waf: add support for building with UAVCAN

Tools/ardupilotwaf/ap_library.py

@@ -83,11 +83,18 @@ def ap_library(bld, library, vehicle):
     if common_tg and vehicle_tg:
         return
 
-    library_dir = bld.srcnode.find_dir('libraries/%s' % library)
+    if library.find('*') != -1:
+        # allow for wildcard patterns, used for submodules without direct waf support
+        library_dir = bld.srcnode.find_dir('.')
+        wildcard = library
+    else:
+        library_dir = bld.srcnode.find_dir('libraries/%s' % library)
+        wildcard = ap.SOURCE_EXTS + UTILITY_SOURCE_EXTS
+
     if not library_dir:
         bld.fatal('ap_library: %s not found' % library)
 
-    src = library_dir.ant_glob(ap.SOURCE_EXTS + UTILITY_SOURCE_EXTS)
+    src = library_dir.ant_glob(wildcard)
 
     if not common_tg:
         kw = dict(bld.env.AP_LIBRARIES_OBJECTS_KW)

Tools/ardupilotwaf/boards.py

@@ -29,6 +29,9 @@ class BoardMeta(type):
 class Board:
     abstract = True
 
+    def __init__(self):
+        self.with_uavcan = False
+
     def configure(self, cfg):
         cfg.env.TOOLCHAIN = self.toolchain
         cfg.load('toolchain')
@@ -158,6 +161,26 @@ class Board:
                 '-Wl,--gc-sections',
             ]
 
+        if self.with_uavcan:
+            env.AP_LIBRARIES += [
+                'AP_UAVCAN',
+                'modules/uavcan/libuavcan/src/**/*.cpp'
+                ]
+
+            env.CXXFLAGS += [
+                '-Wno-error=cast-align',
+            ]
+            
+            env.DEFINES.update(
+                UAVCAN_CPP_VERSION = 'UAVCAN_CPP03',
+                UAVCAN_NO_ASSERTIONS = 1,
+                UAVCAN_NULLPTR = 'nullptr'
+            )
+
+            env.INCLUDES += [
+                cfg.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath()
+            ]
+
         # We always want to use PRI format macros
         cfg.define('__STDC_FORMAT_MACROS', 1)
 
@@ -420,6 +443,8 @@ class px4(Board):
     def __init__(self):
         # bootloader name: a file with that name will be used and installed
         # on ROMFS
+        super(px4, self).__init__()
+
         self.bootloader_name = None
 
         # board name: it's the name of this board that's also used as path
@@ -471,6 +496,7 @@ class px4(Board):
             'PX4NuttX',
             'uavcan',
         ]
+
         env.ROMFS_EXCLUDE = self.ROMFS_EXCLUDE
 
         env.PX4_BOOTLOADER_NAME = self.bootloader_name
@@ -506,6 +532,7 @@ class px4_v2(px4):
         self.board_name = 'px4fmu-v2'
         self.px4io_name = 'px4io-v2'
         self.romfs_exclude(['oreoled.bin'])
+        self.with_uavcan = True
 
 class px4_v3(px4):
     name = 'px4-v3'
@@ -514,6 +541,7 @@ class px4_v3(px4):
         self.bootloader_name = 'px4fmuv2_bl.bin'
         self.board_name = 'px4fmu-v3'
         self.px4io_name = 'px4io-v2'
+        self.with_uavcan = True
 
 class px4_v4(px4):
     name = 'px4-v4'
@@ -522,6 +550,7 @@ class px4_v4(px4):
         self.bootloader_name = 'px4fmuv4_bl.bin'
         self.board_name = 'px4fmu-v4'
         self.romfs_exclude(['oreoled.bin'])
+        self.with_uavcan = True
 
 class aerofc_v1(px4):
     name = 'aerofc-v1'

Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-common_apm.cmake

@@ -49,8 +49,6 @@ set(config_extra_libs
     ${APM_PROGRAM_LIB}
 )
 
-set(config_uavcan_num_ifaces 2)
-
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
     MAIN "sercon"

Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v2_apm.cmake

@@ -4,12 +4,6 @@ list(APPEND config_module_list
     drivers/boards/px4fmu-v2
     drivers/pwm_input
     drivers/px4io
-    modules/uavcan
-)
-
-list(APPEND config_extra_libs
-    uavcan
-    uavcan_stm32_driver
 )
 
 set(config_io_board

Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v3_apm.cmake

@@ -3,16 +3,10 @@ include(configs/nuttx_px4fmu-common_apm)
 list(APPEND config_module_list
     drivers/boards/px4fmu-v2
     drivers/pwm_input
-    modules/uavcan
     drivers/px4io
     drivers/oreoled
 )
 
-list(APPEND config_extra_libs
-    uavcan
-    uavcan_stm32_driver
-)
-
 set(config_io_board
     px4io-v2
 )

Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v4_apm.cmake

@@ -3,11 +3,5 @@ include(configs/nuttx_px4fmu-common_apm)
 list(APPEND config_module_list
     drivers/boards/px4fmu-v4
     drivers/pwm_input
-    modules/uavcan
     lib/rc
 )
-
-list(APPEND config_extra_libs
-    uavcan
-    uavcan_stm32_driver
-)

Tools/ardupilotwaf/uavcangen.py

@@ -0,0 +1,75 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+"""
+generate DSDLC headers for uavcan
+"""
+
+from waflib import Logs, Task, Utils, Node
+from waflib.TaskGen import feature, before_method, extension
+import os
+import os.path
+from xml.etree import ElementTree as et
+
+class uavcangen(Task.Task):
+    """generate uavcan header files"""
+    color   = 'BLUE'
+    before  = 'cxx c'
+
+    def run(self):
+        python = self.env.get_flat('PYTHON')
+        out = self.env.get_flat('OUTPUT_DIR')
+        src = self.env.get_flat('SRC')
+        dsdlc = self.env.get_flat("DSDL_COMPILER")
+        input_dir = os.path.dirname(self.inputs[0].abspath())
+        ret = self.exec_command('{} {} {} -O{}'.format(
+                                python, dsdlc, input_dir, out))
+
+        if ret != 0:
+            # ignore if there was a signal to the interpreter rather
+            # than a real error in the script. Some environments use a
+            # signed and some an unsigned return for this
+            if ret > 128 or ret < 0:
+                Logs.warn('uavcangen crashed with code: {}'.format(ret))
+                ret = 0
+            else:
+                Logs.error('uavcangen returned {} error code'.format(ret))
+        return ret
+
+    def post_run(self):
+        super(uavcangen, self).post_run()
+        for header in self.generator.output_dir.ant_glob("*.hpp **/*.hpp", remove=False):
+            header.sig = header.cache_sig = self.cache_sig
+
+def options(opt):
+    opt.load('python')
+
+@feature('uavcangen')
+@before_method('process_source')
+def process_uavcangen(self):
+    if not hasattr(self, 'output_dir'):
+        self.bld.fatal('uavcangen: missing option output_dir')
+
+    inputs = self.to_nodes(self.source)
+    outputs = []
+
+    self.source = []
+
+    if not isinstance(self.output_dir, Node.Node):
+        self.output_dir = self.bld.bldnode.find_or_declare(self.output_dir)
+
+    task = self.create_task('uavcangen', inputs, outputs)
+    task.env['OUTPUT_DIR'] = self.output_dir.abspath()
+
+    task.env.env = dict(os.environ)
+
+def configure(cfg):
+    """
+    setup environment for uavcan header generator
+    """
+    cfg.load('python')
+    cfg.check_python_version(minver=(2,7,0))
+
+    env = cfg.env
+    env.DSDL_COMPILER_DIR = cfg.srcnode.make_node('modules/uavcan/libuavcan/dsdl_compiler').abspath()
+    env.DSDL_COMPILER = env.DSDL_COMPILER_DIR + '/libuavcan_dsdlc'

wscript

@@ -153,6 +153,7 @@ def configure(cfg):
     cfg.load('clang_compilation_database')
     cfg.load('waf_unit_test')
     cfg.load('mavgen')
+    cfg.load('uavcangen')
 
     cfg.env.SUBMODULE_UPDATE = cfg.options.submodule_update
 
@@ -243,6 +244,17 @@ def _build_dynamic_sources(bld):
         ],
     )
 
+    if bld.get_board().with_uavcan:
+        bld(
+            features='uavcangen',
+            source=bld.srcnode.ant_glob('modules/uavcan/dsdl/uavcan/**/*.uavcan'),
+            output_dir='modules/uavcan/libuavcan/include/dsdlc_generated',
+            name='uavcan',
+            export_includes=[
+                bld.bldnode.make_node('modules/uavcan/libuavcan/include/dsdlc_generated').abspath(),
+            ]
+        )
+
     def write_version_header(tsk):
         bld = tsk.generator.bld
         return bld.write_version_header(tsk.outputs[0].abspath())
@@ -340,9 +352,12 @@ def build(bld):
     bld.load('ardupilotwaf')
 
     bld.env.AP_LIBRARIES_OBJECTS_KW.update(
-        use='mavlink',
+        use=['mavlink'],
         cxxflags=['-include', 'ap_config.h'],
     )
+    
+    if bld.get_board().with_uavcan:
+        bld.env.AP_LIBRARIES_OBJECTS_KW['use'] += ['uavcan']
 
     _build_cmd_tweaks(bld)