Andrew Tridgell
6 years ago
3 changed files with 1 additions and 544 deletions
@ -1,369 +0,0 @@
@@ -1,369 +0,0 @@
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#!/usr/bin/env python |
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# encoding: utf-8 |
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""" |
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Waf tool for PX4 build |
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""" |
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from waflib import Errors, Logs, Task, Utils |
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from waflib.TaskGen import after_method, before_method, feature |
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import os |
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import shutil |
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import sys |
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_dynamic_env_data = {} |
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def _load_dynamic_env_data(bld): |
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bldnode = bld.bldnode.make_node('modules/PX4Firmware') |
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for name in ('cxx_flags', 'include_dirs', 'definitions'): |
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_dynamic_env_data[name] = bldnode.find_node(name).read().split(';') |
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@feature('px4_ap_library', 'px4_ap_program') |
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@before_method('process_source') |
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def px4_dynamic_env(self): |
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# The generated files from configuration possibly don't exist if it's just |
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# a list command (TODO: figure out a better way to address that). |
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if self.bld.cmd == 'list': |
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return |
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if not _dynamic_env_data: |
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_load_dynamic_env_data(self.bld) |
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self.env.append_value('INCLUDES', _dynamic_env_data['include_dirs']) |
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self.env.prepend_value('CXXFLAGS', _dynamic_env_data['cxx_flags']) |
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self.env.prepend_value('CXXFLAGS', _dynamic_env_data['definitions']) |
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# Single static library |
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# NOTE: This only works only for local static libraries dependencies - fake |
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# libraries aren't supported yet |
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@feature('px4_ap_program') |
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@after_method('apply_link') |
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@before_method('process_use') |
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def px4_import_objects_from_use(self): |
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queue = list(Utils.to_list(getattr(self, 'use', []))) |
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names = set() |
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while queue: |
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name = queue.pop(0) |
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if name in names: |
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continue |
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names.add(name) |
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try: |
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tg = self.bld.get_tgen_by_name(name) |
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except Errors.WafError: |
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continue |
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tg.post() |
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for t in getattr(tg, 'compiled_tasks', []): |
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self.link_task.set_inputs(t.outputs) |
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queue.extend(Utils.to_list(getattr(tg, 'use', []))) |
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class px4_copy(Task.Task): |
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color = 'CYAN' |
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def run(self): |
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shutil.copy2(self.inputs[0].abspath(), self.outputs[0].abspath()) |
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def keyword(self): |
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return "PX4: Copying %s to" % self.inputs[0].name |
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def __str__(self): |
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return self.outputs[0].path_from(self.generator.bld.bldnode) |
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class create_abin(Task.Task): |
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'''create an abin file - used for uploading to a skyviper''' |
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color = 'CYAN' |
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def run(self): |
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from subprocess import call |
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elf_name = self.inputs[0].abspath() |
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bin_name = elf_name + ".bin" |
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abin_name = self.outputs[0].abspath() |
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call(['arm-none-eabi-objcopy', '-Obinary', elf_name, bin_name]) |
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call(['Tools/scripts/make_abin.sh', bin_name, abin_name]) |
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def keyword(self): |
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return "Creating abin for %s to" % self.inputs[0].name |
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def __str__(self): |
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return self.outputs[0].path_from(self.generator.bld.bldnode) |
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class px4_add_git_hashes(Task.Task): |
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run_str = '${PYTHON} ${PX4_ADD_GIT_HASHES} --ardupilot ${PX4_APM_ROOT} --px4 ${PX4_ROOT} --nuttx ${PX4_NUTTX_ROOT} ${SRC} ${TGT}' |
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color = 'CYAN' |
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def keyword(self): |
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return "PX4: Copying firmware and adding git hashes" |
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def __str__(self): |
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return self.outputs[0].path_from(self.outputs[0].ctx.launch_node()) |
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def _update_firmware_sig(fw_task, firmware, elf): |
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original_post_run = fw_task.post_run |
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def post_run(): |
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original_post_run() |
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firmware.sig = firmware.cache_sig = Utils.h_file(firmware.abspath()) |
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elf.sig = elf.cache_sig = Utils.h_file(elf.abspath()) |
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fw_task.post_run = post_run |
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_cp_px4io = None |
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_firmware_semaphorish_tasks = [] |
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_upload_task = [] |
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@feature('px4_ap_program') |
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@after_method('process_source') |
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def px4_firmware(self): |
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global _cp_px4io, _firmware_semaphorish_tasks, _upload_task |
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board_name = self.env.get_flat('PX4_BOARD_NAME') |
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px4 = self.bld.cmake('px4') |
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px4.vars['APM_PROGRAM_LIB'] = self.link_task.outputs[0].abspath() |
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if self.env.PX4_PX4IO_NAME and not _cp_px4io: |
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px4io_task = self.create_cmake_build_task('px4', 'fw_io') |
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px4io = px4io_task.cmake.bldnode.make_node( |
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'src/modules/px4iofirmware/%s.bin' % self.env.PX4_PX4IO_NAME, |
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) |
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px4io_elf = px4.bldnode.make_node( |
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'src/modules/px4iofirmware/%s' % self.env.PX4_PX4IO_NAME |
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) |
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px4io_task.set_outputs([px4io, px4io_elf]) |
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romfs = self.bld.bldnode.make_node(self.env.PX4_ROMFS_BLD) |
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romfs_px4io = romfs.make_node('px4io/px4io.bin') |
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romfs_px4io.parent.mkdir() |
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_cp_px4io = self.create_task('px4_copy', px4io, romfs_px4io) |
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_cp_px4io.keyword = lambda: 'PX4: Copying PX4IO to ROMFS' |
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px4io_elf_dest = self.bld.bldnode.make_node(self.env.PX4IO_ELF_DEST) |
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cp_px4io_elf = self.create_task('px4_copy', px4io_elf, px4io_elf_dest) |
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fw_task = self.create_cmake_build_task( |
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'px4', |
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'build_firmware_%s' % board_name, |
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) |
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fw_task.set_run_after(self.link_task) |
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# we need to synchronize in order to avoid the output expected by the |
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# previous ap_program being overwritten before used |
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for t in _firmware_semaphorish_tasks: |
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fw_task.set_run_after(t) |
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_firmware_semaphorish_tasks = [] |
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if self.env.PX4_PX4IO_NAME and _cp_px4io.generator is self: |
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fw_task.set_run_after(_cp_px4io) |
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firmware = px4.bldnode.make_node( |
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'src/firmware/nuttx/nuttx-%s-apm.px4' % board_name, |
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) |
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fw_elf = px4.bldnode.make_node( |
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'src/firmware/nuttx/firmware_nuttx', |
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) |
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_update_firmware_sig(fw_task, firmware, fw_elf) |
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fw_dest = self.bld.bldnode.make_node( |
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os.path.join(self.program_dir, '%s.px4' % self.program_name) |
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) |
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git_hashes = self.create_task('px4_add_git_hashes', firmware, fw_dest) |
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git_hashes.set_run_after(fw_task) |
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_firmware_semaphorish_tasks.append(git_hashes) |
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fw_elf_dest = self.bld.bldnode.make_node( |
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os.path.join(self.program_dir, self.program_name) |
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) |
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cp_elf = self.create_task('px4_copy', fw_elf, fw_elf_dest) |
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cp_elf.set_run_after(fw_task) |
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_firmware_semaphorish_tasks.append(cp_elf) |
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if self.env.BUILD_ABIN: |
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fw_abin_dest = self.bld.bldnode.make_node(os.path.join(self.program_dir, self.program_name + '.abin')) |
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create_abin = self.create_task('create_abin', fw_elf, fw_abin_dest) |
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create_abin.set_run_after(fw_task) |
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self.build_summary = dict( |
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target=self.name, |
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binary=fw_elf_dest.path_from(self.bld.bldnode), |
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) |
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if self.bld.options.upload: |
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if _upload_task: |
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Logs.warn('PX4: upload for %s ignored' % self.name) |
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return |
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_upload_task = self.create_cmake_build_task('px4', 'upload') |
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_upload_task.set_run_after(fw_task) |
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_firmware_semaphorish_tasks.append(_upload_task) |
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def _px4_taskgen(bld, **kw): |
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if 'cls_keyword' in kw and not callable(kw['cls_keyword']): |
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cls_keyword = str(kw['cls_keyword']) |
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kw['cls_keyword'] = lambda tsk: 'PX4: ' + cls_keyword |
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if 'cls_str' in kw and not callable(kw['cls_str']): |
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cls_str = str(kw['cls_str']) |
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kw['cls_str'] = lambda tsk: cls_str |
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kw['color'] = 'CYAN' |
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return bld(**kw) |
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@feature('_px4_romfs') |
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def _process_romfs(self): |
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bld = self.bld |
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board_name = bld.env.get_flat('PX4_BOARD_NAME') |
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file_list = [ |
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'init.d/rc.APM', |
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'init.d/rc.error', |
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(bld.env.PX4_RC_S_SCRIPT, 'init.d/rcS'), |
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'tones/startup' |
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] |
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if board_name != "px4fmu-v2": |
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# we omit the bootloader on px4-v2 to save flash space |
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file_list.append((bld.env.PX4_BOOTLOADER, 'bootloader/fmu_bl.bin')) |
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if bld.env.PX4_BOARD_RC: |
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board_rc = 'init.d/rc.%s' % bld.env.get_flat('PX4_BOARD_NAME') |
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file_list.append((board_rc, 'init.d/rc.board')) |
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if bld.env.PX4_PARAM_DEFAULTS: |
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file_list.append((bld.env.PX4_PARAM_DEFAULTS, 'defaults.parm')) |
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romfs_src = bld.srcnode.find_dir(bld.env.PX4_ROMFS_SRC) |
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romfs_bld = bld.bldnode.make_node(bld.env.PX4_ROMFS_BLD) |
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for item in file_list: |
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if isinstance(item, str): |
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src = romfs_src.make_node(item) |
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dst = romfs_bld.make_node(item) |
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else: |
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src = romfs_src.make_node(item[0]) |
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dst = romfs_bld.make_node(item[1]) |
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bname = os.path.basename(str(src)) |
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if bname in bld.env.ROMFS_EXCLUDE: |
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print("Excluding %s" % bname) |
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continue |
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dst.parent.mkdir() |
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self.create_task('px4_copy', src, dst) |
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def configure(cfg): |
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cfg.env.CMAKE_MIN_VERSION = '3.2' |
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cfg.load('cmake') |
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bldnode = cfg.bldnode.make_node(cfg.variant) |
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env = cfg.env |
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env.AP_PROGRAM_FEATURES += ['px4_ap_program'] |
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kw = env.AP_LIBRARIES_OBJECTS_KW |
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kw['features'] = Utils.to_list(kw.get('features', [])) + ['px4_ap_library'] |
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def srcpath(path): |
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return cfg.srcnode.make_node(path).abspath() |
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def bldpath(path): |
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return bldnode.make_node(path).abspath() |
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board_name = env.get_flat('PX4_BOARD_NAME') |
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# TODO: we should move stuff from mk/PX4 to Tools/ardupilotwaf/px4 after |
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# stop using the make-based build system |
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env.PX4_ROMFS_SRC = 'mk/PX4/ROMFS' |
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env.PX4_ROMFS_BLD = 'px4-extra-files/ROMFS' |
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env.PX4_BOOTLOADER = '/../../../Tools/bootloaders/%s' % env.PX4_BOOTLOADER_NAME |
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env.PX4_ADD_GIT_HASHES = srcpath('Tools/scripts/add_git_hashes.py') |
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env.PX4_APM_ROOT = srcpath('') |
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env.PX4_ROOT = srcpath('modules/PX4Firmware') |
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env.PX4_NUTTX_ROOT = srcpath('modules/PX4NuttX') |
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if env.PX4_PX4IO_NAME: |
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env.PX4IO_ELF_DEST = 'px4-extra-files/px4io' |
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nuttx_config='nuttx_%s_apm' % board_name |
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env.PX4_CMAKE_VARS = dict( |
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CONFIG=nuttx_config, |
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CMAKE_MODULE_PATH=srcpath('Tools/ardupilotwaf/px4/cmake'), |
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NUTTX_SRC=env.PX4_NUTTX_ROOT, |
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PX4_NUTTX_ROMFS=bldpath(env.PX4_ROMFS_BLD), |
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ARDUPILOT_BUILD='YES', |
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EXTRA_CXX_FLAGS=' '.join(( |
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# NOTE: these "-Wno-error=*" flags should be removed as we update |
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# the submodule |
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'-Wno-error=double-promotion', |
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'-Wno-error=reorder', |
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# NOTE: *Temporarily* using this definition so that both |
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# PX4Firmware build systems (cmake and legacy make-based) can live |
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# together |
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'-DCMAKE_BUILD', |
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'-DARDUPILOT_BUILD', |
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'-I%s' % bldpath('libraries/GCS_MAVLink'), |
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'-I%s' % bldpath('libraries/GCS_MAVLink/include/mavlink'), |
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'-Wl,--gc-sections', |
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)), |
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EXTRA_C_FLAGS=' '.join(( |
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# NOTE: *Temporarily* using this definition so that both |
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# PX4Firmware build systems (cmake and legacy make-based) can live |
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# together |
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'-DCMAKE_BUILD', |
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)), |
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) |
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def build(bld): |
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board_name = bld.env.get_flat('PX4_BOARD_NAME') |
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px4 = bld.cmake( |
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name='px4', |
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cmake_src=bld.srcnode.find_dir('modules/PX4Firmware'), |
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cmake_vars=bld.env.PX4_CMAKE_VARS, |
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cmake_flags=['-Wno-deprecated'], |
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) |
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px4.build( |
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'msg_gen', |
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group='dynamic_sources', |
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cmake_output_patterns='src/modules/uORB/topics/*.h', |
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) |
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px4.build( |
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'prebuild_targets', |
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group='dynamic_sources', |
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cmake_output_patterns='%s/NuttX/nuttx-export/**/*.h' % board_name, |
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) |
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bld( |
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name='px4_romfs_static_files', |
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group='dynamic_sources', |
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features='_px4_romfs', |
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) |
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bld.extra_build_summary = _extra_build_summary |
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def _extra_build_summary(bld, build_summary): |
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build_summary.text('') |
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build_summary.text('PX4') |
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build_summary.text('', ''' |
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The ELF files are pointed by the path in the "%s" column. The .px4 files are in |
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the same directory of their corresponding ELF files. |
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''' % build_summary.header_text['target']) |
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if not bld.options.upload: |
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build_summary.text('') |
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build_summary.text('', ''' |
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You can use the option --upload to upload the firmware to the PX4 board if you |
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have one connected.''') |
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if bld.env.PX4_PX4IO_NAME: |
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build_summary.text('') |
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build_summary.text('PX4IO') |
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summary_data_list = bld.size_summary([bld.env.PX4IO_ELF_DEST]) |
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header = bld.env.BUILD_SUMMARY_HEADER[:] |
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try: |
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header.remove('target') |
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except ValueError: |
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pass |
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header.insert(0, 'binary_path') |
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build_summary.print_table(summary_data_list, header) |
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