572 lines
18 KiB
Python
Executable File
572 lines
18 KiB
Python
Executable File
#!/usr/bin/env python3
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import random
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import sys
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import os
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import shutil
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import time
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sys.path.insert(0, "./utils/python")
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sys.path.insert(0, "../utils/python")
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import tool
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tools = tool.ProjectTools()
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welcome_str = "XRobot 2023\n感谢使用本项目，使用./project.py help获取使用方法"
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project_path_str = "工程目录:"
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cfg_dir = tools.project_path + "/config"
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bsp_dir = tools.project_path + "/hw/bsp"
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src_dir = tools.project_path + "/src"
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dev_dir = tools.project_path + "/src/device"
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mod_dir = tools.project_path + "/src/module"
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sys_dir = tools.project_path + "/src/system"
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rbt_dir = tools.project_path + "/src/robot"
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fm_dir = tools.project_path + "/firmware"
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build_dir = tools.project_path + "/build"
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report_dir = build_dir + "/report"
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report_ans_dir = build_dir + "/report_ans"
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user_dir = tools.project_path + "/user"
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user_bsp_dir = user_dir + "/bsp"
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user_cmp_dir = user_dir + "/component"
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user_dev_dir = user_dir + "/device"
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user_mod_dir = user_dir + "/module"
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user_sys_dir = user_dir + "/system"
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user_rbt_dir = user_dir + "/robot"
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def list_target():
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print("Offical:")
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for dirname in tools.list_dir(bsp_dir):
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print(" Board[" + dirname + "]")
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config_dir = bsp_dir + "/" + dirname + "/config"
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for filename in tools.list_file(config_dir):
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if filename.endswith(".config"):
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print(" Robot[" + filename[0:-7] + "]")
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print("User:")
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for dirname in tools.list_dir(user_bsp_dir):
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print(" Board[" + dirname + "]")
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config_dir = user_bsp_dir + "/" + dirname + "/config"
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for filename in tools.list_file(config_dir):
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if filename.endswith(".config"):
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print(" Robot[" + filename[0:-7] + "]")
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def select_config(config_path, type):
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if not os.path.exists(config_path):
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print("Error:Robot not found.")
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exit(-1)
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shutil.copyfile(config_path, cfg_dir + "/.config")
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print("Copy " + config_path + " to config/.config")
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# The above code is calling a function `generate_cmake` and passing `tools.project_path` as an
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# argument.
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generate_cmake(cfg_dir)
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tools.clean_cache()
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tools.config_cmake(type)
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print("Load config success from", config_path)
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def select_config_idf(config_path, type):
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if not os.path.exists(config_path):
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print("Error:Robot not found.")
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exit(-1)
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shutil.copyfile(config_path, cfg_dir + "/.config")
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print("Copy " + config_path + " to config/.config")
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generate_cmake(cfg_dir)
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tools.clean_cache()
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tools.config_cmake_idf(type)
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print("Load config success from", config_path)
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def build(board, robot, type="Debug", code_check=False):
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target = []
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time_count = 0.0
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if os.path.exists(fm_dir):
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shutil.rmtree(fm_dir)
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os.makedirs(fm_dir, exist_ok=True)
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if board == "all":
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for dirname in tools.list_dir(bsp_dir):
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target.append([bsp_dir + "/" + dirname, []])
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for dirname in tools.list_dir(user_bsp_dir):
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target.append([user_bsp_dir + "/" + dirname, []])
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else:
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for dirname in tools.list_dir(bsp_dir):
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if dirname == board:
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target.append([bsp_dir + "/" + dirname, []])
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for dirname in tools.list_dir(user_bsp_dir):
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if dirname == board:
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target.append([user_bsp_dir + "/" + dirname, []])
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random.shuffle(target)
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if len(target) == 0:
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print("ERROR:No target select.")
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return
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for i in range(len(target)):
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config_dir = target[i][0] + "/config"
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for filename in tools.list_file(config_dir):
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if filename.endswith(".config") and (
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robot == "all" or robot == filename[:-7]
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):
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target[i][1].append([filename[:-7], 0.0])
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print("Select config " + target[i][0] + " " + filename)
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if len(target[i][1]) == 0:
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print("ERROR:No target select.")
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return
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for item in target:
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bsp = item[0]
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for rbt_data in item[1]:
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rbt = rbt_data[0]
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rbt_data[1] = time.time()
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config_file = bsp + "/config/" + rbt + ".config"
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fm_board_dir = fm_dir + "/" + bsp.split("/")[-1]
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fm_robot_dir = fm_board_dir + "/" + rbt
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if os.path.exists(bsp + "/sdkconfig"):
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select_config_idf(config_file, type)
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os.system(
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'bash -c "source ~/.idf_profile && cd ' + build_dir + ' && ninja"'
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)
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else:
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select_config(config_file, type)
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os.system("cd " + build_dir + " && ninja")
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if not os.path.exists(build_dir + "/" + "xrobot.elf"):
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print("\033[0;31;40mBuild " + bsp + " [" + rbt + "] failed.\033[0m")
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exit(-1)
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rbt_data[1] = time.time() - rbt_data[1]
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time_count += rbt_data[1]
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os.makedirs(fm_board_dir, exist_ok=True)
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os.makedirs(fm_robot_dir, exist_ok=True)
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if code_check:
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os.makedirs(report_dir, exist_ok=True)
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os.makedirs(report_ans_dir, exist_ok=True)
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os.system(
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"CodeChecker analyze " + build_dir + "/compile_commands.json"
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" --enable sensitive --output " + report_dir
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)
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os.system(
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"CodeChecker parse --export html --output "
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+ report_ans_dir
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+ " "
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+ report_dir
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)
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os.system("cp -r " + report_ans_dir + " " + fm_robot_dir)
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dirlist = os.walk(
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build_dir,
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)
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for root, dirs, files in dirlist:
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for file in files:
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tmp_path = root[len(build_dir) :]
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if tmp_path.count("/") > 1:
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continue
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if len(tmp_path) == 0:
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tmp_path = "/"
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else:
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tmp_path = tmp_path + "/"
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if (
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file.endswith(".hex")
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or file.endswith(".bin")
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or file.endswith(".elf")
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):
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print("Found object", file)
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os.makedirs(fm_robot_dir + "/" + tmp_path, exist_ok=True)
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shutil.copyfile(
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root + "/" + file,
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fm_robot_dir + tmp_path + file.split("/")[-1],
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)
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os.system(
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"md5sum "
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+ fm_robot_dir
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+ tmp_path
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+ file.split("/")[-1]
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+ " > "
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+ fm_robot_dir
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+ tmp_path
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+ file.split("/")[-1]
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+ ".md5"
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)
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for item in target:
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bsp = item[0]
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for rbt_data in item[1]:
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rbt = rbt_data[0]
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if bsp.startswith(bsp_dir):
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print(
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"\033[0;32;40mRobot["
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+ rbt
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+ "]"
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+ " for board "
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+ bsp[len(bsp_dir) + 1 :]
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+ " build done in %.2f seconds.\033[0m" % rbt_data[1]
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)
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else:
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print(
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"\033[0;32;40mRobot["
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+ rbt
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+ "]"
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+ " for custom board "
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+ bsp[len(user_bsp_dir) + 1 :]
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+ " build done in %.2f seconds.\033[0m" % rbt_data[1]
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)
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print("\033[0;32;40mAll target build done in %.2f seconds.\033[0m" % time_count)
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def select(board, robot):
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config_file = ""
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for dirname in tools.list_dir(bsp_dir):
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if dirname == board:
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config_file = bsp_dir + "/" + dirname + "/config/" + robot + ".config"
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for dirname in tools.list_dir(user_bsp_dir):
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if dirname == board:
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config_file = user_bsp_dir + "/" + dirname + "/config/" + robot + ".config"
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if len(config_file) == 0:
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print("No config file found")
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exit(-1)
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select_config(config_file, "Debug")
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def generate_kconfig():
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print("Start generate Kconfig.")
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kconfig_file = open(
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tools.project_path + "/config/auto.Kconfig", "w", encoding="utf8"
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)
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kconfig_file.write("# XRobot\n")
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kconfig_file.write("# Auto generated file. Do not edit.\n")
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kconfig_file.write("# -----------------------------------------------")
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tools.kconfig_add_choice(
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"board-",
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"开发板",
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kconfig_file,
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[tools.list_dir(bsp_dir), tools.list_dir(user_bsp_dir)],
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[bsp_dir, user_bsp_dir],
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)
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tools.kconfig_add_choice(
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"system-",
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"系统",
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kconfig_file,
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[tools.list_dir(sys_dir), tools.list_dir(user_sys_dir)],
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[sys_dir, user_sys_dir],
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)
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tools.kconfig_add_choice(
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"robot-",
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"机器人",
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kconfig_file,
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[tools.list_dir(rbt_dir), tools.list_dir(user_rbt_dir)],
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[rbt_dir, user_rbt_dir],
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)
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tools.kconfig_add_menu(
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"component-", "组件", kconfig_file, [tools.list_dir(user_cmp_dir)], [user_cmp_dir]
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)
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tools.kconfig_add_menu(
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"device-",
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"设备",
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kconfig_file,
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[tools.list_dir(dev_dir), tools.list_dir(user_dev_dir)],
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[dev_dir, user_dev_dir],
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)
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tools.kconfig_add_menu(
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"module-",
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"模块",
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kconfig_file,
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[tools.list_dir(mod_dir), tools.list_dir(user_mod_dir)],
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[mod_dir, user_mod_dir],
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)
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kconfig_file.close()
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print("Generate Kconfig done.")
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def generate_cmake(path):
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print("Start generate config.cmake.")
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if os.path.exists(path + "/.config"):
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print("Found config file.")
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else:
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tools.menuconfig(path)
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config_file = open(path + "/.config", "r", encoding="utf8")
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cmake_file = open(path + "/config.cmake", "w", encoding="utf8")
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cmake_file.write("# XRobot\n")
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cmake_file.write("# Auto generated file. Do not edit.\n")
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cmake_file.write("set(CONFIG_PREFIX " + tools.config_prefix + ")\n")
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for lines in config_file.readlines():
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line = lines.rstrip("\n")
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if not line:
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continue
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if line.startswith("#") and line.endswith(" is not set"):
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tools.cmake_add_detail(cmake_file, line[2:-11], "0")
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continue
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if line.endswith("=y"):
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tools.cmake_add_detail(cmake_file, line[:-2], "1")
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continue
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if line.startswith("#"):
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continue
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temp = line.split("=")
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tools.cmake_add_detail(cmake_file, temp[0], temp[1])
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config_file.close()
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cmake_file.close()
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print("Generate done.")
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def new_component(name: str):
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cppfile = open(
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tools.project_path + "/src/component/comp_" + name + ".cpp",
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mode="w+",
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encoding="utf8",
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)
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cppfile.write('#include "comp_' + name + '.hpp"\n\nusing namespace Component;\n')
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cppfile.close()
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hppfile = open(
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tools.project_path + "/src/component/comp_" + name + ".hpp",
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mode="w+",
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encoding="utf8",
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)
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hppfile.write(
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"#include <component.hpp>\n\nnamespace Component {\n"
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+ "class YourComponentName {\n"
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+ " public:\n};\n"
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+ "} // namespace Component"
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)
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hppfile.close()
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print("Create new component [" + name + "] done.")
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def new_device(name: str):
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os.mkdir(tools.project_path + "/src/device/" + name)
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cppfile = open(
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tools.project_path + "/src/device/" + name + "/dev_" + name + ".cpp",
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mode="w+",
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encoding="utf8",
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)
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cppfile.write('#include "dev_' + name + '.hpp"\n\nusing namespace Device;\n')
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cppfile.close()
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hppfile = open(
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tools.project_path + "/src/device/" + name + "/dev_" + name + ".hpp",
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mode="w+",
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encoding="utf8",
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)
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hppfile.write(
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'#include "device.hpp"\n\nnamespace Device {\n'
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+ "class YourDeviceName {\n"
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+ " public:\n};\n"
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+ "} // namespace Device"
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)
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hppfile.close()
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configfile = open(
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tools.project_path + "/src/device/" + name + "/Kconfig",
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mode="w+",
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encoding="utf8",
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)
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configfile.close()
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infofile = open(
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tools.project_path + "/src/device/" + name + "/info.cmake",
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mode="w+",
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encoding="utf8",
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)
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infofile.write(
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"CHECK_SUB_ENABLE(MODULE_ENABLE device)\nif(${MODULE_ENABLE})\n "
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'file(GLOB CUR_SOURCES "${SUB_DIR}/*.cpp")\n SUB_ADD_SRC(CUR_SOURCES)\n SUB_ADD_INC(SUB_DIR)\nendif()'
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)
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infofile.close()
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print("Create new device [" + name + "] done.")
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def new_module(name: str):
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os.mkdir(tools.project_path + "/src/module/" + name)
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cppfile = open(
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tools.project_path + "/src/module/" + name + "/mod_" + name + ".cpp",
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mode="w+",
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encoding="utf8",
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)
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cppfile.write('#include "mod_' + name + '.hpp"\n\nusing namespace Module;\n')
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cppfile.close()
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hppfile = open(
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tools.project_path + "/src/module/" + name + "/mod_" + name + ".hpp",
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mode="w+",
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encoding="utf8",
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)
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hppfile.write(
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'#include "module.hpp"\n\nnamespace Module {\n'
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+ "class YourModuleName {\n"
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+ " public:\n};\n"
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+ "} // namespace Module"
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)
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hppfile.close()
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configfile = open(
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tools.project_path + "/src/module/" + name + "/Kconfig",
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mode="w+",
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encoding="utf8",
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)
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configfile.close()
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infofile = open(
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tools.project_path + "/src/module/" + name + "/info.cmake",
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mode="w+",
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encoding="utf8",
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)
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infofile.write(
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"CHECK_SUB_ENABLE(MODULE_ENABLE module)\nif(${MODULE_ENABLE})\n "
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'file(GLOB CUR_SOURCES "${SUB_DIR}/*.cpp")\n'
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" SUB_ADD_SRC(CUR_SOURCES)\n "
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"SUB_ADD_INC(SUB_DIR)\nendif()"
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)
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infofile.close()
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print("Create new module [" + name + "] done.")
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def new_robot(name: str):
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os.mkdir(tools.project_path + "/src/robot/" + name)
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cppfile = open(
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tools.project_path + "/src/robot/" + name + "/robot.cpp",
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mode="w+",
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encoding="utf8",
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)
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cppfile.write(
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'#include "robot.hpp"\n\n#include <system.hpp>\n#include <thread.hpp>\n\nusing namespace Robot;\n\n'
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)
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cppfile.write(
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"/* clang-format off */\n//TODO: write your param\n/* clang-format on */\n\n"
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)
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cppfile.write(
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"void robot_init() {\n System::Start<Robot::YourRobotName, Robot::YourRobotName::Param>(param);\n}\n"
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)
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cppfile.close()
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hppfile = open(
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tools.project_path + "/src/robot/" + name + "/robot.hpp",
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mode="w+",
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encoding="utf8",
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)
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hppfile.write(
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'/* #include "dev_xxx.hpp" */\n\nvoid robot_init();\n\nnamespace Robot {\n'
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+ "class YourRobotName {\n"
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+ " public:\n};\n"
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+ "} // namespace Robot"
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)
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hppfile.close()
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configfile = open(
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tools.project_path + "/src/robot/" + name + "/Kconfig",
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mode="w+",
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encoding="utf8",
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)
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configfile.close()
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print("Create new Robot [" + name + "] done.")
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cmd = sys.argv
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cmd_len = len(cmd)
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if cmd_len < 2:
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print("参数错误，请输入./project.py help")
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exit()
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if cmd[1] == "config":
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tools.clean_cache()
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generate_kconfig()
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tools.guiconfig(cfg_dir)
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generate_cmake(cfg_dir)
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tools.config_cmake()
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elif cmd[1] == "menuconfig":
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tools.clean_cache()
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generate_kconfig()
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tools.menuconfig(cfg_dir)
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generate_cmake(cfg_dir)
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tools.config_cmake()
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elif cmd[1] == "help":
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print(welcome_str)
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print(project_path_str + tools.project_path)
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print("帮助页面/help")
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print("#命令 - #功能")
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print("help - 显示本页面")
|
|
print("config - 生成新配置(GUI)")
|
|
print("menuconfig - 生成新配置(Terminal)")
|
|
print("refresh - 重新生成cmake缓存")
|
|
print("clean - 清除编译产物")
|
|
print("build [BOARD] [ROBOT] - 构建目标")
|
|
print("list - 列出可构建目标")
|
|
print("init - 初始化submodule")
|
|
print("init-cn - 使用gitee镜像初始化submodule")
|
|
print("select [BOARD] [ROBOT] - 选择构建目标")
|
|
print("new [TYPE] [NAME] - 新建模块")
|
|
|
|
elif cmd[1] == "generate":
|
|
generate_cmake(cmd[2] + "/config")
|
|
|
|
elif cmd[1] == "refresh":
|
|
tools.clean_cache()
|
|
tools.config_cmake()
|
|
|
|
elif cmd[1] == "clean":
|
|
tools.clean_cache()
|
|
print("clean done.")
|
|
|
|
elif cmd[1] == "build":
|
|
if cmd_len < 4:
|
|
print("参数错误")
|
|
exit(-1)
|
|
build(cmd[2], cmd[3])
|
|
|
|
elif cmd[1] == "build-debug":
|
|
if cmd_len < 4:
|
|
print("参数错误")
|
|
exit(-1)
|
|
build(cmd[2], cmd[3], "Debug")
|
|
|
|
elif cmd[1] == "build-release":
|
|
if cmd_len < 4:
|
|
print("参数错误")
|
|
exit(-1)
|
|
build(cmd[2], cmd[3], "Release")
|
|
elif cmd[1] == "build-debug-check":
|
|
if cmd_len < 4:
|
|
print("参数错误")
|
|
exit(-1)
|
|
build(cmd[2], cmd[3], "Debug", True)
|
|
|
|
elif cmd[1] == "build-release-check":
|
|
if cmd_len < 4:
|
|
print("参数错误")
|
|
exit(-1)
|
|
build(cmd[2], cmd[3], "Release", True)
|
|
elif cmd[1] == "list":
|
|
list_target()
|
|
elif cmd[1] == "init":
|
|
os.system("git submodule init && git submodule update")
|
|
elif cmd[1] == "init-cn":
|
|
if os.path.exists(".gitmodules_cn"):
|
|
os.system("mv .gitmodules .gitmodules_en && mv .gitmodules_cn .gitmodules && git submodule init && git submodule update")
|
|
else:
|
|
os.system("git submodule init && git submodule update")
|
|
os.system("mv .gitmodules .gitmodules_cn && mv .gitmodules_en .gitmodules")
|
|
elif cmd[1] == "select":
|
|
if cmd_len < 4:
|
|
print("参数错误")
|
|
exit(-1)
|
|
select(cmd[2], cmd[3])
|
|
elif cmd[1] == "new":
|
|
if cmd_len < 4:
|
|
print("参数错误")
|
|
try:
|
|
eval("new_" + cmd[2] + "(cmd[3])")
|
|
except:
|
|
print("命令错误")
|
|
else:
|
|
print("参数错误，请输入./project.py help")
|
|
|
|
exit(0)
|