mirror of https://github.com/ArduPilot/ardupilot
98 lines
3.5 KiB
Python
98 lines
3.5 KiB
Python
#!/usr/bin/env python3
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import pathlib
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def configure(cfg):
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extra_src = [
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'modules/Micro-XRCE-DDS-Client/src/c/core/session/stream/*.c',
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'modules/Micro-XRCE-DDS-Client/src/c/core/session/*.c',
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'modules/Micro-XRCE-DDS-Client/src/c/core/serialization/*.c',
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'modules/Micro-XRCE-DDS-Client/src/c/util/*.c',
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'modules/Micro-XRCE-DDS-Client/src/c/profile/transport/custom/custom_transport.c',
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'modules/Micro-XRCE-DDS-Client/src/c/profile/transport/stream_framing/stream_framing_protocol.c',
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'modules/Micro-CDR/src/c/types/*.c',
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'modules/Micro-CDR/src/c/common.c',
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]
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cfg.env.AP_LIB_EXTRA_SOURCES['AP_DDS'] = []
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for pattern in extra_src:
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s = cfg.srcnode.ant_glob(pattern, dir=False, src=True)
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for x in s:
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cfg.env.AP_LIB_EXTRA_SOURCES['AP_DDS'].append(str(x))
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extra_src_inc = [
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'modules/Micro-XRCE-DDS-Client/include',
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'modules/Micro-XRCE-DDS-Client/include/uxr/client',
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'modules/Micro-CDR/src/c',
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'modules/Micro-CDR/include',
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'modules/Micro-CDR/include/ucdr',
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]
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for inc in extra_src_inc:
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cfg.env.INCLUDES += [str(cfg.srcnode.make_node(inc))]
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# auto update submodules
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cfg.env.append_value('GIT_SUBMODULES', 'Micro-XRCE-DDS-Client')
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cfg.env.append_value('GIT_SUBMODULES', 'Micro-CDR')
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def build(bld):
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config_h_in = [
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'modules/Micro-XRCE-DDS-Client/include/uxr/client/config.h.in',
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'modules/Micro-CDR/include/ucdr/config.h.in',
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]
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config_h_in_nodes = [bld.srcnode.make_node(h) for h in config_h_in]
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config_h_nodes = [bld.bldnode.find_or_declare(h[:-3]) for h in config_h_in]
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gen_path = "libraries/AP_DDS"
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extra_bld_inc = [
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'modules/Micro-CDR/include',
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'modules/Micro-XRCE-DDS-Client/include',
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str(pathlib.PurePath(gen_path, "generated")),
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]
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for inc in extra_bld_inc:
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bld.env.INCLUDES += [bld.bldnode.find_or_declare(inc).abspath()]
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for i in range(len(config_h_nodes)):
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print(f"building {config_h_nodes[i].abspath()}")
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bld(
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# build config.h file
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source=config_h_in_nodes[i],
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target=config_h_nodes[i],
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rule="%s %s/%s %s %s"
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% (
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bld.env.get_flat('PYTHON'),
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bld.env.SRCROOT,
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"libraries/AP_DDS/gen_config_h.py",
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config_h_in_nodes[i].abspath(),
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config_h_nodes[i].abspath(),
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),
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group='dynamic_sources',
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)
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# TODO instead of keeping standard IDL files in the source tree, copy them with "ros2 pkg prefix --share " tools
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idl_files = bld.srcnode.ant_glob('libraries/AP_DDS/Idl/**/*.idl')
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idl_include_path = bld.srcnode.make_node(str(pathlib.PurePath(gen_path, "Idl"))).abspath()
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for idl in idl_files:
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idl_path = pathlib.PurePath(idl.abspath())
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b = idl_path.name
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gen_h = idl_path.with_suffix('.h').name
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gen_c = idl_path.with_suffix('.c').name
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idl_folder = idl_path.parts[-3:-1]
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dst_dir = pathlib.PurePath(gen_path, "generated", *idl_folder)
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gen = [bld.bldnode.find_or_declare(str(dst_dir / name)) for name in [gen_h, gen_c]]
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gen_cmd = f"{bld.env.MICROXRCEDDSGEN[0]} -cs -replace -d {dst_dir} -I {idl_include_path} {idl}"
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bld(
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# build IDL file
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source=idl,
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target=gen,
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rule=gen_cmd,
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group='dynamic_sources',
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)
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bld.env.AP_LIB_EXTRA_SOURCES['AP_DDS'] += [str(gen[1])]
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