project.py

#!/usr/bin/env python3
import random
import sys
import os
import shutil
import time

sys.path.insert(0, "./utils/python")
sys.path.insert(0, "../utils/python")

import tool

tools = tool.ProjectTools()

welcome_str = "XRobot 2023\n感谢使用本项目，使用./project.py help获取使用方法"
project_path_str = "工程目录:"

cfg_dir = tools.project_path + "/config"
bsp_dir = tools.project_path + "/hw/bsp"
src_dir = tools.project_path + "/src"
dev_dir = tools.project_path + "/src/device"
mod_dir = tools.project_path + "/src/module"
sys_dir = tools.project_path + "/src/system"
rbt_dir = tools.project_path + "/src/robot"
fm_dir = tools.project_path + "/firmware"
build_dir = tools.project_path + "/build"
report_dir = build_dir + "/report"
report_ans_dir = build_dir + "/report_ans"
user_dir = tools.project_path + "/user"
user_bsp_dir = user_dir + "/bsp"
user_cmp_dir = user_dir + "/component"
user_dev_dir = user_dir + "/device"
user_mod_dir = user_dir + "/module"
user_sys_dir = user_dir + "/system"
user_rbt_dir = user_dir + "/robot"


def list_target():
    print("Offical:")
    for dirname in tools.list_dir(bsp_dir):
        print("  Board[" + dirname + "]")
        config_dir = bsp_dir + "/" + dirname + "/config"
        for filename in tools.list_file(config_dir):
            if filename.endswith(".config"):
                print("    Robot[" + filename[0:-7] + "]")
    print("User:")
    for dirname in tools.list_dir(user_bsp_dir):
        print("  Board[" + dirname + "]")
        config_dir = user_bsp_dir + "/" + dirname + "/config"
        for filename in tools.list_file(config_dir):
            if filename.endswith(".config"):
                print("    Robot[" + filename[0:-7] + "]")


def select_config(config_path, type):
    if not os.path.exists(config_path):
        print("Error:Robot not found.")
        exit(-1)

    shutil.copyfile(config_path, cfg_dir + "/.config")
    print("Copy " + config_path + " to config/.config")
    # The above code is calling a function `generate_cmake` and passing `tools.project_path` as an
    # argument.
    generate_cmake(cfg_dir)
    tools.clean_cache()
    tools.config_cmake(type)

    print("Load config success from", config_path)


def select_config_idf(config_path, type):
    if not os.path.exists(config_path):
        print("Error:Robot not found.")
        exit(-1)

    shutil.copyfile(config_path, cfg_dir + "/.config")
    print("Copy " + config_path + " to config/.config")
    generate_cmake(cfg_dir)
    tools.clean_cache()
    tools.config_cmake_idf(type)

    print("Load config success from", config_path)


def build(board, robot, type="Debug", code_check=False):
    target = []
    time_count = 0.0

    if os.path.exists(fm_dir):
        shutil.rmtree(fm_dir)
    os.makedirs(fm_dir, exist_ok=True)

    if board == "all":
        for dirname in tools.list_dir(bsp_dir):
            target.append([bsp_dir + "/" + dirname, []])
        for dirname in tools.list_dir(user_bsp_dir):
            target.append([user_bsp_dir + "/" + dirname, []])
    else:
        for dirname in tools.list_dir(bsp_dir):
            if dirname == board:
                target.append([bsp_dir + "/" + dirname, []])
        for dirname in tools.list_dir(user_bsp_dir):
            if dirname == board:
                target.append([user_bsp_dir + "/" + dirname, []])

    random.shuffle(target)

    if len(target) == 0:
        print("ERROR:No target select.")
        return

    for i in range(len(target)):
        config_dir = target[i][0] + "/config"
        for filename in tools.list_file(config_dir):
            if filename.endswith(".config") and (
                robot == "all" or robot == filename[:-7]
            ):
                target[i][1].append([filename[:-7], 0.0])
                print("Select config " + target[i][0] + " " + filename)
        if len(target[i][1]) == 0:
            print("ERROR:No target select.")
            return

    for item in target:
        bsp = item[0]
        for rbt_data in item[1]:
            rbt = rbt_data[0]
            rbt_data[1] = time.time()
            config_file = bsp + "/config/" + rbt + ".config"
            fm_board_dir = fm_dir + "/" + bsp.split("/")[-1]
            fm_robot_dir = fm_board_dir + "/" + rbt
            if os.path.exists(bsp + "/sdkconfig"):
                select_config_idf(config_file, type)
                os.system(
                    'bash -c "source ~/.idf_profile && cd ' + build_dir + ' && ninja"'
                )
            else:
                select_config(config_file, type)
                os.system("cd " + build_dir + " && ninja")
            if not os.path.exists(build_dir + "/" + "xrobot.elf"):
                print("\033[0;31;40mBuild " + bsp + " [" + rbt + "] failed.\033[0m")
                exit(-1)
            rbt_data[1] = time.time() - rbt_data[1]
            time_count += rbt_data[1]
            os.makedirs(fm_board_dir, exist_ok=True)
            os.makedirs(fm_robot_dir, exist_ok=True)
            if code_check:
                os.makedirs(report_dir, exist_ok=True)
                os.makedirs(report_ans_dir, exist_ok=True)
                os.system(
                    "CodeChecker analyze " + build_dir + "/compile_commands.json"
                    " --enable sensitive --output " + report_dir
                )
                os.system(
                    "CodeChecker parse --export html --output "
                    + report_ans_dir
                    + " "
                    + report_dir
                )
                os.system("cp -r " + report_ans_dir + " " + fm_robot_dir)
            dirlist = os.walk(
                build_dir,
            )
            for root, dirs, files in dirlist:
                for file in files:
                    tmp_path = root[len(build_dir) :]
                    if tmp_path.count("/") > 1:
                        continue
                    if len(tmp_path) == 0:
                        tmp_path = "/"
                    else:
                        tmp_path = tmp_path + "/"
                    if (
                        file.endswith(".hex")
                        or file.endswith(".bin")
                        or file.endswith(".elf")
                    ):
                        print("Found object", file)
                        os.makedirs(fm_robot_dir + "/" + tmp_path, exist_ok=True)
                        shutil.copyfile(
                            root + "/" + file,
                            fm_robot_dir + tmp_path + file.split("/")[-1],
                        )
                        os.system(
                            "md5sum "
                            + fm_robot_dir
                            + tmp_path
                            + file.split("/")[-1]
                            + " > "
                            + fm_robot_dir
                            + tmp_path
                            + file.split("/")[-1]
                            + ".md5"
                        )
    for item in target:
        bsp = item[0]
        for rbt_data in item[1]:
            rbt = rbt_data[0]
            if bsp.startswith(bsp_dir):
                print(
                    "\033[0;32;40mRobot["
                    + rbt
                    + "]"
                    + " for board "
                    + bsp[len(bsp_dir) + 1 :]
                    + " build done in %.2f seconds.\033[0m" % rbt_data[1]
                )
            else:
                print(
                    "\033[0;32;40mRobot["
                    + rbt
                    + "]"
                    + " for custom board "
                    + bsp[len(user_bsp_dir) + 1 :]
                    + " build done in %.2f seconds.\033[0m" % rbt_data[1]
                )
    print("\033[0;32;40mAll target build done in %.2f seconds.\033[0m" % time_count)


def select(board, robot):
    config_file = ""
    for dirname in tools.list_dir(bsp_dir):
        if dirname == board:
            config_file = bsp_dir + "/" + dirname + "/config/" + robot + ".config"
    for dirname in tools.list_dir(user_bsp_dir):
        if dirname == board:
            config_file = user_bsp_dir + "/" + dirname + "/config/" + robot + ".config"
    if len(config_file) == 0:
        print("No config file found")
        exit(-1)
    select_config(config_file, "Debug")


def generate_kconfig():
    print("Start generate Kconfig.")
    kconfig_file = open(
        tools.project_path + "/config/auto.Kconfig", "w", encoding="utf8"
    )
    kconfig_file.write("# XRobot\n")
    kconfig_file.write("# Auto generated file. Do not edit.\n")
    kconfig_file.write("# -----------------------------------------------")

    tools.kconfig_add_choice(
        "board-",
        "开发板",
        kconfig_file,
        [tools.list_dir(bsp_dir), tools.list_dir(user_bsp_dir)],
        [bsp_dir, user_bsp_dir],
    )
    tools.kconfig_add_choice(
        "system-",
        "系统",
        kconfig_file,
        [tools.list_dir(sys_dir), tools.list_dir(user_sys_dir)],
        [sys_dir, user_sys_dir],
    )
    tools.kconfig_add_choice(
        "robot-",
        "机器人",
        kconfig_file,
        [tools.list_dir(rbt_dir), tools.list_dir(user_rbt_dir)],
        [rbt_dir, user_rbt_dir],
    )
    tools.kconfig_add_menu(
        "component-", "组件", kconfig_file, [tools.list_dir(user_cmp_dir)], [user_cmp_dir]
    )
    tools.kconfig_add_menu(
        "device-",
        "设备",
        kconfig_file,
        [tools.list_dir(dev_dir), tools.list_dir(user_dev_dir)],
        [dev_dir, user_dev_dir],
    )
    tools.kconfig_add_menu(
        "module-",
        "模块",
        kconfig_file,
        [tools.list_dir(mod_dir), tools.list_dir(user_mod_dir)],
        [mod_dir, user_mod_dir],
    )

    kconfig_file.close()
    print("Generate Kconfig done.")


def generate_cmake(path):
    print("Start generate config.cmake.")
    if os.path.exists(path + "/.config"):
        print("Found config file.")
    else:
        tools.menuconfig(path)
    config_file = open(path + "/.config", "r", encoding="utf8")
    cmake_file = open(path + "/config.cmake", "w", encoding="utf8")

    cmake_file.write("# XRobot\n")
    cmake_file.write("# Auto generated file. Do not edit.\n")

    cmake_file.write("set(CONFIG_PREFIX  " + tools.config_prefix + ")\n")

    for lines in config_file.readlines():
        line = lines.rstrip("\n")

        if not line:
            continue

        if line.startswith("#") and line.endswith(" is not set"):
            tools.cmake_add_detail(cmake_file, line[2:-11], "0")
            continue

        if line.endswith("=y"):
            tools.cmake_add_detail(cmake_file, line[:-2], "1")
            continue

        if line.startswith("#"):
            continue

        temp = line.split("=")
        tools.cmake_add_detail(cmake_file, temp[0], temp[1])

    config_file.close()
    cmake_file.close()
    print("Generate done.")


def new_component(name: str):
    cppfile = open(
        tools.project_path + "/src/component/comp_" + name + ".cpp",
        mode="w+",
        encoding="utf8",
    )
    cppfile.write('#include "comp_' + name + '.hpp"\n\nusing namespace Component;\n')
    cppfile.close()
    hppfile = open(
        tools.project_path + "/src/component/comp_" + name + ".hpp",
        mode="w+",
        encoding="utf8",
    )
    hppfile.write(
        "#include <component.hpp>\n\nnamespace Component {\n"
        + "class YourComponentName {\n"
        + " public:\n};\n"
        + "}  // namespace Component"
    )
    hppfile.close()
    print("Create new component [" + name + "] done.")


def new_device(name: str):
    os.mkdir(tools.project_path + "/src/device/" + name)
    cppfile = open(
        tools.project_path + "/src/device/" + name + "/dev_" + name + ".cpp",
        mode="w+",
        encoding="utf8",
    )
    cppfile.write('#include "dev_' + name + '.hpp"\n\nusing namespace Device;\n')
    cppfile.close()
    hppfile = open(
        tools.project_path + "/src/device/" + name + "/dev_" + name + ".hpp",
        mode="w+",
        encoding="utf8",
    )
    hppfile.write(
        '#include "device.hpp"\n\nnamespace Device {\n'
        + "class YourDeviceName {\n"
        + " public:\n};\n"
        + "}  // namespace Device"
    )
    hppfile.close()
    configfile = open(
        tools.project_path + "/src/device/" + name + "/Kconfig",
        mode="w+",
        encoding="utf8",
    )
    configfile.close()
    infofile = open(
        tools.project_path + "/src/device/" + name + "/info.cmake",
        mode="w+",
        encoding="utf8",
    )
    infofile.write(
        "CHECK_SUB_ENABLE(MODULE_ENABLE device)\nif(${MODULE_ENABLE})\n    "
        'file(GLOB CUR_SOURCES "${SUB_DIR}/*.cpp")\n    SUB_ADD_SRC(CUR_SOURCES)\n    SUB_ADD_INC(SUB_DIR)\nendif()'
    )
    infofile.close()
    print("Create new device [" + name + "] done.")


def new_module(name: str):
    os.mkdir(tools.project_path + "/src/module/" + name)
    cppfile = open(
        tools.project_path + "/src/module/" + name + "/mod_" + name + ".cpp",
        mode="w+",
        encoding="utf8",
    )
    cppfile.write('#include "mod_' + name + '.hpp"\n\nusing namespace Module;\n')
    cppfile.close()
    hppfile = open(
        tools.project_path + "/src/module/" + name + "/mod_" + name + ".hpp",
        mode="w+",
        encoding="utf8",
    )
    hppfile.write(
        '#include "module.hpp"\n\nnamespace Module {\n'
        + "class YourModuleName {\n"
        + " public:\n};\n"
        + "}  // namespace Module"
    )
    hppfile.close()
    configfile = open(
        tools.project_path + "/src/module/" + name + "/Kconfig",
        mode="w+",
        encoding="utf8",
    )
    configfile.close()
    infofile = open(
        tools.project_path + "/src/module/" + name + "/info.cmake",
        mode="w+",
        encoding="utf8",
    )
    infofile.write(
        "CHECK_SUB_ENABLE(MODULE_ENABLE module)\nif(${MODULE_ENABLE})\n    "
        'file(GLOB CUR_SOURCES "${SUB_DIR}/*.cpp")\n'
        "    SUB_ADD_SRC(CUR_SOURCES)\n    "
        "SUB_ADD_INC(SUB_DIR)\nendif()"
    )
    infofile.close()
    print("Create new module [" + name + "] done.")


def new_robot(name: str):
    os.mkdir(tools.project_path + "/src/robot/" + name)
    cppfile = open(
        tools.project_path + "/src/robot/" + name + "/robot.cpp",
        mode="w+",
        encoding="utf8",
    )
    cppfile.write(
        '#include "robot.hpp"\n\n#include <system.hpp>\n#include <thread.hpp>\n\nusing namespace Robot;\n\n'
    )
    cppfile.write(
        "/* clang-format off */\n//TODO: write your param\n/* clang-format on */\n\n"
    )
    cppfile.write(
        "void robot_init() {\n  System::Start<Robot::YourRobotName, Robot::YourRobotName::Param>(param);\n}\n"
    )

    cppfile.close()
    hppfile = open(
        tools.project_path + "/src/robot/" + name + "/robot.hpp",
        mode="w+",
        encoding="utf8",
    )
    hppfile.write(
        '/* #include "dev_xxx.hpp" */\n\nvoid robot_init();\n\nnamespace Robot {\n'
        + "class YourRobotName {\n"
        + " public:\n};\n"
        + "}  // namespace Robot"
    )
    hppfile.close()
    configfile = open(
        tools.project_path + "/src/robot/" + name + "/Kconfig",
        mode="w+",
        encoding="utf8",
    )
    configfile.close()
    print("Create new Robot [" + name + "] done.")


cmd = sys.argv
cmd_len = len(cmd)

if cmd_len < 2:
    print("参数错误，请输入./project.py help")
    exit()

if cmd[1] == "config":
    tools.clean_cache()
    generate_kconfig()
    tools.guiconfig(cfg_dir)
    generate_cmake(cfg_dir)
    tools.config_cmake()

elif cmd[1] == "menuconfig":
    tools.clean_cache()
    generate_kconfig()
    tools.menuconfig(cfg_dir)
    generate_cmake(cfg_dir)
    tools.config_cmake()

elif cmd[1] == "help":
    print(welcome_str)
    print(project_path_str + tools.project_path)
    print("帮助页面/help")
    print("#命令                  -   #功能")
    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)