ardupilot/libraries/AP_DDS/wscript

#!/usr/bin/env python3

# flake8: noqa

import pathlib
from dataclasses import dataclass
from collections import defaultdict

CONTAINER_PREALLOC_SIZE = 8

def configure(cfg):
    if cfg.env.OPTIONS.get('enable_DDS', False) is False:
        return

    # check for microxrceddsgen
    cfg.find_program('microxrceddsgen', mandatory=True)

    extra_src = [
        'modules/Micro-XRCE-DDS-Client/src/c/core/session/stream/*.c',
        'modules/Micro-XRCE-DDS-Client/src/c/core/session/*.c',
        'modules/Micro-XRCE-DDS-Client/src/c/core/serialization/*.c',
        'modules/Micro-XRCE-DDS-Client/src/c/util/*.c',
        'modules/Micro-XRCE-DDS-Client/src/c/profile/transport/custom/custom_transport.c',
        'modules/Micro-XRCE-DDS-Client/src/c/profile/transport/stream_framing/stream_framing_protocol.c',
        'modules/Micro-CDR/src/c/types/*.c',
        'modules/Micro-CDR/src/c/common.c',
    ]

    cfg.env.AP_LIB_EXTRA_SOURCES['AP_DDS'] = []
    for pattern in extra_src:
        s = cfg.srcnode.ant_glob(pattern, dir=False, src=True)
        for x in s:
            cfg.env.AP_LIB_EXTRA_SOURCES['AP_DDS'].append(str(x))

    extra_src_inc = [
        'modules/Micro-XRCE-DDS-Client/include',
        'modules/Micro-XRCE-DDS-Client/include/uxr/client',
        'modules/Micro-CDR/src/c',
        'modules/Micro-CDR/include',
        'modules/Micro-CDR/include/ucdr',
    ]
    for inc in extra_src_inc:
        cfg.env.INCLUDES += [str(cfg.srcnode.make_node(inc))]

    # auto update submodules
    cfg.env.append_value('GIT_SUBMODULES', 'Micro-XRCE-DDS-Client')
    cfg.env.append_value('GIT_SUBMODULES', 'Micro-CDR')


def build(bld):
    if bld.env.OPTIONS.get('enable_DDS', False) is False:
        return

    config_h_in = [
        'modules/Micro-XRCE-DDS-Client/include/uxr/client/config.h.in',
        'modules/Micro-CDR/include/ucdr/config.h.in',
    ]
    config_h_in_nodes = [bld.srcnode.make_node(h) for h in config_h_in]
    config_h_nodes = [bld.bldnode.find_or_declare(h[:-3]) for h in config_h_in]

    gen_path = "libraries/AP_DDS"
    extra_bld_inc = [
        'modules/Micro-CDR/include',
        'modules/Micro-XRCE-DDS-Client/include',
        str(pathlib.PurePath(gen_path, "generated")),
    ]
    for inc in extra_bld_inc:
        bld.env.INCLUDES += [bld.bldnode.find_or_declare(inc).abspath()]

    for i in range(len(config_h_nodes)):
        print(f"Building {config_h_nodes[i].abspath()}")
        bld(
            # Generate config.h file
            source=config_h_in_nodes[i],
            target=config_h_nodes[i],
            rule="%s %s/%s %s %s"
            % (
                bld.env.get_flat('PYTHON'),
                bld.env.SRCROOT,
                "libraries/AP_DDS/gen_config_h.py",
                config_h_in_nodes[i].abspath(),
                config_h_nodes[i].abspath(),
            ),
            group='dynamic_sources',
        )

    # TODO instead of keeping standard IDL files in the source tree, copy them with "ros2 pkg prefix --share " tools
    idl_files = bld.srcnode.ant_glob('libraries/AP_DDS/Idl/**/*.idl')
    idl_include_path = bld.srcnode.make_node(str(pathlib.PurePath(gen_path, "Idl"))).abspath()

    @dataclass
    class IdlGenerator:
        # The name of the IDL (without the .idl)
        name: str
        # The name of the .h
        h_name: str
        # The name of the .c
        c_name: str
        # The name of the .idl
        idl_abspath: pathlib.PurePath

    folder_to_files = defaultdict(list)
    for f in idl_files:
        idl_path = pathlib.PurePath(f.abspath())
        idl_folder = idl_path.parts[-3:-1]
        idl_gen = IdlGenerator(
            name=idl_path.name,
            h_name=idl_path.with_suffix('.h').name,
            c_name=idl_path.with_suffix('.c').name,
            idl_abspath=idl_path,
        )
        folder_to_files[pathlib.PurePath(*idl_folder)].append(idl_gen)

    for idl_folder, idl_gen_list in folder_to_files.items():
        dst_dir = pathlib.PurePath(gen_path, "generated", idl_folder)
        idl_abspaths_str = " ".join([str(idl_gen.idl_abspath) for idl_gen in idl_gen_list])
        idl_list = [str(idl_folder / idl_gen.name) for idl_gen in idl_gen_list]

        gen_targets = []
        extra_sources = []
        for idl_gen in idl_gen_list:
            gen_targets.extend([bld.bldnode.find_or_declare(str(dst_dir / name)) for name in [idl_gen.h_name, idl_gen.c_name]])
            extra_sources.extend([bld.bldnode.find_or_declare(str(dst_dir / name)) for name in [idl_gen.c_name]])

        # microxrceddsgen expects a space-seperated list of *.idl files
        gen_cmd = f"{bld.env.MICROXRCEDDSGEN[0]} -cs -replace -default-container-prealloc-size {CONTAINER_PREALLOC_SIZE} -d {dst_dir} -I {idl_include_path} {idl_abspaths_str}"

        # waf expects a space-separated list of .h and .c files
        bld(
            source=idl_list,
            target=gen_targets,
            rule=gen_cmd,
            group='dynamic_sources',
            path=bld.bldnode.find_or_declare(str(bld.path) + '/Idl'),
        )
        bld.env.AP_LIB_EXTRA_SOURCES['AP_DDS'] += [str(src) for src in extra_sources]