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Ardupilot
GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/ardupilotwaf/vscode_helper.py
4182 views
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# flake8: noqa

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import os

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import json

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import shutil

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H7_DUAL_BANK_LIST = [

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   "STM32H7A3xx",

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   "STM32H7A3xxq",

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   "STM32H7B3xx",

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   "STM32H7B3xxq",

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   "STM32H742xx",

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   "STM32H743xx",

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   "STM32H745xg",

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   "STM32H745xx",

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   "STM32H747xg",

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   "STM32H747xx",

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   "STM32H753xx",

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   "STM32H755xx",

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   "STM32H755xx",

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   "STM32H757xx",

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] # List of H7 boards with dual bank

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ELF_NAME_MAPPING = {

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    'copter': 'arducopter',

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    'plane': 'arduplane',

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    'rover': 'ardurover',

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    'sub': 'ardusub',

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    'blimp': 'blimp',

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    'antennatracker': 'antennatracker',

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    'bootloader': 'AP_Bootloader',

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    'AP_Periph': 'AP_Periph',

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}

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def update_settings(bld):

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    if not bld.cmd in ELF_NAME_MAPPING:

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        return

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    board_name = bld.env.BOARD

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    elf_file_name = ELF_NAME_MAPPING.get(bld.cmd, bld.cmd)

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    if elf_file_name == 'ap_bootloader':

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        elf_file_path = os.path.join("${workspaceFolder}", "build", board_name, "bootloader", elf_file_name)

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    else:

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        elf_file_path = os.path.join("${workspaceFolder}", "build", board_name, "bin", elf_file_name)

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    vscode_setting_json_path = os.path.join(bld.srcnode.abspath(), '.vscode', 'settings.json')

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    if not os.path.exists(vscode_setting_json_path):

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        with open(vscode_setting_json_path, 'w') as f:

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            json.dump({}, f, indent=4)

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    try:

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        with open(vscode_setting_json_path, 'r') as f:

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            content = f.read().strip()

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            if content:

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                settings_json = json.loads(content)

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            else:

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                settings_json = {}

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    except json.JSONDecodeError:

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        print(f"VS-LAUNCH: \033[91m Error: invalid JSON in .vscode/settings.json, please fix it and try again.\033[0m")

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        return

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    settings_json['wscript.elf_file_path'] = elf_file_path

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    settings_json['wscript.board'] = board_name

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    if board_name == 'sitl':

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        if os.uname().sysname == 'Darwin':

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            settings_json['wscript.MIMode'] =  "lldb" 

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        else:

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            settings_json['wscript.MIMode'] =  "gdb" 

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    with open(vscode_setting_json_path, 'w') as f:

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        json.dump(settings_json, f, indent=4)

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def update_openocd_cfg(cfg):

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    if cfg.options.board != 'sitl':

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        openocd_cfg_path = os.path.join(cfg.srcnode.abspath(), 'build', cfg.options.board, 'openocd.cfg')

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        mcu_type = cfg.env.get_flat('APJ_BOARD_TYPE')

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        openocd_target = ''

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        if mcu_type.startswith("STM32H7"):

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            if mcu_type in H7_DUAL_BANK_LIST:

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                openocd_target = 'stm32h7_dual_bank.cfg'

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            else:

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                openocd_target = 'stm32h7x.cfg'

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        elif mcu_type.startswith("STM32F7"):

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            openocd_target = 'stm32f7x.cfg'

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        elif mcu_type.startswith("STM32F4"):

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            openocd_target = 'stm32f4x.cfg'

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        elif mcu_type.startswith("STM32F3"):

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            openocd_target = 'stm32f3x.cfg'

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        elif mcu_type.startswith("STM32L4"):

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            openocd_target = 'stm32l4x.cfg'

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        elif mcu_type.startswith("STM32G4"):

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            openocd_target = 'stm32g4x.cfg'

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        if openocd_target:

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            with open(openocd_cfg_path, 'w+') as f:

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                f.write("source [find interface/stlink.cfg]\n")

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                f.write(f"source [find target/{openocd_target}]\n")

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                f.write("init\n")

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                f.write("$_TARGETNAME configure -rtos auto\n")

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def init_launch_json_if_not_exist(cfg):

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    launch_json_path = os.path.join(cfg.srcnode.abspath(), '.vscode', 'launch.json')

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    launch_default_json_path = os.path.join(cfg.srcnode.abspath(),'.vscode', 'launch.default.json')

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    if not os.path.exists(launch_json_path):

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        if os.path.exists(launch_default_json_path):

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            print(f"Copying {launch_default_json_path} to {launch_json_path}")

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            shutil.copy(launch_default_json_path, launch_json_path)

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