mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 08:58:29 -04:00
134 lines
4.6 KiB
Python
134 lines
4.6 KiB
Python
# encoding: utf-8
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"""
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Waf tool for ESP32 build
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"""
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from waflib import Build, ConfigSet, Configure, Context, Task, Utils
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from waflib import Errors, Logs
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from waflib.TaskGen import before, after_method, before_method, feature
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from waflib.Configure import conf
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from collections import OrderedDict
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import os
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import shutil
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import sys
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import re
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import pickle
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import subprocess
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def configure(cfg):
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mcu_esp32s3 = True if (cfg.variant[0:7] == "esp32s3") else False
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target = "esp32s3" if mcu_esp32s3 else "esp32"
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bldnode = cfg.bldnode.make_node(cfg.variant)
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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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#Load cmake builder and make
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cfg.load('cmake')
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#define env and location for the cmake esp32 file
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env = cfg.env
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env.AP_HAL_ESP32 = srcpath('libraries/AP_HAL_ESP32/targets/'+target+'/esp-idf')
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env.AP_PROGRAM_FEATURES += ['esp32_ap_program']
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env.ESP_IDF_PREFIX_REL = 'esp-idf'
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prefix_node = bldnode.make_node(env.ESP_IDF_PREFIX_REL)
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env.ESP32_TARGET = target
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env.BUILDROOT = bldpath('')
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env.SRCROOT = srcpath('')
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env.APJ_TOOL = srcpath('Tools/scripts/apj_tool.py')
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#Check if esp-idf env are loaded, or load it
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try:
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env.IDF = os.environ['IDF_PATH']
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except:
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env.IDF = cfg.srcnode.abspath()+"/modules/esp_idf"
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print("USING EXPRESSIF IDF:"+str(env.IDF))
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#env.append_value('GIT_SUBMODULES', 'esp_idf')
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# delete the output sdkconfig file when the input defaults changes. we take the
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# stamp as the output so we can compute the path to the sdkconfig, yet it
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# doesn't have to exist when we're done.
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class clean_sdkconfig(Task.Task):
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def keyword(self):
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return "delete sdkconfig generated from"
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def run(self):
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prefix = ".clean-stamp-"
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for out in self.outputs:
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if not out.name.startswith(prefix):
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raise ValueError("not a stamp file: "+out)
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dest = out.parent.abspath()+"/"+out.name[len(prefix):]
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if os.path.exists(dest):
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os.unlink(dest)
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# waf needs the output to exist after the task, so touch it
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open(out.abspath(), "w").close()
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def pre_build(self):
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"""Configure esp-idf as lib target"""
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lib_vars = OrderedDict()
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lib_vars['ARDUPILOT_CMD'] = self.cmd
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lib_vars['WAF_BUILD_TARGET'] = self.targets
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lib_vars['ARDUPILOT_LIB'] = self.bldnode.find_or_declare('lib/').abspath()
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lib_vars['ARDUPILOT_BIN'] = self.bldnode.find_or_declare('lib/bin').abspath()
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target = self.env.ESP32_TARGET
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esp_idf = self.cmake(
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name='esp-idf',
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cmake_vars=lib_vars,
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cmake_src='libraries/AP_HAL_ESP32/targets/'+target+'/esp-idf',
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cmake_bld='esp-idf_build',
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)
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esp_idf_showinc = esp_idf.build('showinc', target='esp-idf_build/includes.list')
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# task to delete the sdkconfig (thereby causing it to be regenerated) when
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# the .defaults changes. it uses a stamp to find the sdkconfig. changing
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# the sdkconfig WILL NOT cause it to be deleted as it's not an input. this
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# is by design so the user can tweak it for testing purposes.
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clean_sdkconfig_task = esp_idf_showinc.create_task("clean_sdkconfig",
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src=self.srcnode.find_or_declare(self.env.AP_HAL_ESP32+"/sdkconfig.defaults"),
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tgt=self.bldnode.find_or_declare("esp-idf_build/.clean-stamp-sdkconfig"))
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esp_idf_showinc.post()
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# ensure the sdkconfig will be deleted before the cmake configure occurs
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# that regenerates it
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esp_idf_showinc.cmake_config_task.set_run_after(clean_sdkconfig_task)
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from waflib import Task
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class load_generated_includes(Task.Task):
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"""After includes.list generated include it in env"""
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always_run = True
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def run(tsk):
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bld = tsk.generator.bld
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includes = bld.bldnode.find_or_declare('esp-idf_build/includes.list').read().split()
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#print(includes)
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bld.env.prepend_value('INCLUDES', includes)
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tsk = load_generated_includes(env=self.env)
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tsk.set_inputs(self.path.find_resource('esp-idf_build/includes.list'))
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self.add_to_group(tsk)
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@feature('esp32_ap_program')
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@after_method('process_source')
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def esp32_firmware(self):
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self.link_task.always_run = True
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esp_idf = self.bld.cmake('esp-idf')
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build = esp_idf.build('all', target='esp-idf_build/ardupilot.bin')
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build.post()
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build.cmake_build_task.set_run_after(self.link_task)
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# optional upload is last
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if self.bld.options.upload:
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flasher = esp_idf.build('flash')
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flasher.post()
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