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extra_script.py
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extra_script.py
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Import("projenv")
Import("env")
import os
import shutil
##########################
#### Global variables ####
##########################
boards_metas = {
"portenta_h7_m7" : "colcon.meta",
"nanorp2040connect" : "colcon_verylowmem.meta",
"teensy41" : "colcon.meta",
"teensy40" : "colcon.meta",
"teensy36" : "colcon_lowmem.meta",
"teensy35" : "colcon_lowmem.meta",
"teensy32" : "colcon_lowmem.meta",
"teensy31" : "colcon_lowmem.meta",
"esp32dev" : "colcon.meta",
"olimex_e407" : "colcon.meta",
"due" : "colcon_verylowmem.meta",
"zero" : "colcon_verylowmem.meta",
"pico": "colcon.meta"
}
project_options = env.GetProjectConfig().items(env=env["PIOENV"], as_dict=True)
main_path = os.path.realpath(".")
global_env = DefaultEnvironment()
board = env['BOARD']
framework = env['PIOFRAMEWORK'][0]
extra_packages_path = "{}/extra_packages".format(env['PROJECT_DIR'])
selected_board_meta = boards_metas[board] if board in boards_metas else "colcon.meta"
# Retrieve the required transport. Default iron
microros_distro = global_env.BoardConfig().get("microros_distro", "iron")
# Retrieve the required transport. Default serial
microros_transport = global_env.BoardConfig().get("microros_transport", "serial")
# Retrieve the user meta. Default none
microros_user_meta = "{}/{}".format(env['PROJECT_DIR'], global_env.BoardConfig().get("microros_user_meta", ""))
# Do not include build folder
env['SRC_FILTER'] += ' -<build/include/*>'
################################
#### Library custom targets ####
################################
def clean_microros_callback(*args, **kwargs):
library_path = main_path + '/libmicroros'
build_path = main_path + '/build'
# Delete library and build folders
shutil.rmtree(library_path, ignore_errors=True)
shutil.rmtree(build_path, ignore_errors=True)
print("micro-ROS library cleaned!")
os._exit(0)
global_env.AddCustomTarget("clean_microros", None, clean_microros_callback, title="Clean Micro-ROS", description="Clean Micro-ROS build environment")
def build_microros(*args, **kwargs):
##############################
#### Install dependencies ####
##############################
pip_packages = [x.split("==")[0] for x in os.popen('{} -m pip freeze'.format(env['PYTHONEXE'])).read().split('\n')]
required_packages = ["catkin-pkg", "lark-parser", "empy", "colcon-common-extensions", "importlib-resources", "pyyaml", "pytz", "markupsafe==2.0.1"]
if all([x in pip_packages for x in required_packages]):
print("All required Python pip packages are installed")
for p in [x for x in required_packages if x not in pip_packages]:
print('Installing {} with pip at PlatformIO environment'.format(p))
env.Execute('$PYTHONEXE -m pip install {}'.format(p))
import microros_utils.library_builder as library_builder
#################################
#### Build micro-ROS library ####
#################################
print("Configuring {} with transport {}".format(board, microros_transport))
if framework == 'mbed':
env.Replace(CCFLAGS = env['CCFLAGS'][1:-3])
cmake_toolchain = library_builder.CMakeToolchain(
main_path + "/platformio_toolchain.cmake",
env['CC'],
env['CXX'],
env['AR'],
"{} {} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='".format(' '.join(env['CFLAGS']), ' '.join(env['CCFLAGS'])),
"{} {} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='".format(' '.join(env['CXXFLAGS']), ' '.join(env['CCFLAGS']))
)
python_env_path = env['PROJECT_CORE_DIR'] + "/penv/bin/activate"
builder = library_builder.Build(library_folder=main_path, packages_folder=extra_packages_path, distro=microros_distro, python_env=python_env_path)
builder.run('{}/metas/{}'.format(main_path, selected_board_meta), cmake_toolchain.path, microros_user_meta)
#######################################################
#### Add micro-ROS library/includes to environment ####
#######################################################
# Add library
if (board == "portenta_h7_m7" or board == "nanorp2040connect" or board == "pico"):
# Workaround for including the library in the linker group
# This solves a problem with duplicated symbols in Galactic
global_env["_LIBFLAGS"] = "-Wl,--start-group " + global_env["_LIBFLAGS"] + " -l{} -Wl,--end-group".format(builder.library_name)
else:
global_env.Append(LIBS=[builder.library_name])
# Add library path
global_env.Append(LIBPATH=[builder.library_path])
def update_env():
# Add required defines
global_env.Append(CPPDEFINES=[("CLOCK_MONOTONIC", 1)])
# Add micro-ROS include path
global_env.Append(CPPPATH=[main_path + "/libmicroros/include"])
# Add micro-ROS include path to library include path
env.Append(CPPPATH=[main_path + "/libmicroros/include"])
# Add platformio library general include path
global_env.Append(CPPPATH=[
main_path + "/platform_code",
main_path + "/platform_code/{}/{}".format(framework, microros_transport)])
# Add platformio library general to library include path
env.Append(CPPPATH=[
main_path + "/platform_code",
main_path + "/platform_code/{}/{}".format(framework, microros_transport)])
if (board == "teensy31" or board == "teensy35" or board == "teensy36"):
projenv.Append(LINKFLAGS=["--specs=nosys.specs"])
# Add micro-ROS defines to user application
projenv.Append(CPPDEFINES=[('MICRO_ROS_TRANSPORT_{}_{}'.format(framework.upper(), microros_transport.upper()), 1)])
projenv.Append(CPPDEFINES=[('MICRO_ROS_DISTRO_{} '.format(microros_distro.upper()), 1)])
# Include path for framework
global_env.Append(CPPPATH=[main_path + "/platform_code/{}".format(framework)])
# Add clock implementation
env['SRC_FILTER'] += ' +<platform_code/{}/clock_gettime.cpp>'.format(framework)
# Add transport sources according to the framework and the transport
env['SRC_FILTER'] += ' +<platform_code/{}/{}/micro_ros_transport.cpp>'.format(framework, microros_transport)
from SCons.Script import COMMAND_LINE_TARGETS
# Do not build library on clean_microros target or when IDE fetches C/C++ project metadata
if set(["clean_microros", "_idedata", "idedata"]).isdisjoint(set(COMMAND_LINE_TARGETS)):
build_microros()
update_env()