Add option to include the Ethernet driver task. (#15)

Before, we included the Ethernet driver task in every example, which broke some of them. This change makes this optional and configurable through xtask.

app-tc37x/CMakeLists.txt

@@ -11,6 +11,11 @@ cmake_path(SET pxros_utils_dir  NORMALIZE $ENV{PXROS_UTILS})
 cmake_path(SET illd_base        NORMALIZE $ENV{ILLD_BASE})
 cmake_path(SET illd_precompiled NORMALIZE $ENV{ILLD_PRECOMPILED})
 
+# Whether to include the ethernet driver task.
+if (DEFINED ENV{INCLUDE_ETHERNET_DRIVER_TASK})
+    add_compile_definitions(INCLUDE_ETHERNET_DRIVER_TASK)
+endif()
+
 if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE Debug)
 endif()

app-tc37x/pxros/tasks/taskDeployment.c

@@ -24,9 +24,13 @@
 /* Task Deployment Table
  * Task configuration relying on Task default Memory Class and Object pool
  */
+#ifdef INCLUDE_ETHERNET_DRIVER_TASK
 const task_deployment_t taskTable[] = {
     { PxEthTaskCreate, GETH_DRIVER_PRIO, PXCORE_0},
 };
+#else
+const task_deployment_t taskTable[] = {};
+#endif
 
 /* FUNTION: TaskDeploy
  *     Function calls Task Create function according their core assignment in the taskTable

xtask/src/build.rs

@@ -49,6 +49,12 @@ pub struct Options {
     /// This is an expensive operation so it is disabled by default.
     #[arg(long, required = false)]
     pub build_illd: bool,
+
+    /// Include the Ethernet driver task into PXROS task list.
+    ///
+    /// This is required if the Ethernet driver is used.
+    #[arg(long, required = false)]
+    pub include_ethernet_task: bool,
 }
 
 /// Tricore probe log level.
@@ -152,7 +158,7 @@ pub fn build(options: Options) -> anyhow::Result<()> {
     env::set_current_dir(workspace_root_dir.join(options.app_folder))?;
 
     let build_directory = build_directory.to_str().expect("Path should be valid UTF-8.");
-    let make_result = make_pxros(build_directory, options.jobs, options.build_illd);
+    let make_result = make_pxros(build_directory, options.jobs, options.build_illd, options.include_ethernet_task);
 
     env::set_current_dir(current_directory)?;
 
@@ -173,7 +179,12 @@ fn to_os_path(path: &str) -> String {
 ///
 /// This function is not inlined because we want to revert and go back to our
 /// old folder even if we encounter an error.
-fn make_pxros(build_dir: &str, make_job_count: usize, build_illd: bool) -> anyhow::Result<()> {
+fn make_pxros(
+    build_dir: &str,
+    make_job_count: usize,
+    build_illd: bool,
+    include_ethernet_task: bool,
+) -> anyhow::Result<()> {
     let mut env_vars = vec![
         ("PXROS_ROOT_PATH", to_os_path(pxros_hr::TRI_8_2_1_EVAL_KERNEL)),
         ("PXROS_UTILS", to_os_path(pxros_hr::TRI_8_2_1_EVAL_UTILS)),
@@ -185,6 +196,10 @@ fn make_pxros(build_dir: &str, make_job_count: usize, build_illd: bool) -> anyho
         env_vars.push(("BUILD_ILLD", "1".into()));
     }
 
+    if include_ethernet_task {
+        env_vars.push(("INCLUDE_ETHERNET_DRIVER_TASK", "1".into()));
+    }
+
     if !process::Command::new("cmake")
         .args(["-B", build_dir, "--fresh", "-G", "Unix Makefiles"])
         .envs(env_vars.clone())