANARD: " + cmd)
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ret = subprocess.run(cmd, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
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if ret.returncode != 0:
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print('Failed to run: ', cmd)
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print(ret.stdout.decode('utf-8'))
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print(ret.stderr.decode('utf-8'))
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raise RuntimeError('Failed to generate DSDL C bindings')
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def collect_dirs_to_recurse(bld, globs, **kw):
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dirs = []
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globs = Utils.to_list(globs)
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@ -661,9 +644,20 @@ def _build_dynamic_sources(bld):
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name='uavcan',
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export_includes=[
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bld.bldnode.make_node('modules/uavcan/libuavcan/include/dsdlc_generated').abspath(),
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bld.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath()
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]
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)
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elif bld.env.AP_PERIPH:
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bld(
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features='dronecangen',
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source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_UAVCAN/dsdl/*', dir=True, src=False),
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output_dir='modules/DroneCAN/libcanard/dsdlc_generated/',
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name='dronecan',
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export_includes=[
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bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/include').abspath(),
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bld.srcnode.find_dir('modules/DroneCAN/libcanard/').abspath(),
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]
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)
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def write_version_header(tsk):
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bld = tsk.generator.bld
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@ -768,12 +762,6 @@ def _load_pre_build(bld):
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if bld.cmd == 'clean':
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return
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brd = bld.get_board()
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if bld.env.AP_PERIPH:
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dsdlc_gen_path = bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/include').abspath()
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#check if canard dsdlc directory empty
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# check if directory exists
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if not os.path.exists(dsdlc_gen_path) or not os.listdir(dsdlc_gen_path):
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generate_dronecan_dsdlc(bld)
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if getattr(brd, 'pre_build', None):
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brd.pre_build(bld)
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