ardupilot/Tools/ardupilotwaf/uavcangen.py

76 lines
2.3 KiB
Python

#!/usr/bin/env python
# encoding: utf-8
"""
generate DSDLC headers for uavcan
"""
from waflib import Logs, Task, Utils, Node
from waflib.TaskGen import feature, before_method, extension
import os
import os.path
from xml.etree import ElementTree as et
class uavcangen(Task.Task):
"""generate uavcan header files"""
color = 'BLUE'
before = 'cxx c'
def run(self):
python = self.env.get_flat('PYTHON')
out = self.env.get_flat('OUTPUT_DIR')
src = self.env.get_flat('SRC')
dsdlc = self.env.get_flat("DSDL_COMPILER")
input_dir = os.path.dirname(self.inputs[0].abspath())
ret = self.exec_command('{} {} {} -O{}'.format(
python, dsdlc, input_dir, out))
if ret != 0:
# ignore if there was a signal to the interpreter rather
# than a real error in the script. Some environments use a
# signed and some an unsigned return for this
if ret > 128 or ret < 0:
Logs.warn('uavcangen crashed with code: {}'.format(ret))
ret = 0
else:
Logs.error('uavcangen returned {} error code'.format(ret))
return ret
def post_run(self):
super(uavcangen, self).post_run()
for header in self.generator.output_dir.ant_glob("*.hpp **/*.hpp", remove=False):
header.sig = header.cache_sig = self.cache_sig
def options(opt):
opt.load('python')
@feature('uavcangen')
@before_method('process_source')
def process_uavcangen(self):
if not hasattr(self, 'output_dir'):
self.bld.fatal('uavcangen: missing option output_dir')
inputs = self.to_nodes(self.source)
outputs = []
self.source = []
if not isinstance(self.output_dir, Node.Node):
self.output_dir = self.bld.bldnode.find_or_declare(self.output_dir)
task = self.create_task('uavcangen', inputs, outputs)
task.env['OUTPUT_DIR'] = self.output_dir.abspath()
task.env.env = dict(os.environ)
def configure(cfg):
"""
setup environment for uavcan header generator
"""
cfg.load('python')
cfg.check_python_version(minver=(2,7,0))
env = cfg.env
env.DSDL_COMPILER_DIR = cfg.srcnode.make_node('modules/uavcan/libuavcan/dsdl_compiler').abspath()
env.DSDL_COMPILER = env.DSDL_COMPILER_DIR + '/libuavcan_dsdlc'