Replaced awk with python script for bin_to_obj.

cmake/nuttx/bin_to_obj.py

@@ -0,0 +1,86 @@
+#!/usr/bin/env python
+"""
+This converts a binary imagge to an object file
+"""
+from __future__ import print_function
+import subprocess
+import argparse
+import re
+from subprocess import PIPE
+
+#pylint: disable=invalid-name
+parser = argparse.ArgumentParser(description='Convert bin to obj.')
+parser.add_argument('--c_flags', required=True)
+parser.add_argument('--c_compiler', required=True)
+parser.add_argument('--nm', required=True)
+parser.add_argument('--ld', required=True)
+parser.add_argument('--objcopy', required=True)
+parser.add_argument('--bin', required=True)
+parser.add_argument('--obj', required=True)
+parser.add_argument('--var', required=True)
+args = parser.parse_args()
+
+in_bin = args.bin
+c_flags = args.c_flags
+c_compiler = args.c_compiler
+nm = args.nm
+ld = args.ld
+obj = args.obj
+var = args.var
+objcopy = args.objcopy
+
+sym = "_binary_" + in_bin.replace('/', '_').replace('.', '_').replace('-', '_')
+#print("sym: ", sym)
+
+# write empty file
+with open('{obj:s}.c'.format(**locals()), 'w') as f:
+    f.write("")
+
+def run_cmd(cmd, d):
+    cmd = cmd.format(**d)
+    #print(cmd)
+    proc = subprocess.Popen(cmd.split(), stdout=PIPE, stderr=PIPE)
+    stdout, stderr = proc.communicate()
+    if stderr != "":
+        raise RuntimeError(stderr)
+    return stdout
+
+# do compile
+run_cmd("{c_compiler:s} {c_flags:s} -c {obj:s}.c -o {obj:s}.c.o",
+        locals())
+
+# link
+run_cmd("{ld:s} -r -o {obj:s}.bin.o {obj:s}.c.o -b binary {in_bin:s}",
+        locals())
+
+# get size of image
+stdout = run_cmd("{nm:s} -p --radix=x {obj:s}.bin.o", locals())
+re_size = re.compile("(^[0-9A-Fa-f]*) .*{sym:s}_size".format(
+    **locals()))
+size_match = re.match(re_size, stdout)
+size = size_match.group(1)
+#print("romfs size: ", size)
+
+# write size to file
+with open('{obj:s}.c'.format(**locals()), 'w') as f:
+    f.write("const unsigned int {var:s}_len = 0x{size:s};".format(
+        **locals()))
+
+# do compile
+run_cmd("{c_compiler:s} {c_flags:s} -c {obj:s}.c -o {obj:s}.c.o",
+        locals())
+
+# link
+run_cmd("{ld:s} -r -o {obj:s} {obj:s}.c.o {obj:s}.bin.o",
+        locals())
+
+# obj copy
+run_cmd("""
+{objcopy:s} {obj:s}
+    --redefine-sym {sym:s}_start={var:s}
+    --strip-symbol {sym:s}_size
+    --strip-symbol {sym:s}_end
+    --rename-section .data=.rodata
+""", locals())
+
+# vim: set et ft=python fenc= ff=unix sts=4 sw=4 ts=4 :

cmake/nuttx/px4_impl_nuttx.cmake

@@ -41,7 +41,6 @@
 #		* px4_nuttx_generate_builtin_commands
 #		* px4_nuttx_add_export
 #		* px4_nuttx_generate_romfs
-#		* px4_bin_to_obj
 #
 # 	Required OS Inteface Functions
 #
@@ -234,65 +233,6 @@ function(px4_nuttx_add_export)
 
 endfunction()
 
-#=============================================================================
-#
-#	px4_bin_to_obj
-#
-#	The functions create an object file from a binary image.
-#
-#	Usage:
-#		px4_bin_to_boj(OBJ <out-obj> VAR <in-variable>  BIN <in-bin>)
-#
-#	Input:
-#		BIN		: the bin file
-#		VAR		: the variable name
-#
-#	Output:
-#		OBJ		: the object file
-#
-#	Example:
-#		px4_bin_to_obj(OBJ my_obj VAR romfs BIN my_bin)
-#
-function(px4_bin_to_obj)
-
-	px4_parse_function_args(
-		NAME px4_bin_to_obj
-		ONE_VALUE BIN OBJ VAR
-		REQUIRED BIN OBJ VAR
-		ARGN ${ARGN})
-
-	string(REPLACE "/" "_" _tmp ${BIN})
-	string(REPLACE "." "_" _tmp ${_tmp})
-	string(REPLACE "-" "_" sym "_binary_${_tmp}")
-	#message(STATUS "sym: ${sym}")
-
-	separate_arguments(CMAKE_C_FLAGS)
-
-	add_custom_command(OUTPUT ${OBJ}
-		COMMAND ${ECHO} > ${OBJ}.c
-		COMMAND ${CMAKE_C_COMPILER} ${CMAKE_C_FLAGS} -c ${OBJ}.c -o ${OBJ}.c.o
-		COMMAND ${LD} -r -o ${OBJ}.bin.o ${OBJ}.c.o -b binary ${BIN}
-		COMMAND ${NM} -p --radix=x ${OBJ}.bin.o
-			| ${GREP} ${sym}_size
-			| ${GREP} -o ^[0-9a-fA-F]*
-			| ${AWK} "{print \"const unsigned int ${VAR}_len = 0x\"$1\";\"}" > ${OBJ}.c
-		COMMAND ${CMAKE_C_COMPILER} ${CMAKE_C_FLAGS} -c ${OBJ}.c -o ${OBJ}.c.o
-		COMMAND ${LD} -r -o ${OBJ} ${OBJ}.c.o ${OBJ}.bin.o
-		COMMAND ${OBJCOPY} ${OBJ}
-			--redefine-sym ${sym}_start=${VAR}
-			--strip-symbol ${sym}_size
-			--strip-symbol ${sym}_end
-			--rename-section .data=.rodata
-		# useful to comment remove statement when debugging
-		COMMAND ${RM} ${OBJ}.c ${OBJ}.c.o ${OBJ}.bin.o
-		DEPENDS ${BIN}
-		VERBATIM
-		)
-
-	set(${OBJ} ${OBJ} PARENT_SCOPE)
-	
-endfunction()
-
 #=============================================================================
 #
 #	px4_nuttx_generate_romfs
@@ -325,6 +265,7 @@ function(px4_nuttx_generate_romfs)
 
 	set(romfs_autostart ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
 	set(romfs_pruner ${CMAKE_SOURCE_DIR}/Tools/px_romfs_pruner.py)
+	set(bin_to_obj ${CMAKE_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
 
 
 	#message(STATUS "temp_dir: ${romfs_temp_dir}")
@@ -349,9 +290,19 @@ function(px4_nuttx_generate_romfs)
 		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
 		)
 
-	px4_bin_to_obj(OBJ ${OUT}
-		BIN ${CMAKE_CURRENT_BINARY_DIR}/romfs.bin
-		VAR romfs_img)
+	add_custom_command(OUTPUT romfs.o
+		COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj}
+			--ld ${LD} --c_flags ${CMAKE_C_FLAGS}
+			--c_compiler ${CMAKE_C_COMPILER}
+			--nm ${NM} --objcopy ${OBJCOPY}
+			--obj romfs.o
+			--var romfs_img
+			--bin romfs.bin
+		DEPENDS romfs.bin
+		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+		)
+
+	set(${OUT} romfs.o PARENT_SCOPE)
 
 endfunction()
 

cmake/scripts/bin_to_object.py

@@ -1,21 +0,0 @@
-#!/usr/bin/env python
-"""
-This converts a binary imagge to an object file
-"""
-from __future__ import print_function
-import subprocess
-import argparse
-import os
-
-#pylint: disable=invalid-name
-parser = argparse.ArgumentParser(description='Convert bin to obj.')
-parser.add_argument('--c-flags', required=True)
-parser.add_argument('--c-compiler', required=True)
-parser.add_argument('--nm', required=True)
-args = parser.parse_args()
-
-#TODO write function
-
-exit(0)
-
-# vim: set et ft=python fenc= ff=unix sts=4 sw=4 ts=4 :