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Ardupilot
GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/ardupilotwaf/linux.py
4182 views
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# 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 sys

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import traceback

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import hal_common

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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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    hal_common.common_dynamic_env(self)

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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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    hal_common.load_env_vars(env)

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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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