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

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# flake8: noqa

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"""

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Waf tool for QURT build

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"""

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def build(bld):

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    AARCH64_SDK_DIR = "/opt/aarch64-sdk/gcc-linaro-7.5.0-2019.12-x86_64_aarch64-linux-gnu"

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    AARCH64_CC = AARCH64_SDK_DIR + "/bin/aarch64-linux-gnu-gcc"

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    AARCH64_CXX = AARCH64_SDK_DIR + "/bin/aarch64-linux-gnu-g++"

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    STUB_C = bld.srcnode.make_node('libraries/AP_HAL_QURT/ap_host/libslpi-link-api/src/slpi_link_stub.c')

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    STUB_INC = bld.srcnode.make_node('libraries/AP_HAL_QURT/ap_host/libslpi-link-api/inc')

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    STUB_SO = bld.bldnode.find_or_declare('slpi_link_stub.so')

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    MAIN_CPP = bld.srcnode.make_node('libraries/AP_HAL_QURT/ap_host/src/main.cpp')

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    IFADDR_CPP = bld.srcnode.make_node('libraries/AP_HAL_QURT/ap_host/src/getifaddrs.cpp')

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    AP_HOST = bld.bldnode.find_or_declare('ardupilot')

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    bld(

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        # build slpi stub library

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        source=[STUB_C],

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        rule="%s -fPIC -o %s -shared -Wl,-soname,libslpi_link.so %s" % (AARCH64_CC, STUB_SO.abspath(), STUB_C.abspath()),

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        target=[STUB_SO],

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        group='dynamic_sources'

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    )

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    bld(

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        # build ap_host

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        source=[STUB_SO, MAIN_CPP],

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        rule="%s -I%s %s %s %s -lpthread -o %s" % (AARCH64_CXX, STUB_INC.abspath(),

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                                          MAIN_CPP.abspath(), IFADDR_CPP.abspath(), STUB_SO.abspath(), AP_HOST.abspath()),

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        target=[AP_HOST],

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        group='dynamic_sources'

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    )

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