Tools: convert to hwdef system

.github/workflows/qurt_build.yml

@@ -151,14 +151,15 @@ jobs:
 
       - name: Build QURT
         run: |
-          ./waf configure --board QURT
+          set -ex
+          ./waf configure --board ModalAI-VOXL2
           ./waf copter
           ./waf plane
           ./waf rover
-          cp -a build/QURT/bin/arducopter build/QURT/ArduPilot.so
-          cp -a build/QURT/bin/arducopter build/QURT/ArduPilot_Copter.so
-          cp -a build/QURT/bin/arduplane build/QURT/ArduPilot_Plane.so
-          cp -a build/QURT/bin/ardurover build/QURT/ArduPilot_Rover.so
+          cp -a build/ModalAI-VOXL2/bin/arducopter build/ModalAI-VOXL2/ArduPilot.so
+          cp -a build/ModalAI-VOXL2/bin/arducopter build/ModalAI-VOXL2/ArduPilot_Copter.so
+          cp -a build/ModalAI-VOXL2/bin/arduplane build/ModalAI-VOXL2/ArduPilot_Plane.so
+          cp -a build/ModalAI-VOXL2/bin/ardurover build/ModalAI-VOXL2/ArduPilot_Rover.so
           libraries/AP_HAL_QURT/packaging/make_package.sh ArduCopter arducopter
           libraries/AP_HAL_QURT/packaging/make_package.sh ArduPlane arduplane
           libraries/AP_HAL_QURT/packaging/make_package.sh Rover ardurover
@@ -168,10 +169,10 @@ jobs:
         with:
           name: qurt-binaries
           path: |
-            build/QURT/ardupilot
-            build/QURT/ArduPilot_Copter.so
-            build/QURT/ArduPilot_Plane.so
-            build/QURT/ArduPilot_Rover.so
-            build/QURT/ArduPilot.so
+            build/ModalAI-VOXL2/ardupilot
+            build/ModalAI-VOXL2/ArduPilot_Copter.so
+            build/ModalAI-VOXL2/ArduPilot_Plane.so
+            build/ModalAI-VOXL2/ArduPilot_Rover.so
+            build/ModalAI-VOXL2/ArduPilot.so
             libraries/AP_HAL_QURT/packaging/*.deb
           retention-days: 7

Tools/ardupilotwaf/boards.py

@@ -667,6 +667,10 @@ def add_dynamic_boards_linux():
     '''add boards based on existence of hwdef.dat in subdirectories for '''
     add_dynamic_boards_from_hwdef_dir(LinuxBoard, 'libraries/AP_HAL_Linux/hwdef')
 
+def add_dynamic_boards_qurt():
+    '''add boards based on existence of hwdef.dat in subdirectories for '''
+    add_dynamic_boards_from_hwdef_dir(QURTBoard, 'libraries/AP_HAL_QURT/hwdef')
+
 def add_dynamic_boards_sitl():
     '''add boards based on existence of hwdef.dat in subdirectories for '''
     add_dynamic_boards_from_hwdef_dir(SITLBoard, 'libraries/AP_HAL_SITL/hwdef')
@@ -700,6 +704,7 @@ def get_boards_names():
     add_dynamic_boards_chibios()
     add_dynamic_boards_esp32()
     add_dynamic_boards_linux()
+    add_dynamic_boards_qurt()
     add_dynamic_boards_sitl()
 
     return sorted(list(_board_classes.keys()), key=str.lower)
@@ -1482,7 +1487,7 @@ class LinuxBoard(Board):
         # get name of class
         return self.__class__.__name__
 
-class QURT(Board):
+class QURTBoard(Board):
     '''support for QURT based boards'''
     toolchain = 'custom'
 
@@ -1491,6 +1496,11 @@ class QURT(Board):
 
         self.with_can = False
 
+    def configure(self, cfg):
+        # load hwdef, extract toolchain from cfg.env:
+        cfg.load('qurt')
+        super().configure(cfg)
+
     def configure_toolchain(self, cfg):
         cfg.env.CXX_NAME = 'gcc'
         cfg.env.HEXAGON_SDK_DIR = "/opt/hexagon-sdk/4.1.0.4-lite"
@@ -1525,7 +1535,7 @@ class QURT(Board):
         ]
 
     def configure_env(self, cfg, env):
-        super(QURT, self).configure_env(cfg, env)
+        super().configure_env(cfg, env)
 
         env.BOARD_CLASS = "QURT"
         env.HEXAGON_APP = "libardupilot.so"
@@ -1571,7 +1581,7 @@ class QURT(Board):
         ]
 
     def build(self, bld):
-        super(QURT, self).build(bld)
+        super().build(bld)
         bld.load('qurt')
 
     def get_name(self):

Tools/ardupilotwaf/qurt.py

@@ -6,6 +6,56 @@
 Waf tool for QURT build
 """
 
+import os
+import sys
+import traceback
+
+import hal_common
+
+sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../libraries/AP_HAL_QURT/hwdef/scripts'))
+import qurt_hwdef  # noqa: E402
+
+def generate_hwdef_h(env):
+    '''run qurt_hwdef.py'''
+    print(f"{env.SRCROOT=} {type(env.SRCROOT)=}")
+    hwdef_dir = os.path.join(env.SRCROOT, 'libraries/AP_HAL_QURT/hwdef')
+
+    if len(env.HWDEF) == 0:
+        env.HWDEF = os.path.join(hwdef_dir, env.BOARD, 'hwdef.dat')
+    hwdef_out = env.BUILDROOT
+    if not os.path.exists(hwdef_out):
+        os.mkdir(hwdef_out)
+    hwdef = [env.HWDEF]
+    if env.HWDEF_EXTRA:
+        hwdef.append(env.HWDEF_EXTRA)
+
+    hwdef_obj = qurt_hwdef.QURTHWDef(
+        outdir=hwdef_out,
+        hwdef=hwdef,
+        quiet=False,
+    )
+    hwdef_obj.run()
+
+    return hwdef_obj
+
+def configure(cfg):
+    def srcpath(path):
+        return cfg.srcnode.make_node(path).abspath()
+    def bldpath(path):
+        return bldnode.make_node(path).abspath()
+
+    env = cfg.env
+    bldnode = cfg.bldnode.make_node(cfg.variant)
+    env.SRCROOT = srcpath('')
+    env.BUILDROOT = bldpath('')
+
+    try:
+        hwdef_obj = generate_hwdef_h(env)
+    except Exception:  # noqa: BLE001
+        traceback.print_exc()
+        cfg.fatal("Failed to process hwdef.dat")
+    hal_common.process_hwdef_results(cfg, hwdef_obj)
+
 def build(bld):
     AARCH64_SDK_DIR = "/opt/aarch64-sdk/gcc-linaro-7.5.0-2019.12-x86_64_aarch64-linux-gnu"
     AARCH64_CC = AARCH64_SDK_DIR + "/bin/aarch64-linux-gnu-gcc"

Tools/scripts/board_list.py

@@ -67,7 +67,7 @@ class BoardList(object):
         )
 
         self.hwdef_dir = []
-        for haldir in 'AP_HAL_ChibiOS', 'AP_HAL_Linux', 'AP_HAL_ESP32', 'AP_HAL_SITL':
+        for haldir in 'AP_HAL_ChibiOS', 'AP_HAL_Linux', 'AP_HAL_ESP32', 'AP_HAL_QURT', 'AP_HAL_SITL':
             self.hwdef_dir.append(os.path.join(realpath, haldir, "hwdef"))
 
     def __init__(self):
@@ -131,6 +131,8 @@ class BoardList(object):
                     board.toolchain = 'arm-none-eabi'
                 elif "ESP32" in hwdef_dir:
                     board.toolchain = 'xtensa-esp32-elf'
+                elif "QURT" in hwdef_dir:
+                    board.toolchain = "aarch64-linux-gnu"
                 elif "SITL" in hwdef_dir:
                     board.toolchain = None
                 else:
@@ -144,6 +146,8 @@ class BoardList(object):
                 board.hal = "ESP32"
             elif "SITL" in hwdef_dir:
                 board.hal = "SITL"
+            elif "QURT" in hwdef_dir:
+                board.hal = "QURT"
             else:
                 raise ValueError(f"Unable to determine HAL for {hwdef_dir}")
 

Tools/scripts/test_new_boards.py

@@ -159,6 +159,11 @@ class TestNewBoards(BuildScriptBase):
                 self.progress(f"Skipping ESP32 board {board.name}")
                 continue
 
+            # Skip QURT boards - CI machine can't build them
+            if board.hal == "QURT":
+                self.progress(f"Skipping QURT board {board.name}")
+                continue
+
             # Skip arms board - CI machine can't build it
             if board.toolchain == "arm-linux-gnueabihf":
                 self.progress(f"Skipping arm-linux board {board.name}")