px4_autopilot/cmake/kconfig.cmake

set(BOARD_DEFCONFIG ${PX4_BOARD_DIR}/${PX4_BOARD_LABEL}-boardconfig CACHE FILEPATH "path to defconfig" FORCE)
set(BOARD_CONFIG ${PX4_BINARY_DIR}/boardconfig CACHE FILEPATH "path to config" FORCE)

find_program(MENUCONFIG_PATH menuconfig)
find_program(GUICONFIG_PATH guiconfig)
find_program(DEFCONFIG_PATH defconfig)
find_program(SAVEDEFCONFIG_PATH savedefconfig)
if(NOT MENUCONFIG_PATH OR NOT GUICONFIG_PATH OR NOT DEFCONFIG_PATH OR NOT SAVEDEFCONFIG_PATH)
    message(STATUS "kconfiglib is not installed\n"
                        "please install using \"pip3 install kconfiglib\"\n")
endif()

set(COMMON_KCONFIG_ENV_SETTINGS
	PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
	KCONFIG_CONFIG=${BOARD_CONFIG}
	# Set environment variables so that Kconfig can prune Kconfig source
	# files for other architectures
	PLATFORM=${PX4_PLATFORM}
	VENDOR=${PX4_BOARD_VENDOR}
	MODEL=${PX4_BOARD_MODEL}
	LABEL=${PX4_BOARD_LABEL}
	TOOLCHAIN=${CMAKE_TOOLCHAIN_FILE}
	ARCHITECTURE=${CMAKE_SYSTEM_PROCESSOR}
	ROMFSROOT=${config_romfs_root}
)

add_custom_target(boardconfig
	${CMAKE_COMMAND} -E env
	${COMMON_KCONFIG_ENV_SETTINGS}
	${MENUCONFIG_PATH} Kconfig
	COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
	COMMAND ${CMAKE_COMMAND} -E copy defconfig ${BOARD_DEFCONFIG}
	COMMAND ${CMAKE_COMMAND} -E rm ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
	USES_TERMINAL
	COMMAND_EXPAND_LISTS
)

add_custom_target(boardguiconfig
	${CMAKE_COMMAND} -E env
	${COMMON_KCONFIG_ENV_SETTINGS}
	${GUICONFIG_PATH} Kconfig
	COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
	COMMAND ${CMAKE_COMMAND} -E copy defconfig ${BOARD_DEFCONFIG}
	COMMAND ${CMAKE_COMMAND} -E rm ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
	USES_TERMINAL
	COMMAND_EXPAND_LISTS
)

if(EXISTS ${BOARD_DEFCONFIG})

    # Depend on BOARD_DEFCONFIG so that we reconfigure on config change
    set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${BOARD_DEFCONFIG})

    # Generate boardconfig from saved defconfig
    execute_process(COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} 
                    ${DEFCONFIG_PATH} ${BOARD_DEFCONFIG}
                    WORKING_DIRECTORY ${PX4_SOURCE_DIR}
                    OUTPUT_VARIABLE DUMMY_RESULTS)


    # parse board config options for cmake
    file(STRINGS ${BOARD_CONFIG} ConfigContents)
    foreach(NameAndValue ${ConfigContents})
        # Strip leading spaces
        string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})

        # Find variable name
        string(REGEX MATCH "^CONFIG[^=]+" Name ${NameAndValue})

        if(Name)
            # Find the value
            string(REPLACE "${Name}=" "" Value ${NameAndValue})

            if(Value)
                # remove extra quotes
                string(REPLACE "\"" "" Value ${Value})

                # Set the variable
                #message(STATUS "${Name} ${Value}")
                set(${Name} ${Value} CACHE INTERNAL "BOARD DEFCONFIG: ${Name}" FORCE)
            endif()
        endif()

        # Find variable name
        string(REGEX MATCH "^CONFIG_DRIVERS[^=]+" Drivers ${NameAndValue})

        if(Drivers)
            # Find the value
            string(REPLACE "${Name}=" "" Value ${NameAndValue})
            string(REPLACE "CONFIG_DRIVERS_" "" driver ${Name})
            string(TOLOWER ${driver} driver)
            
            string(REPLACE "_" "/" driver_path ${driver})
            
            # Pattern 1 XXX / XXX_XXX
            string(REGEX REPLACE "(^[a-z]+)_([a-z]+_[a-z0-9]+).*$" "\\1" driver_p1_folder ${driver})
            string(REGEX REPLACE "(^[a-z]+)_([a-z]+_[a-z0-9]+).*$" "\\2" driver_p1_subfolder ${driver})
            
            # Pattern 2 XXX_XXX / XXXXXX
            string(REGEX REPLACE "(^[a-z]+_[a-z]+)_([a-z0-9]+).*$" "\\1" driver_p2_folder ${driver})
            string(REGEX REPLACE "(^[a-z]+_[a-z]+)_([a-z0-9]+).*$" "\\2" driver_p2_subfolder ${driver})

            # Trick circumvent PX4 src naming problem with underscores and slashes
            if(EXISTS ${PX4_SOURCE_DIR}/src/drivers/${driver})
                list(APPEND config_module_list drivers/${driver})
            elseif(EXISTS ${PX4_SOURCE_DIR}/src/drivers/${driver_path})
                list(APPEND config_module_list drivers/${driver_path})
            elseif(EXISTS ${PX4_SOURCE_DIR}/src/drivers/${driver_p1_folder}/${driver_p1_subfolder})
                list(APPEND config_module_list drivers/${driver_p1_folder}/${driver_p1_subfolder})
            elseif(EXISTS ${PX4_SOURCE_DIR}/src/drivers/${driver_p2_folder}/${driver_p2_subfolder})
                list(APPEND config_module_list drivers/${driver_p2_folder}/${driver_p2_subfolder})
            else()
                message(FATAL_ERROR "Couldn't find path for ${driver}")
            endif()
            
        endif()

        # Find variable name
        string(REGEX MATCH "^CONFIG_MODULES[^=]+" Modules ${NameAndValue})

        if(Modules)
            # Find the value
            string(REPLACE "${Name}=" "" Value ${NameAndValue})
            string(REPLACE "CONFIG_MODULES_" "" module ${Name})
            string(TOLOWER ${module} module)
            
            list(APPEND config_module_list modules/${module})
        endif()

        # Find variable name
        string(REGEX MATCH "^CONFIG_SYSTEMCMDS[^=]+" Systemcmds ${NameAndValue})

        if(Systemcmds)
            # Find the value
            string(REPLACE "${Name}=" "" Value ${NameAndValue})
            string(REPLACE "CONFIG_SYSTEMCMDS_" "" systemcmd ${Name})
            string(TOLOWER ${systemcmd} systemcmd)
            
            list(APPEND config_module_list systemcmds/${systemcmd})
        endif()

        # Find variable name
        string(REGEX MATCH "^CONFIG_EXAMPLES[^=]+" Examples ${NameAndValue})

        if(Examples)
            # Find the value
            string(REPLACE "${Name}=" "" Value ${NameAndValue})
            string(REPLACE "CONFIG_EXAMPLES_" "" example ${Name})
            string(TOLOWER ${example} example)
            
            list(APPEND config_module_list examples/${example})
        endif()

		# Find variable name
		string(REGEX MATCH "^CONFIG_UAVCAN_INTERFACES" UAVCAN_INTERFACES ${NameAndValue})

		# Temporary located here to maintain binary compatibility, have to be removed later
		if(UAVCAN_INTERFACES)
			# Find the value
			string(REPLACE "${Name}=" "" Value ${NameAndValue})

			set(config_uavcan_num_ifaces ${Value} CACHE INTERNAL "UAVCAN interfaces" FORCE)
		endif()

    endforeach()
endif()