ardupilot/Tools/ardupilotwaf/esp32.py

#!/usr/bin/env python
# encoding: utf-8

"""
Waf tool for ESP32 build
"""

from waflib import Build, ConfigSet, Configure, Context, Task, Utils
from waflib import Errors, Logs
from waflib.TaskGen import before, after_method, before_method, feature
from waflib.Configure import conf
from collections import OrderedDict

import os
import shutil
import sys
import re
import pickle
import subprocess

def configure(cfg):

    bldnode = cfg.bldnode.make_node(cfg.variant)
    def srcpath(path):
        return cfg.srcnode.make_node(path).abspath()
    def bldpath(path):
        return bldnode.make_node(path).abspath()

    #Load cmake builder and make
    cfg.load('cmake')

    #define env and location for the cmake esp32 file
    env = cfg.env
    env.AP_HAL_ESP32 = srcpath('libraries/AP_HAL_ESP32/targets/esp-idf')
    env.AP_PROGRAM_FEATURES += ['esp32_ap_program']

    env.ESP_IDF_PREFIX_REL = 'esp-idf'

    prefix_node = bldnode.make_node(env.ESP_IDF_PREFIX_REL)

    env.BUILDROOT = bldpath('')
    env.SRCROOT = srcpath('')
    env.APJ_TOOL = srcpath('Tools/scripts/apj_tool.py')

    #Check if esp-idf env are loaded, or load it
    try:
        env.IDF = os.environ['IDF_PATH']
    except:
        env.IDF = cfg.srcnode.abspath()+"/modules/esp_idf"
    print("USING EXPRESSIF IDF:"+str(env.IDF))

    try:
        env.DEFAULT_PARAMETERS = os.environ['DEFAULT_PARAMETERS']
    except:
        env.DEFAULT_PARAMETERS = cfg.srcnode.abspath()+"/libraries/AP_HAL_ESP32/boards/defaults.parm"
    print("USING DEFAULT_PARAMETERS:"+str(env.DEFAULT_PARAMETERS))

    #env.append_value('GIT_SUBMODULES', 'esp_idf')


def pre_build(self):
    """Configure esp-idf as lib target"""
    lib_vars = OrderedDict()
    lib_vars['ARDUPILOT_CMD'] = self.cmd
    lib_vars['ARDUPILOT_LIB'] = self.bldnode.find_or_declare('lib/').abspath()
    lib_vars['ARDUPILOT_BIN'] = self.bldnode.find_or_declare('lib/bin').abspath()
    esp_idf = self.cmake(
            name='esp-idf',
            cmake_vars=lib_vars,
            cmake_src='libraries/AP_HAL_ESP32/targets/esp-idf',
            cmake_bld='esp-idf_build',
            )

    esp_idf_showinc = esp_idf.build('showinc', target='esp-idf_build/includes.list')
    esp_idf_showinc.post()

    from waflib import Task
    class load_generated_includes(Task.Task):
        """After includes.list generated include it in env"""
        always_run = True
        def run(tsk):
            bld = tsk.generator.bld
            includes = bld.bldnode.find_or_declare('esp-idf_build/includes.list').read().split()
            #print(includes)
            bld.env.prepend_value('INCLUDES', includes)

    tsk = load_generated_includes(env=self.env)
    tsk.set_inputs(self.path.find_resource('esp-idf_build/includes.list'))
    self.add_to_group(tsk)


@feature('esp32_ap_program')
@after_method('process_source')
def esp32_firmware(self):
    self.link_task.always_run = True
    esp_idf = self.bld.cmake('esp-idf')

    build = esp_idf.build('all', target='esp-idf_build/ardupilot.bin')
    build.post()

    build.cmake_build_task.set_run_after(self.link_task)

    # tool that can update the default params in a .bin or .apj
    #self.default_params_task = self.create_task('set_default_parameters',
    #                                          src='esp-idf_build/ardupilot.bin')
    #self.default_params_task.set_run_after(self.generate_bin_task)

    # optional upload is last
    if self.bld.options.upload:
        flasher = esp_idf.build('flash')
        flasher.post()


class set_default_parameters(Task.Task):
    color='CYAN'
    always_run = True
    def keyword(self):
        return "setting default params"
    def run(self):

        # TODO: disabled this task outright as apjtool appears to destroy checksums and/or the esp32 partition table
        # TIP:  if u do try this, afterwards, be sure to 'rm -rf build/esp32buzz/idf-plane/*.bin' and re-run waf
        return

        # (752) esp_image: Checksum failed. Calculated 0xd3 read 0xa3
        # (752) boot: OTA app partition slot 0 is not bootable
        # (753) esp_image: image at 0x200000 has invalid magic byte
        # (759) boot_comm: mismatch chip ID, expected 0, found 65535
        # (766) boot_comm: can't run on lower chip revision, expected 1, found 255
        # (773) esp_image: image at 0x200000 has invalid SPI mode 255
        # (779) esp_image: image at 0x200000 has invalid SPI size 15
        # (786) boot: OTA app partition slot 1 is not bootable
        # (792) boot: No bootable app partitions in the partition table


        # skip task if nothing to do.
        if not self.env.DEFAULT_PARAMETERS:
            return

        default_parameters = self.env.get_flat('DEFAULT_PARAMETERS').replace("'", "")
        #print("apj defaults file:"+str(default_parameters))

        _bin = str(self.inputs[0])

        # paranoia check  before and after apj_tool to see if file hash has changed...
        cmd = "shasum -b {0}".format( _bin )
        result = subprocess.check_output(cmd, shell=True)
        prehash = str(result).split(' ')[0][2:]

        cmd = "{1} {2} --set-file {3}".format(self.env.SRCROOT, self.env.APJ_TOOL, _bin, default_parameters )
        print(cmd)
        result = subprocess.check_output(cmd, shell=True)
        if not isinstance(result, str):
            result = result.decode()
        for i in str(result).split('\n'):
            print("\t"+i)

        # paranoia check  before and after apj_tool to see if file hash has changed...
        cmd = "shasum -b {0}".format( _bin )
        result = subprocess.check_output(cmd, shell=True)
        posthash = str(result).split(' ')[0][2:]

        # display --show output, helpful.
        cmd = "{1} {2} --show ".format(self.env.SRCROOT, self.env.APJ_TOOL, _bin )
        print(cmd)
        result = subprocess.check_output(cmd, shell=True)
        if not isinstance(result, str):
            result = result.decode()
        for i in str(result).split('\n'):
            print("\t"+i)

        # were embedded params updated in .bin?
        if prehash == posthash:
            print("Embedded params in .bin unchanged (probably already up-to-date)")
        else:
            print("Embedded params in .bin UPDATED")