mirror of https://github.com/ArduPilot/ardupilot
327 lines
10 KiB
Python
327 lines
10 KiB
Python
#!/usr/bin/env python
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# encoding: utf-8
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"""
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Waf tool for PX4 build
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"""
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from waflib import Logs, Task, Utils
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from waflib.TaskGen import after_method, before_method, feature
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import os
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import sys
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_dynamic_env_data = {}
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def _load_dynamic_env_data(bld):
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bldnode = bld.bldnode.make_node('modules/PX4Firmware')
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for name in ('cxx_flags', 'include_dirs', 'definitions'):
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_dynamic_env_data[name] = bldnode.find_node(name).read().split(';')
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@feature('px4_ap_stlib', 'px4_ap_program')
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@before_method('process_source')
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def px4_dynamic_env(self):
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# The generated files from configuration possibly don't exist if it's just
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# a list command (TODO: figure out a better way to address that).
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if self.bld.cmd == 'list':
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return
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if not _dynamic_env_data:
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_load_dynamic_env_data(self.bld)
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self.env.append_value('INCLUDES', _dynamic_env_data['include_dirs'])
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self.env.prepend_value('CXXFLAGS', _dynamic_env_data['cxx_flags'])
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self.env.prepend_value('CXXFLAGS', _dynamic_env_data['definitions'])
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# Single static library
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# NOTE: This only works only for local static libraries dependencies - fake
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# libraries aren't supported yet
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@feature('px4_ap_program')
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@after_method('apply_link')
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@before_method('process_use')
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def px4_import_objects_from_use(self):
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queue = Utils.to_list(getattr(self, 'use', []))
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names = set()
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while queue:
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name = queue.pop(0)
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if name in names:
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continue
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names.add(name)
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try:
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tg = self.bld.get_tgen_by_name(name)
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except Errors.WafError:
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continue
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tg.post()
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for t in getattr(tg, 'compiled_tasks', []):
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self.link_task.set_inputs(t.outputs)
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queue.extend(Utils.to_list(getattr(tg, 'use', [])))
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class px4_copy(Task.Task):
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run_str = '${CP} ${SRC} ${TGT}'
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color = 'CYAN'
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def keyword(self):
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return "PX4: Copying %s to" % self.inputs[0].name
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def __str__(self):
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return self.outputs[0].path_from(self.generator.bld.bldnode)
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class px4_add_git_hashes(Task.Task):
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run_str = '${PYTHON} ${PX4_ADD_GIT_HASHES} --ardupilot ${PX4_APM_ROOT} --px4 ${PX4_ROOT} --nuttx ${PX4_NUTTX_ROOT} --uavcan ${PX4_UAVCAN_ROOT} ${SRC} ${TGT}'
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color = 'CYAN'
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def keyword(self):
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return "PX4: Copying firmware and adding git hashes"
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def __str__(self):
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return self.outputs[0].path_from(self.outputs[0].ctx.launch_node())
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def _update_firmware_sig(fw_task, firmware, elf):
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original_post_run = fw_task.post_run
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def post_run():
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original_post_run()
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firmware.sig = firmware.cache_sig = Utils.h_file(firmware.abspath())
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elf.sig = elf.cache_sig = Utils.h_file(elf.abspath())
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fw_task.post_run = post_run
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_cp_px4io = None
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_firmware_semaphorish_tasks = []
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_upload_task = []
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@feature('px4_ap_program')
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@after_method('process_source')
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def px4_firmware(self):
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global _cp_px4io, _firmware_semaphorish_tasks, _upload_task
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version = self.env.get_flat('PX4_VERSION')
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px4 = self.bld.cmake('px4')
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px4.vars['APM_PROGRAM_LIB'] = self.link_task.outputs[0].abspath()
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if self.env.PX4_USE_PX4IO and not _cp_px4io:
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px4io_task = self.create_cmake_build_task('px4', 'fw_io')
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px4io = px4io_task.cmake.bldnode.make_node(
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'src/modules/px4iofirmware/px4io-v%s.bin' % version,
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)
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px4io_elf = px4.bldnode.make_node(
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'src/modules/px4iofirmware/px4io-v%s' % version
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)
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px4io_task.set_outputs([px4io, px4io_elf])
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romfs = self.bld.bldnode.make_node(self.env.PX4_ROMFS_BLD)
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romfs_px4io = romfs.make_node('px4io/px4io.bin')
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romfs_px4io.parent.mkdir()
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_cp_px4io = self.create_task('px4_copy', px4io, romfs_px4io)
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_cp_px4io.keyword = lambda: 'PX4: Copying PX4IO to ROMFS'
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px4io_elf_dest = self.bld.bldnode.make_node(self.env.PX4IO_ELF_DEST)
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cp_px4io_elf = self.create_task('px4_copy', px4io_elf, px4io_elf_dest)
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fw_task = self.create_cmake_build_task(
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'px4',
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'build_firmware_px4fmu-v%s' % version,
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)
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# we need to synchronize in order to avoid the output expected by the
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# previous ap_program being overwritten before used
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for t in _firmware_semaphorish_tasks:
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fw_task.set_run_after(t)
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_firmware_semaphorish_tasks = []
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if self.env.PX4_USE_PX4IO and _cp_px4io.generator is self:
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fw_task.set_run_after(_cp_px4io)
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firmware = px4.bldnode.make_node(
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'src/firmware/nuttx/nuttx-px4fmu-v%s-apm.px4' % version,
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)
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fw_elf = px4.bldnode.make_node(
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'src/firmware/nuttx/firmware_nuttx',
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)
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_update_firmware_sig(fw_task, firmware, fw_elf)
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fw_dest = self.bld.bldnode.make_node(
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os.path.join(self.program_dir, '%s.px4' % self.program_name)
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)
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git_hashes = self.create_task('px4_add_git_hashes', firmware, fw_dest)
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git_hashes.set_run_after(fw_task)
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_firmware_semaphorish_tasks.append(git_hashes)
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fw_elf_dest = self.bld.bldnode.make_node(
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os.path.join(self.program_dir, self.program_name)
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)
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cp_elf = self.create_task('px4_copy', fw_elf, fw_elf_dest)
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cp_elf.set_run_after(fw_task)
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_firmware_semaphorish_tasks.append(cp_elf)
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self.build_summary = dict(
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target=self.name,
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binary=fw_elf_dest.path_from(self.bld.bldnode),
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)
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if self.bld.options.upload:
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if _upload_task:
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Logs.warn('PX4: upload for %s ignored' % self.name)
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return
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_upload_task = self.create_cmake_build_task('px4', 'upload')
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_upload_task.set_run_after(fw_task)
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_firmware_semaphorish_tasks.append(_upload_task)
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def _px4_taskgen(bld, **kw):
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if 'cls_keyword' in kw and not callable(kw['cls_keyword']):
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cls_keyword = str(kw['cls_keyword'])
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kw['cls_keyword'] = lambda tsk: 'PX4: ' + cls_keyword
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if 'cls_str' in kw and not callable(kw['cls_str']):
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cls_str = str(kw['cls_str'])
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kw['cls_str'] = lambda tsk: cls_str
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kw['color'] = 'CYAN'
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return bld(**kw)
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@feature('_px4_romfs')
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def _process_romfs(self):
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bld = self.bld
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file_list = (
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'firmware/oreoled.bin',
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'init.d/rc.APM',
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'init.d/rc.error',
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'init.d/rcS',
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(bld.env.PX4_BOOTLOADER, 'bootloader/fmu_bl.bin'),
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)
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romfs_src = bld.srcnode.find_dir(bld.env.PX4_ROMFS_SRC)
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romfs_bld = bld.bldnode.make_node(bld.env.PX4_ROMFS_BLD)
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for item in file_list:
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if isinstance(item, str):
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src = romfs_src.make_node(item)
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dst = romfs_bld.make_node(item)
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else:
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src = bld.srcnode.make_node(item[0])
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dst = romfs_bld.make_node(item[1])
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dst.parent.mkdir()
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self.create_task('px4_copy', src, dst)
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def configure(cfg):
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cfg.env.CMAKE_MIN_VERSION = '3.2'
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cfg.load('cmake')
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cfg.find_program('cp')
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bldnode = cfg.bldnode.make_node(cfg.variant)
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env = cfg.env
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env.AP_PROGRAM_FEATURES += ['px4_ap_program']
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env.AP_STLIB_FEATURES += ['px4_ap_stlib']
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def srcpath(path):
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return cfg.srcnode.make_node(path).abspath()
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def bldpath(path):
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return bldnode.make_node(path).abspath()
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if env.PX4_VERSION == '1':
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bootloader_name = 'px4fmu_bl.bin'
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else:
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bootloader_name = 'px4fmuv%s_bl.bin' % env.get_flat('PX4_VERSION')
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# TODO: we should move stuff from mk/PX4 to Tools/ardupilotwaf/px4 after
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# stop using the make-based build system
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env.PX4_ROMFS_SRC = 'mk/PX4/ROMFS'
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env.PX4_ROMFS_BLD = 'px4-extra-files/ROMFS'
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env.PX4_BOOTLOADER = 'mk/PX4/bootloader/%s' % bootloader_name
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env.PX4_ADD_GIT_HASHES = srcpath('Tools/scripts/add_git_hashes.py')
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env.PX4_APM_ROOT = srcpath('')
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env.PX4_ROOT = srcpath('modules/PX4Firmware')
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env.PX4_NUTTX_ROOT = srcpath('modules/PX4NuttX')
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env.PX4_UAVCAN_ROOT = srcpath('modules/uavcan')
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if env.PX4_USE_PX4IO:
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env.PX4IO_ELF_DEST = 'px4-extra-files/px4io'
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env.PX4_CMAKE_VARS = dict(
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CONFIG='nuttx_px4fmu-v%s_apm' % env.get_flat('PX4_VERSION'),
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CMAKE_MODULE_PATH=srcpath('Tools/ardupilotwaf/px4/cmake'),
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UAVCAN_LIBUAVCAN_PATH=env.PX4_UAVCAN_ROOT,
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NUTTX_SRC=env.PX4_NUTTX_ROOT,
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PX4_NUTTX_ROMFS=bldpath(env.PX4_ROMFS_BLD),
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ARDUPILOT_BUILD='YES',
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EXTRA_CXX_FLAGS=' '.join((
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# NOTE: these "-Wno-error=*" flags should be removed as we update
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# the submodule
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'-Wno-error=double-promotion',
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'-Wno-error=reorder',
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# NOTE: *Temporarily* using this definition so that both
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# PX4Firmware build systems (cmake and legacy make-based) can live
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# together
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'-DCMAKE_BUILD',
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'-DARDUPILOT_BUILD',
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'-I%s' % bldpath('libraries/GCS_MAVLink'),
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'-I%s' % bldpath('libraries/GCS_MAVLink/include/mavlink'),
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'-Wl,--gc-sections',
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)),
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EXTRA_C_FLAGS=' '.join((
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# NOTE: *Temporarily* using this definition so that both
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# PX4Firmware build systems (cmake and legacy make-based) can live
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# together
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'-DCMAKE_BUILD',
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)),
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)
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def build(bld):
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version = bld.env.get_flat('PX4_VERSION')
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px4 = bld.cmake(
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name='px4',
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cmake_src=bld.srcnode.find_dir('modules/PX4Firmware'),
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cmake_vars=bld.env.PX4_CMAKE_VARS,
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)
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px4.build(
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'msg_gen',
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group='dynamic_sources',
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cmake_output_patterns='src/modules/uORB/topics/*.h',
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)
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px4.build(
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'prebuild_targets',
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group='dynamic_sources',
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cmake_output_patterns='px4fmu-v%s/NuttX/nuttx-export/**/*.h' % version,
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)
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bld(
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name='px4_romfs_static_files',
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group='dynamic_sources',
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features='_px4_romfs',
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)
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bld.extra_build_summary = _extra_build_summary
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def _extra_build_summary(bld, build_summary):
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build_summary.text('')
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build_summary.text('PX4')
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build_summary.text('', '''
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The ELF files are pointed by the path in the "%s" column. The .px4 files are in
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the same directory of their corresponding ELF files.
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''' % build_summary.header_text['target'])
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if not bld.options.upload:
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build_summary.text('')
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build_summary.text('', '''
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You can use the option --upload to upload the firmware to the PX4 board if you
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have one connected.''')
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if bld.env.PX4_USE_PX4IO:
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build_summary.text('')
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build_summary.text('PX4IO')
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summary_data_list = bld.size_summary([bld.env.PX4IO_ELF_DEST])
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header = bld.env.BUILD_SUMMARY_HEADER[:]
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try:
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header.remove('target')
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except ValueError:
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pass
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header.insert(0, 'binary_path')
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build_summary.print_table(summary_data_list, header)
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