From 9eb3a976bccf9bd19670de70b4701fde16a36384 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Mon, 6 Dec 2021 10:22:46 +0530
Subject: [PATCH] waf: allow build with ardupilot as a module

---
 Tools/ardupilotwaf/boards.py  | 11 +++++++++++
 Tools/ardupilotwaf/chibios.py | 11 ++++++++---
 Tools/ardupilotwaf/mavgen.py  |  2 +-
 3 files changed, 20 insertions(+), 4 deletions(-)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index a07f48f6be..69281fc861 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -439,6 +439,15 @@ def add_dynamic_boards_chibios():
         if os.path.exists(hwdef):
             newclass = type(d, (chibios,), {'name': d})
 
+@conf
+def get_chibios_board_cls(ctx, name, hwdef):
+    if name in _board_classes.keys():
+        _board_classes[name].hwdef = hwdef
+        return _board_classes[name]
+    newclass = type(name, (chibios,), {'name': name})
+    newclass.hwdef = hwdef
+    return newclass
+
 def add_dynamic_boards_esp32():
     '''add boards based on existance of hwdef.dat in subdirectories for ESP32'''
     dirname, dirlist, filenames = next(os.walk('libraries/AP_HAL_ESP32/hwdef'))
@@ -759,6 +768,8 @@ class chibios(Board):
     toolchain = 'arm-none-eabi'
 
     def configure_env(self, cfg, env):
+        if hasattr(self, 'hwdef'):
+            cfg.env.HWDEF = self.hwdef
         super(chibios, self).configure_env(cfg, env)
 
         cfg.load('chibios')
diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index 760dea8991..b52dcac2b6 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -455,13 +455,18 @@ def configure(cfg):
 def generate_hwdef_h(env):
     '''run chibios_hwdef.py'''
     import subprocess
-
     if env.BOOTLOADER:
-        env.HWDEF = os.path.join(env.SRCROOT, 'libraries/AP_HAL_ChibiOS/hwdef/%s/hwdef-bl.dat' % env.BOARD)
+        if len(env.HWDEF) == 0:
+            env.HWDEF = os.path.join(env.SRCROOT, 'libraries/AP_HAL_ChibiOS/hwdef/%s/hwdef-bl.dat' % env.BOARD)
+        else:
+            # update to using hwdef-bl.dat
+            env.HWDEF = env.HWDEF.replace('hwdef.dat', 'hwdef-bl.dat')
         env.BOOTLOADER_OPTION="--bootloader"
     else:
-        env.HWDEF = os.path.join(env.SRCROOT, 'libraries/AP_HAL_ChibiOS/hwdef/%s/hwdef.dat' % env.BOARD)
+        if len(env.HWDEF) == 0:
+            env.HWDEF = os.path.join(env.SRCROOT, 'libraries/AP_HAL_ChibiOS/hwdef/%s/hwdef.dat' % env.BOARD)
         env.BOOTLOADER_OPTION=""
+
     hwdef_script = os.path.join(env.SRCROOT, 'libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py')
     hwdef_out = env.BUILDROOT
     if not os.path.exists(hwdef_out):
diff --git a/Tools/ardupilotwaf/mavgen.py b/Tools/ardupilotwaf/mavgen.py
index c7b9c9a39a..8920dc84fc 100644
--- a/Tools/ardupilotwaf/mavgen.py
+++ b/Tools/ardupilotwaf/mavgen.py
@@ -77,7 +77,7 @@ def process_mavgen(self):
     if not hasattr(self, 'output_dir'):
         self.bld.fatal('mavgen: missing option output_dir')
 
-    inputs = self.to_nodes(self.source)
+    inputs = self.to_nodes(self.bld.srcnode.find_node(self.source))
     outputs = []
 
     self.source = []