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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/ardupilotwaf/dronecangen.py
Views: 1798
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# encoding: utf-8

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"""

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generate DSDLC headers for uavcan

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"""

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from waflib import Logs, Task, Utils, Node

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from waflib.TaskGen import feature, before_method, extension

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import os

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import os.path

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from xml.etree import ElementTree as et

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import subprocess

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class dronecangen(Task.Task):

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    """generate uavcan header files"""

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    color   = 'BLUE'

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    before  = 'cxx c'

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    def run(self):

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        python = self.env.get_flat('PYTHON')

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        out = self.env.get_flat('OUTPUT_DIR')

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        src = self.env.get_flat('SRC')

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        dsdlc = self.env.get_flat("DC_DSDL_COMPILER_DIR")

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        cmd = ['{}'.format(python),

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               '{}/dronecan_dsdlc.py'.format(dsdlc),

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               '-O{}'.format(out)] + [x.abspath() for x in self.inputs]

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        ret = self.exec_command(cmd)

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        if ret != 0:

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            # ignore if there was a signal to the interpreter rather

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            # than a real error in the script. Some environments use a

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            # signed and some an unsigned return for this

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            if ret > 128 or ret < 0:

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                Logs.warn('dronecangen crashed with code: {}'.format(ret))

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                ret = 0

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            else:

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                Logs.warn('dronecangen: cmd=%s ' % str(cmd))

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                # re-run command with stdout visible to see errors

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                subprocess.call(cmd)

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                Logs.error('dronecangen returned {} error code'.format(ret))

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        return ret

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    def post_run(self):

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        super(dronecangen, self).post_run()

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        for header in self.generator.output_dir.ant_glob("*.h **/*.h", remove=False):

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            header.sig = header.cache_sig = self.cache_sig

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def options(opt):

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    opt.load('python')

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@feature('dronecangen')

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@before_method('process_rule')

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def process_dronecangen(self):

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    if not hasattr(self, 'output_dir'):

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        self.bld.fatal('dronecangen: missing option output_dir')

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    inputs = self.to_nodes(self.source)

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    # depend on each message file in the source so rebuilds will occur properly

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    deps = []

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    for inp in inputs:

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        deps.extend(inp.ant_glob("**/*.uavcan"))

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    # also depend on the generator source itself

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    dsdlc_dir = self.env.get_flat("DC_DSDL_COMPILER_DIR")

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    dsdlc = self.bld.root.find_node(dsdlc_dir) # expected to be absolute

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    if dsdlc is None:

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        self.bld.fatal("dronecangen: waf couldn't find dsdlc at abspath {}".format(dsdlc_dir))

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    deps.extend(dsdlc.ant_glob("**/*.py **/*.em"))

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    outputs = []

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    self.source = []

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    if not isinstance(self.output_dir, Node.Node):

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        self.output_dir = self.bld.bldnode.find_or_declare(self.output_dir)

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    task = self.create_task('dronecangen', inputs, outputs)

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    task.dep_nodes = deps

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    task.env['OUTPUT_DIR'] = self.output_dir.abspath()

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    task.env.env = dict(os.environ)

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def configure(cfg):

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    """

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    setup environment for uavcan header generator

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    """

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    env = cfg.env

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    env.DC_DSDL_COMPILER_DIR = cfg.srcnode.make_node('modules/DroneCAN/dronecan_dsdlc/').abspath()

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    cfg.msg('DC_DSDL compiler in', env.DC_DSDL_COMPILER_DIR)

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