waf: Add building DDS client to waf

* Had to ignore pre-commit hooks for isort and mypy since there are unrelated broken issues in the file

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Co-authored-by: Arsh Pratap <arshpratapofficial@gmail.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>

Tools/ardupilotwaf/ap_library.py

@@ -118,6 +118,11 @@ def ap_library(bld, library, vehicle):
         for s in bld.env.AP_LIB_EXTRA_SOURCES[library]:
             src.append(bld.bldnode.find_or_declare(os.path.join('libraries', library, s)))
 
+    # include the dependencies for XRCE-DDS
+    if len(bld.env.XRCE_DEPENDENCIES):
+        for s in bld.env.XRCE_DEPENDENCIES:
+            src.append(bld.bldnode.find_or_declare(s))    
+
     if not common_tg:
         kw = dict(bld.env.AP_LIBRARIES_OBJECTS_KW)
         kw['features'] = kw.get('features', []) + ['ap_library_object']

Tools/ardupilotwaf/ardupilotwaf.py

@@ -134,6 +134,7 @@ def get_legacy_defines(sketch_name, bld):
 IGNORED_AP_LIBRARIES = [
     'doc',
     'AP_Scripting', # this gets explicitly included when it is needed and should otherwise never be globbed in
+    'AP_DDS',
 ]
 
 

Tools/ardupilotwaf/boards.py

@@ -75,6 +75,20 @@ class Board:
         if cfg.options.no_gcs:
             env.CXXFLAGS += ['-DHAL_GCS_ENABLED=0']
 
+        # configurations for XRCE-DDS
+        if cfg.options.enable_dds:
+            cfg.recurse('libraries/AP_DDS')
+            env.ENABLE_DDS = True
+            env.AP_LIBRARIES += [
+                'AP_DDS'
+            ]
+            env.DEFINES.update(AP_DDS_ENABLED = 1)
+            # check for microxrceddsgen
+            cfg.find_program('microxrceddsgen',mandatory=True)
+        else:
+            env.ENABLE_DDS = False
+            env.DEFINES.update(AP_DDS_ENABLED = 0)
+
         # setup for supporting onvif cam control
         if cfg.options.enable_onvif:
             cfg.recurse('libraries/AP_ONVIF')

wscript

@@ -251,6 +251,10 @@ submodules at specific revisions.
                  default=False,
                  help="Enables GPS logging")
     
+    g.add_option('--enable-dds', action='store_true',
+                 help="Enable the dds client to connect with ROS2/DDS"
+    )
+
     g = opt.ap_groups['linux']
 
     linux_options = ('--prefix', '--destdir', '--bindir', '--libdir')
@@ -672,6 +676,9 @@ def _build_dynamic_sources(bld):
             ]
         )
 
+    if bld.env.ENABLE_DDS:
+        bld.recurse("libraries/AP_DDS")
+
     def write_version_header(tsk):
         bld = tsk.generator.bld
         return bld.write_version_header(tsk.outputs[0].abspath())