mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-01 11:13:58 -04:00
147 lines
3.9 KiB
Python
147 lines
3.9 KiB
Python
# encoding: utf-8
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"""
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Waf tool for Linux build
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AP_FLAKE8_CLEAN
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"""
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from waflib.TaskGen import after_method, before_method, feature
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import os
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import pickle
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import sys
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import traceback
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sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../libraries/AP_HAL_Linux/hwdef/scripts'))
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import linux_hwdef # noqa:501
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@feature('linux_ap_library', 'linux_ap_program')
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@before_method('process_source')
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def linux_dynamic_env(self):
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# The generated files from configuration possibly don't exist if it's just
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# a list command (TODO: figure out a better way to address that).
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if self.bld.cmd == 'list':
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return
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def exec_command(self, cmd, **kw):
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kw['stdout'] = sys.stdout
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return super(exec_command, self).exec_command(cmd, **kw)
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@feature('linux_ap_program')
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@after_method('process_source')
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def linux_firmware(self):
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pass
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def load_env_vars(env):
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'''optionally load extra environment variables from env.py in the build directory'''
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print("Checking for env.py")
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env_py = os.path.join(env.BUILDROOT, 'env.py')
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if not os.path.exists(env_py):
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print("No env.py found")
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return
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e = pickle.load(open(env_py, 'rb'))
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for k in e.keys():
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v = e[k]
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if k in env:
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if isinstance(env[k], dict):
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a = v.split('=')
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env[k][a[0]] = '='.join(a[1:])
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print("env updated %s=%s" % (k, v))
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elif isinstance(env[k], list):
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env[k].append(v)
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print("env appended %s=%s" % (k, v))
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else:
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env[k] = v
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print("env added %s=%s" % (k, v))
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else:
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env[k] = v
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print("env set %s=%s" % (k, v))
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def configure(cfg):
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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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env = cfg.env
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bldnode = cfg.bldnode.make_node(cfg.variant)
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env.SRCROOT = srcpath('')
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env.BUILDROOT = bldpath('')
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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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env.AP_PROGRAM_FEATURES += ['linux_ap_program']
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try:
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generate_hwdef_h(env)
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except Exception as e:
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print(get_exception_stacktrace(e))
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cfg.fatal("Failed to generate hwdef")
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load_env_vars(cfg.env)
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def get_exception_stacktrace(e):
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ret = "%s\n" % e
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ret += ''.join(traceback.format_exception(type(e),
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e,
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tb=e.__traceback__))
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return ret
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def generate_hwdef_h(env):
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'''run linux_hwdef.py'''
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hwdef_dir = os.path.join(env.SRCROOT, 'libraries/AP_HAL_Linux/hwdef')
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if len(env.HWDEF) == 0:
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env.HWDEF = os.path.join(hwdef_dir, env.BOARD, 'hwdef.dat')
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hwdef_out = env.BUILDROOT
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if not os.path.exists(hwdef_out):
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os.mkdir(hwdef_out)
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hwdef = [env.HWDEF]
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if env.HWDEF_EXTRA:
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hwdef.append(env.HWDEF_EXTRA)
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lh = linux_hwdef.LinuxHWDef(
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outdir=hwdef_out,
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hwdef=hwdef,
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quiet=False,
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)
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lh.run()
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def pre_build(bld):
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'''pre-build hook to change dynamic sources'''
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load_env_vars(bld.env)
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if bld.env.HAL_NUM_CAN_IFACES:
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bld.get_board().with_can = True
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if bld.env.WITH_LITTLEFS:
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bld.get_board().with_littlefs = True
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hwdef_h = os.path.join(bld.env.BUILDROOT, 'hwdef.h')
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if not os.path.exists(hwdef_h):
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print("Generating hwdef.h")
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try:
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generate_hwdef_h(bld.env)
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except Exception:
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bld.fatal(f"Failed to process hwdef.dat {hwdef_h}")
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def build(bld):
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bld(
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# build hwdef.h from hwdef.dat. This is needed after a waf clean
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source=bld.path.ant_glob(bld.env.HWDEF),
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rule="",
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group='dynamic_sources',
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target=[
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bld.bldnode.find_or_declare('hwdef.h'),
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]
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)
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