mirror of https://github.com/ArduPilot/ardupilot
76 lines
2.4 KiB
Python
76 lines
2.4 KiB
Python
# 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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