mirror of https://github.com/ArduPilot/ardupilot
74 lines
2.2 KiB
Python
74 lines
2.2 KiB
Python
#!/usr/bin/env python
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# encoding: utf-8
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# (c) Siddharth Bharat Purohit, 3DRobotics Inc.
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"""
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The **mavgen.py** program is a code generator which creates mavlink header files.
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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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class mavgen(Task.Task):
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"""generate mavlink 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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mavgen = self.env.get_flat('MAVGEN')
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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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ret = self.exec_command('{} {} --lang=C --wire-protocol=1.0 --output {} {}'.format(
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python, mavgen, out, self.inputs[0].abspath()))
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if ret != 0:
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# ignore if there was a signal to the interpreter rather than a real error in the script
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if ret > 128:
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Logs.warn('mavgen crashed with code: {}'.format(ret))
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ret = 0
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else:
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Logs.error('mavgen returned {} error code'.format(ret))
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return ret
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def post_run(self):
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super(mavgen, 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('mavgen')
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@before_method('process_source')
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def process_mavgen(self):
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if not hasattr(self, 'output_dir'):
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self.bld.fatal('mavgen: 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('mavgen', 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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task.env.env['PYTHONPATH'] = task.env.MAVLINK_DIR
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def configure(cfg):
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"""
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setup environment for mavlink 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.MAVLINK_DIR = cfg.srcnode.make_node('modules/mavlink/').abspath()
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env.MAVGEN = env.MAVLINK_DIR + '/pymavlink/tools/mavgen.py'
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