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110 lines
3.3 KiB
110 lines
3.3 KiB
#!/usr/bin/env python |
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# encoding: utf-8 |
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# (c) Siddharth Bharat Purohit, 3DRobotics Inc. |
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""" |
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The **mavgen.py** program is a code generator which creates mavlink header files. |
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""" |
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from waflib import Logs, Task, Utils, Node |
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from waflib.TaskGen import feature, before_method, extension |
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import os |
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import os.path |
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from xml.etree import ElementTree as et |
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class mavgen(Task.Task): |
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"""generate mavlink header files""" |
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color = 'BLUE' |
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before = 'cxx c' |
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def scan(self): |
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nodes = [] |
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names = [] |
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entry_point = self.inputs[0] |
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queue = [entry_point] |
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head = 0 |
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while head < len(queue): |
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node = queue[head] |
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head += 1 |
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tree = et.parse(node.abspath()) |
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root = tree.getroot() |
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includes = root.findall('include') |
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for i in includes: |
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path = i.text.strip() |
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n = node.parent.find_node(path) |
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if n: |
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nodes.append(n) |
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if n not in queue: |
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queue.append(n) |
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continue |
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path = os.path.join( |
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node.parent.path_from(entry_point.parent), |
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path |
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) |
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if not path in names: |
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names.append(path) |
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return nodes, names |
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def run(self): |
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python = self.env.get_flat('PYTHON') |
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mavgen = self.env.get_flat('MAVGEN') |
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out = self.env.get_flat('OUTPUT_DIR') |
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src = self.env.get_flat('SRC') |
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ret = self.exec_command('{} {} --lang=C --wire-protocol=2.0 --output {} {}'.format( |
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python, mavgen, out, self.inputs[0].abspath())) |
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if ret != 0: |
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# ignore if there was a signal to the interpreter rather |
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# than a real error in the script. Some environments use a |
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# signed and some an unsigned return for this |
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if ret > 128 or ret < 0: |
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Logs.warn('mavgen crashed with code: {}'.format(ret)) |
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ret = 0 |
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else: |
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Logs.error('mavgen returned {} error code'.format(ret)) |
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return ret |
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def post_run(self): |
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super(mavgen, self).post_run() |
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for header in self.generator.output_dir.ant_glob("*.h **/*.h", remove=False): |
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header.sig = header.cache_sig = self.cache_sig |
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def options(opt): |
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opt.load('python') |
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@feature('mavgen') |
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@before_method('process_source') |
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def process_mavgen(self): |
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if not hasattr(self, 'output_dir'): |
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self.bld.fatal('mavgen: missing option output_dir') |
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inputs = self.to_nodes(self.source) |
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outputs = [] |
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self.source = [] |
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if not isinstance(self.output_dir, Node.Node): |
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self.output_dir = self.bld.bldnode.find_or_declare(self.output_dir) |
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task = self.create_task('mavgen', inputs, outputs) |
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task.env['OUTPUT_DIR'] = self.output_dir.abspath() |
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task.env.env = dict(os.environ) |
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task.env.env['PYTHONPATH'] = task.env.MAVLINK_DIR |
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def configure(cfg): |
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""" |
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setup environment for mavlink header generator |
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""" |
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cfg.load('python') |
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cfg.check_python_version(minver=(2,7,0)) |
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env = cfg.env |
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env.MAVLINK_DIR = cfg.srcnode.make_node('modules/mavlink/').abspath() |
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env.MAVGEN = env.MAVLINK_DIR + '/pymavlink/tools/mavgen.py'
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