ardupilotwaf: consolidate hwdef result processing

Tools/ardupilotwaf/boards.py

@@ -47,7 +47,6 @@ def __init__(self):
 
     def configure(self, cfg):
         cfg.env.TOOLCHAIN = cfg.options.toolchain or self.toolchain
-        cfg.env.ROMFS_FILES = []
         if hasattr(self,'configure_toolchain'):
             self.configure_toolchain(cfg)
         else:

Tools/ardupilotwaf/chibios.py

@@ -514,32 +514,6 @@ def setup_canperiph_build(cfg):
 
     cfg.get_board().with_can = True
 
-def load_env_vars_handle_kv_pair(env, kv_pair):
-    '''handle a key/value pair out of the hwdef generator'''
-    (k, v) = kv_pair
-    if k == 'ROMFS_FILES':
-        env.ROMFS_FILES += v
-        return
-    hal_common.load_env_vars_handle_kv_pair(env, kv_pair)
-
-def load_env_vars(env, hwdef_env):
-    '''load environment variables from the hwdef generator'''
-    hal_common.load_env_vars(env, hwdef_env, kv_handler=load_env_vars_handle_kv_pair)
-
-    if env.DEBUG or env.DEBUG_SYMBOLS:
-        env.CHIBIOS_BUILD_FLAGS += ' ENABLE_DEBUG_SYMBOLS=yes'
-    if env.ENABLE_ASSERTS:
-        env.CHIBIOS_BUILD_FLAGS += ' ENABLE_ASSERTS=yes'
-    if env.ENABLE_MALLOC_GUARD:
-        env.CHIBIOS_BUILD_FLAGS += ' ENABLE_MALLOC_GUARD=yes'
-    if env.ENABLE_STATS:
-        env.CHIBIOS_BUILD_FLAGS += ' ENABLE_STATS=yes'
-    if env.ENABLE_DFU_BOOT and env.BOOTLOADER:
-        env.CHIBIOS_BUILD_FLAGS += ' USE_ASXOPT=-DCRT0_ENTRY_HOOK=TRUE'
-    if env.AP_BOARD_START_TIME:
-        env.CHIBIOS_BUILD_FLAGS += ' AP_BOARD_START_TIME=0x%x' % env.AP_BOARD_START_TIME
-
-
 def setup_optimization(env):
     '''setup optimization flags for build'''
     if env.DEBUG:
@@ -601,12 +575,24 @@ def bldpath(path):
         env.DEFAULT_PARAMETERS = cfg.options.default_parameters
 
     try:
-        hwdef_env, hwdef_files = generate_hwdef_h(env)
+        hwdef_obj = generate_hwdef_h(env)
     except Exception:
         traceback.print_exc()
         cfg.fatal("Failed to process hwdef.dat")
-    load_env_vars(cfg.env, hwdef_env)
-    hal_common.handle_hwdef_files(cfg, hwdef_files)
+    hal_common.process_hwdef_results(cfg, hwdef_obj)
+
+    if env.DEBUG or env.DEBUG_SYMBOLS:
+        env.CHIBIOS_BUILD_FLAGS += ' ENABLE_DEBUG_SYMBOLS=yes'
+    if env.ENABLE_ASSERTS:
+        env.CHIBIOS_BUILD_FLAGS += ' ENABLE_ASSERTS=yes'
+    if env.ENABLE_MALLOC_GUARD:
+        env.CHIBIOS_BUILD_FLAGS += ' ENABLE_MALLOC_GUARD=yes'
+    if env.ENABLE_STATS:
+        env.CHIBIOS_BUILD_FLAGS += ' ENABLE_STATS=yes'
+    if env.ENABLE_DFU_BOOT and env.BOOTLOADER:
+        env.CHIBIOS_BUILD_FLAGS += ' USE_ASXOPT=-DCRT0_ENTRY_HOOK=TRUE'
+    if env.AP_BOARD_START_TIME:
+        env.CHIBIOS_BUILD_FLAGS += ' AP_BOARD_START_TIME=0x%x' % env.AP_BOARD_START_TIME
 
     if env.HAL_NUM_CAN_IFACES and not env.AP_PERIPH:
         setup_canmgr_build(cfg)
@@ -639,7 +625,7 @@ def generate_hwdef_h(env):
     if env.HWDEF_EXTRA:
         hwdef.append(env.HWDEF_EXTRA)
 
-    c = chibios_hwdef.ChibiOSHWDef(
+    hwdef_obj = chibios_hwdef.ChibiOSHWDef(
         outdir=hwdef_out,
         bootloader=bootloader_flag,
         signed_fw=bool(env.AP_SIGNED_FIRMWARE),
@@ -649,8 +635,9 @@ def generate_hwdef_h(env):
         default_params_filepath=str(env.DEFAULT_PARAMETERS),
         quiet=False,
     )
-    c.run()
-    return c.env_vars, c.output_files
+    hwdef_obj.run()
+
+    return hwdef_obj
 
 def pre_build(bld):
     '''pre-build hook to change dynamic sources'''

Tools/ardupilotwaf/esp32.py

@@ -58,12 +58,11 @@ def bldpath(path):
     print("USING EXPRESSIF IDF:"+str(env.IDF))
 
     try:
-        hwdef_env, hwdef_files = generate_hwdef_h(env)
+        hwdef_obj = generate_hwdef_h(env)
     except Exception:
         traceback.print_exc()
-        cfg.fatal("Failed to generate hwdef")
-    hal_common.load_env_vars(cfg.env, hwdef_env)
-    hal_common.handle_hwdef_files(cfg, hwdef_files)
+        cfg.fatal("Failed to process hwdef.dat")
+    hal_common.process_hwdef_results(cfg, hwdef_obj)
 
 def generate_hwdef_h(env):
     '''run esp32_hwdef.py'''
@@ -77,13 +76,15 @@ def generate_hwdef_h(env):
     hwdef = [env.HWDEF]
     if env.HWDEF_EXTRA:
         hwdef.append(env.HWDEF_EXTRA)
-    eh = esp32_hwdef.ESP32HWDef(
+
+    hwdef_obj = esp32_hwdef.ESP32HWDef(
         outdir=hwdef_out,
         hwdef=hwdef,
         quiet=False,
     )
-    eh.run()
-    return eh.env_vars, eh.output_files
+    hwdef_obj.run()
+
+    return hwdef_obj
 
 # delete the output sdkconfig file when the input defaults changes. we take the
 # stamp as the output so we can compute the path to the sdkconfig, yet it

Tools/ardupilotwaf/hal_common.py

@@ -5,39 +5,21 @@
 """
 
 
-def load_env_vars(env, hwdef_env, kv_handler=None):
-    '''load environment variables from the hwdef generator'''
-    for kv in hwdef_env.items():
-        if kv_handler is not None:
-            kv_handler(env, kv)
-            continue
-        load_env_vars_handle_kv_pair(env, kv)
-
-
-def load_env_vars_handle_kv_pair(env, kv_pair):
-    '''handle a key/value pair out of the hwdef generator'''
-    (k, v) = kv_pair
-    if k in env:
-        if isinstance(env[k], dict):
-            a = v.split('=')
-            env[k][a[0]] = '='.join(a[1:])
-            print("env updated %s=%s" % (k, v))
-        elif isinstance(env[k], list):
-            env[k].append(v)
-            print("env appended %s=%s" % (k, v))
+def process_hwdef_results(cfg, hwdef_obj):
+    # load environment variables
+    env = cfg.env
+    for k, v in hwdef_obj.env_vars.items():
+        if k in env:
+            # don't want to encourage modifications from the hwdef
+            raise ValueError(f"hwdef redefines environment variable {k} "
+                             f"with existing value {env[k]!r} to value {v!r}")
         else:
             env[k] = v
-            print("env added %s=%s" % (k, v))
-    else:
-        env[k] = v
-        print("env set %s=%s" % (k, v))
+            print("env set %s=%s" % (k, v))
 
-
-def handle_hwdef_files(cfg, hwdef_files):
     # note files generated by hwdef system as cfg_files. this ensures they
     # don't get deleted on `./waf clean`. this also ensures their node exists
     # so implicit dependencies are properly tracked.
-
     bldnode = cfg.bldnode.make_node(cfg.variant)
-    for file in sorted(hwdef_files):
-        cfg.env.append_value("cfg_files", bldnode.make_node(file).abspath())
+    for file in sorted(hwdef_obj.output_files):
+        env.append_value("cfg_files", bldnode.make_node(file).abspath())

Tools/ardupilotwaf/linux.py

@@ -45,12 +45,11 @@ def bldpath(path):
     env.AP_PROGRAM_FEATURES += ['linux_ap_program']
 
     try:
-        hwdef_env, hwdef_files = generate_hwdef_h(env)
+        hwdef_obj = generate_hwdef_h(env)
     except Exception:
         traceback.print_exc()
-        cfg.fatal("Failed to generate hwdef")
-    hal_common.load_env_vars(cfg.env, hwdef_env)
-    hal_common.handle_hwdef_files(cfg, hwdef_files)
+        cfg.fatal("Failed to process hwdef.dat")
+    hal_common.process_hwdef_results(cfg, hwdef_obj)
 
 
 def generate_hwdef_h(env):
@@ -65,13 +64,15 @@ def generate_hwdef_h(env):
     hwdef = [env.HWDEF]
     if env.HWDEF_EXTRA:
         hwdef.append(env.HWDEF_EXTRA)
-    lh = linux_hwdef.LinuxHWDef(
+
+    hwdef_obj = linux_hwdef.LinuxHWDef(
         outdir=hwdef_out,
         hwdef=hwdef,
         quiet=False,
     )
-    lh.run()
-    return lh.env_vars, lh.output_files
+    hwdef_obj.run()
+
+    return hwdef_obj
 
 
 def pre_build(bld):