mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
434 lines
18 KiB
OCaml
434 lines
18 KiB
OCaml
(*
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* Call to Makefile.ac with the appropriate attributes from conf.xml
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*
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* Copyright (C) 2003-2009 Pascal Brisset, Antoine Drouin, ENAC
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*)
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open Printf
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module U = Unix
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open Gen_common
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let (//) = Filename.concat
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let paparazzi_conf = Env.paparazzi_home // "conf"
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let default_conf_xml = paparazzi_conf // "conf.xml"
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let mkdir = fun d ->
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assert (Sys.command (sprintf "mkdir -p %s" d) = 0)
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(** Raises a Failure if an ID or a NAME appears twice in the conf *)
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let check_unique_id_and_name = fun conf conf_xml ->
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let ids = Hashtbl.create 5
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and names = Hashtbl.create 5 in
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List.iter
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(fun x ->
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if String.lowercase (Xml.tag x) = "aircraft" then
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let id = ExtXml.attrib x "ac_id"
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and name = ExtXml.attrib x "name" in
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if Hashtbl.mem ids id then begin
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let other_name = Hashtbl.find ids id in
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failwith (sprintf "Error: A/C Id '%s' duplicated in %s (%s and %s)" id conf_xml name other_name)
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end;
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if Hashtbl.mem names name then begin
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let other_id = Hashtbl.find names name in
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failwith (sprintf "Error: A/C name '%s' duplicated in %s (ids %s and %s)" name conf_xml id other_id)
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end;
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Hashtbl.add ids id name;
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Hashtbl.add names name id)
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(Xml.children conf)
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(** [get_modules dir xml]
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* [dir] is the conf directory for modules, [xml] is the parsed airframe.xml *)
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(*let get_modules = fun dir xml ->
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let modules = Gen_common.get_modules_of_airframe xml in
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(* build a list (file name, (xml, xml list of flags)) *)
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let extract = List.map Gen_common.get_full_module_conf modules in
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(* return a list of name and a list of pairs (xml, xml list) *)
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List.split extract*)
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(**
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Search and dump the module section :
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xml : the parsed airframe.xml
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f : makefile.ac
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**)
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let dump_module_section = fun xml f ->
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(* get modules *)
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let modules = Gen_common.get_modules_of_airframe xml in
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(* print modules directories and includes for all targets *)
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fprintf f "\n####################################################\n";
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fprintf f "# modules makefile section\n";
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fprintf f "####################################################\n";
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fprintf f "\n# include modules directory for all targets\n";
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(* get dir list *)
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let dir_list = Gen_common.get_modules_dir modules in
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(** include modules directory for ALL targets and not just the defined ones **)
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fprintf f "$(TARGET).CFLAGS += -Imodules -Iarch/$(ARCH)/modules\n";
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List.iter (fun dir -> let dir_name = (String.uppercase dir)^"_DIR" in fprintf f "%s = modules/%s\n" dir_name dir) dir_list;
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(* add vpath for external modules *)
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List.iter (fun m -> match m.vpath with Some vp -> fprintf f "VPATH += %s\n" vp | _ -> ()) modules;
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(* parse each module *)
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List.iter (fun m ->
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let name = ExtXml.attrib m.xml "name" in
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let dir = try Xml.attrib m.xml "dir" with _ -> name in
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let dir_name = (String.uppercase dir)^"_DIR" in
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(* get the list of all the targets for this module and concat the extra targets *)
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let module_target_list = Gen_common.get_targets_of_module m in
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(* print global flags as compilation defines and flags *)
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fprintf f "\n# makefile for module %s in modules/%s\n" name dir;
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List.iter (fun flag ->
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match String.lowercase (Xml.tag flag) with
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"configure" ->
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let value = Xml.attrib flag "value"
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and name = Xml.attrib flag "name" in
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fprintf f "%s = %s\n" name value
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| "define" ->
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List.iter (fun target ->
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let name = ExtXml.attrib flag "name"
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and value = try "="^(Xml.attrib flag "value") with _ -> "" in
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fprintf f "%s.CFLAGS += -D%s%s\n" target name value
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) module_target_list
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| _ -> ()
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) m.param;
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(* Look for makefile section *)
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List.iter (fun l ->
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if ExtXml.tag_is l "makefile" then begin
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(* add extra targets only if default is used *)
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let et = try ignore(Xml.attrib l "target"); [] with _ -> m.extra_targets in
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let targets = Gen_common.singletonize (
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Gen_common.targets_of_field l Env.default_module_targets @ et) in
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(* Look for defines, flags, files, ... *)
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List.iter (fun field ->
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match String.lowercase (Xml.tag field) with
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"configure" ->
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let value = Xml.attrib field "value"
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and name = Xml.attrib field "name" in
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fprintf f "%s = %s\n" name value
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| "define" ->
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List.iter (fun target ->
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let value = try "="^(Xml.attrib field "value") with _ -> ""
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and name = Xml.attrib field "name"
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and vpath = match m.vpath with Some vp -> vp^"/" | _ -> "" in
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let flag_type = match (ExtXml.attrib_or_default field "type" "define") with
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"define" | "D" -> "D"
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| "include" | "I" -> "I"^vpath
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| "raw" -> ""
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| _ -> "D" in
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try
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let cond = Xml.attrib field "cond" in
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fprintf f "%s\n" cond;
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fprintf f "%s.CFLAGS += -%s%s%s\n" target flag_type name value;
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fprintf f "endif\n";
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with _ ->
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fprintf f "%s.CFLAGS += -%s%s%s\n" target flag_type name value
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) targets
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| "flag" ->
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List.iter (fun target ->
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let value = Xml.attrib field "value"
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and name = Xml.attrib field "name" in
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fprintf f "%s.%s += -%s\n" target name value
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) targets
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| "file" ->
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let name = Xml.attrib field "name" in
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let dir_name = ExtXml.attrib_or_default field "dir" ("$("^dir_name^")") in
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List.iter (fun target -> fprintf f "%s.srcs += %s/%s\n" target dir_name name) targets
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| "file_arch" ->
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let name = Xml.attrib field "name" in
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let dir_name = ExtXml.attrib_or_default field "dir" ("$("^dir_name^")") in
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List.iter (fun target -> fprintf f "%s.srcs += arch/$(ARCH)/%s/%s\n" target dir_name name) targets
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| "raw" ->
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begin match Xml.children field with
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[Xml.PCData s] -> List.iter (fun target -> fprintf f "ifeq ($(TARGET), %s)\n%s\nendif\n" target s) targets
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| _ -> fprintf stderr "Warning: wrong makefile section in module '%s'\n" name
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end
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| _ -> ()
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) (Xml.children l)
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end) (Xml.children m.xml)
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) modules;
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(** returns a list of modules file name *)
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List.map (fun m -> m.file) modules
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(**
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Search and dump the makefile sections
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**)
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let dump_makefile_section = fun xml makefile_ac airframe_infile location ->
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List.iter (fun x ->
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if ExtXml.tag_is x "makefile" then begin
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let loc = ExtXml.attrib_or_default x "location" "before" in
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match (location, loc) with
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("before", "before") | ("after", "after") ->
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fprintf makefile_ac "\n# raw makefile\n";
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begin match Xml.children x with
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[Xml.PCData s] -> fprintf makefile_ac "%s\n" s
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| _ -> failwith (sprintf "Warning: wrong makefile section in '%s': %s\n" airframe_infile (Xml.to_string_fmt x))
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end
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| (_, _) -> ()
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end)
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(Xml.children xml)
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(**
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* Firmware Children
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* **)
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(* print a configure (firmware) *)
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let print_firmware_configure = fun f p ->
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let name = (String.uppercase (Xml.attrib p "name"))
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and value = (Xml.attrib p "value") in
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fprintf f "%s = %s\n" name value
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(* print a define (firmware) *)
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let print_firmware_define = fun f d ->
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let name = ExtXml.attrib d "name"
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and value = try "="^(Xml.attrib d "value") with _ -> "" in
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fprintf f "$(TARGET).CFLAGS += -D%s%s\n" name value
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(* print a subsystem (firmware) *)
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let print_firmware_subsystem = fun f firmware s ->
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let name = ExtXml.attrib s "name"
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and s_type = try "_"^(Xml.attrib s "type") with _ -> "" in
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fprintf f "# -subsystem: '%s'\n" name;
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(* print config *)
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let s_config = List.filter (fun x -> ExtXml.tag_is x "configure") (Xml.children s) in
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List.iter (print_firmware_configure f) s_config;
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(* print defines *)
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let s_defines = List.filter (fun x -> ExtXml.tag_is x "define") (Xml.children s) in
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List.iter (print_firmware_define f) s_defines;
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(* include subsystem *) (* TODO test if file exists with the generator ? *)
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let s_name = name^s_type^".makefile" in
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let s_dir = "CFG_"^(String.uppercase (Xml.attrib firmware "name")) in
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fprintf f "ifneq ($(strip $(wildcard $(%s)/%s)),)\n" s_dir s_name;
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fprintf f "\tinclude $(%s)/%s\n" s_dir s_name;
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fprintf f "else\n";
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fprintf f "\tinclude $(CFG_SHARED)/%s\n" s_name;
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fprintf f "endif\n"
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let parse_firmware = fun makefile_ac firmware ->
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(* get the list of configure for this firmware *)
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let config = List.filter (fun x -> ExtXml.tag_is x "configure") (Xml.children firmware) in
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(* get the list of targets for this firmware *)
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let targets = List.filter (fun x -> ExtXml.tag_is x "target") (Xml.children firmware) in
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(* get the list of subsystems for this firmware *)
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let subsystems = List.filter (fun x -> ExtXml.tag_is x "subsystem") (Xml.children firmware) in
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(* get the list of defines for this firmware *)
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let defines = List.filter (fun x -> ExtXml.tag_is x "define") (Xml.children firmware) in
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(* iter on all targets *)
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List.iter (fun target ->
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(* get the list of configure for this target *)
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let t_config = List.filter (fun x -> ExtXml.tag_is x "configure") (Xml.children target) in
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(* get the list of defines for this target *)
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let t_defines = List.filter (fun x -> ExtXml.tag_is x "define") (Xml.children target) in
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(* get the list of subsystems for this target *)
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let t_subsystems = List.filter (fun x -> ExtXml.tag_is x "subsystem") (Xml.children target) in
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(* print makefile for this target *)
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fprintf makefile_ac "\n###########\n# -target: '%s'\n" (Xml.attrib target "name");
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fprintf makefile_ac "ifeq ($(TARGET), %s)\n" (Xml.attrib target "name");
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begin (* Check for "processor" attribute *)
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try fprintf makefile_ac "BOARD_PROCESSOR = %s\n" (Xml.attrib target "processor")
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with _ -> ()
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end;
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List.iter (print_firmware_configure makefile_ac) config;
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List.iter (print_firmware_configure makefile_ac) t_config;
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fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/boards/%s.makefile\n" (Xml.attrib target "board");
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fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/firmwares/%s.makefile\n" (Xml.attrib firmware "name");
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List.iter (print_firmware_define makefile_ac) defines;
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List.iter (print_firmware_define makefile_ac) t_defines;
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List.iter (print_firmware_subsystem makefile_ac firmware) t_subsystems;
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List.iter (print_firmware_subsystem makefile_ac firmware) subsystems;
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fprintf makefile_ac "endif\n\n"
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) targets
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(**
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Search and dump the firmware section
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**)
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let dump_firmware_sections = fun xml makefile_ac ->
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List.iter (fun tag ->
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if ExtXml.tag_is tag "firmware" then begin
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try
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fprintf makefile_ac "\n####################################################\n";
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fprintf makefile_ac "# makefile firmware '%s'\n" (Xml.attrib tag "name");
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fprintf makefile_ac "####################################################\n";
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parse_firmware makefile_ac tag
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with _ -> failwith "Warning: firmware name is undeclared"
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end)
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(Xml.children xml)
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(** Extracts the makefile sections of an airframe file *)
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let extract_makefile = fun ac_id airframe_file makefile_ac ->
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let xml = Xml.parse_file airframe_file in
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let f = open_out makefile_ac in
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fprintf f "# This file has been generated by gen_aircraft from %s by %s\n" airframe_file Sys.argv.(0);
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fprintf f "# Please DO NOT EDIT\n";
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fprintf f "AC_ID=%s\n" ac_id;
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(** Search and dump makefile sections that have a "location" attribute set to "before" or no attribute *)
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dump_makefile_section xml f airframe_file "before";
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(** Search and dump the firmware sections *)
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dump_firmware_sections xml f;
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(** Search and dump makefile sections that have a "location" attribute set to "after" *)
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dump_makefile_section xml f airframe_file "after";
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(** Look for modules *)
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let module_files = dump_module_section xml f in
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close_out f;
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module_files
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let is_older = fun target_file dep_files ->
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not (Sys.file_exists target_file) ||
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let target_file_time = (U.stat target_file).U.st_mtime in
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let rec loop = function
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[] -> false
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| f::fs ->
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target_file_time < (U.stat f).U.st_mtime ||
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loop fs in
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loop dep_files
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let make_element = fun t a c -> Xml.Element (t,a,c)
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(******************************* MAIN ****************************************)
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let () =
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try
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if Array.length Sys.argv < 2 || Array.length Sys.argv > 3 then
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failwith (sprintf "Usage: %s <Aircraft name> [conf.xml]" Sys.argv.(0));
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let aircraft = Sys.argv.(1) in
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let conf_xml = if Array.length Sys.argv = 3 then Sys.argv.(2) else default_conf_xml in
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let conf = Xml.parse_file conf_xml in
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check_unique_id_and_name conf conf_xml;
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let aircraft_xml =
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try
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ExtXml.child conf ~select:(fun x -> Xml.attrib x "name" = aircraft) "aircraft"
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with
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Not_found -> failwith (sprintf "Aircraft '%s' not found in '%s'" aircraft conf_xml)
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in
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let value = fun attrib -> ExtXml.attrib aircraft_xml attrib in
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let aircraft_dir = Env.paparazzi_home // "var" // "aircrafts" // aircraft in
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let aircraft_conf_dir = aircraft_dir // "conf" in
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mkdir (Env.paparazzi_home // "var");
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mkdir (Env.paparazzi_home // "var" // "aircrafts");
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mkdir aircraft_dir;
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mkdir (aircraft_dir // "fbw");
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mkdir (aircraft_dir // "autopilot");
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mkdir (aircraft_dir // "sim");
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mkdir aircraft_conf_dir;
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mkdir (aircraft_conf_dir // "airframes");
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mkdir (aircraft_conf_dir // "flight_plans");
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mkdir (aircraft_conf_dir // "radios");
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mkdir (aircraft_conf_dir // "settings");
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mkdir (aircraft_conf_dir // "telemetry");
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let settings =
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try Env.filter_settings (value "settings") with
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_ ->
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fprintf stderr "\nWARNING: No 'settings' attribute specified for A/C '%s', using 'settings/dummy.xml'\n\n%!" aircraft;
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"settings/dummy.xml" in
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(* add modules settings *)
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let settings = String.concat " " [settings; (try Env.filter_settings (value "settings_modules") with _ -> "")] in
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(** Expands the configuration of the A/C into one single file *)
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let conf_aircraft = Env.expand_ac_xml aircraft_xml in
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let configuration =
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make_element
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"configuration"
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[]
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[make_element "conf" [] [conf_aircraft]; Pprz.messages_xml ()] in
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let conf_aircraft_file = aircraft_conf_dir // "conf_aircraft.xml" in
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let f = open_out conf_aircraft_file in
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Printf.fprintf f "%s\n" (ExtXml.to_string_fmt configuration);
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close_out f;
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(** Computes and store a signature of the configuration *)
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let md5sum = Digest.to_hex (Digest.file conf_aircraft_file) in
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let md5sum_file = aircraft_conf_dir // "aircraft.md5" in
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(* Store only if different from previous one *)
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if not (Sys.file_exists md5sum_file
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&& md5sum = input_line (open_in md5sum_file)) then begin
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let f = open_out md5sum_file in
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Printf.fprintf f "%s\n" md5sum;
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close_out f;
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(** Save the configuration for future use *)
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let d = U.localtime (U.gettimeofday ()) in
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let filename = sprintf "%02d_%02d_%02d__%02d_%02d_%02d_%s_%s.conf" (d.U.tm_year mod 100) (d.U.tm_mon+1) (d.U.tm_mday) (d.U.tm_hour) (d.U.tm_min) (d.U.tm_sec) md5sum aircraft in
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let d = Env.paparazzi_home // "var" // "conf" in
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mkdir d;
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let f = open_out (d // filename) in
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Printf.fprintf f "%s\n" (ExtXml.to_string_fmt configuration);
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close_out f end;
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let airframe_file = value "airframe" in
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let airframe_dir = Filename.dirname airframe_file in
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let var_airframe_dir = aircraft_conf_dir // airframe_dir in
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mkdir var_airframe_dir;
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assert (Sys.command (sprintf "cp %s %s" (paparazzi_conf // airframe_file) var_airframe_dir) = 0);
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(** Calls the Makefile with target and options *)
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let make = fun target options ->
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let c = sprintf "make -f Makefile.ac AIRCRAFT=%s AC_ID=%s AIRFRAME_XML=%s TELEMETRY=%s SETTINGS=\"%s\" MD5SUM=\"%s\" %s %s" aircraft (value "ac_id") airframe_file (value "telemetry") settings md5sum options target in
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begin (** Quiet is speficied in the Makefile *)
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try if Sys.getenv "Q" <> "@" then raise Not_found with
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Not_found -> prerr_endline c
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end;
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let returned_code = Sys.command c in
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if returned_code <> 0 then
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exit returned_code in
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(** Calls the makefile if the optional attribute is available *)
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let make_opt = fun target var attr ->
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try
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let value = Xml.attrib aircraft_xml attr in
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make target (sprintf "%s=%s" var value)
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with
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Xml.No_attribute _ -> () in
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let temp_makefile_ac = Filename.temp_file "Makefile.ac" "tmp" in
|
|
let abs_airframe_file = paparazzi_conf // airframe_file in
|
|
|
|
let modules_files = extract_makefile (value "ac_id") abs_airframe_file temp_makefile_ac in
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|
|
|
(* Create Makefile.ac only if needed *)
|
|
let makefile_ac = aircraft_dir // "Makefile.ac" in
|
|
if is_older makefile_ac (abs_airframe_file :: modules_files) then begin
|
|
assert(Sys.command (sprintf "mv %s %s" temp_makefile_ac makefile_ac) = 0)
|
|
end;
|
|
|
|
(* Get TARGET env, needed to build modules.h according to the target *)
|
|
let t = try Printf.sprintf "TARGET=%s" (Sys.getenv "TARGET") with _ -> "" in
|
|
make "all_ac_h" t;
|
|
make_opt "radio_ac_h" "RADIO" "radio";
|
|
make_opt "flight_plan_ac_h" "FLIGHT_PLAN" "flight_plan"
|
|
with
|
|
Failure f ->
|
|
prerr_endline f;
|
|
exit 1
|