RTEMS Waf
~~~~~~~~~
RTEMS Waf is a module that supports the Waf build system and RTEMS. The module
is integrated into a project or library proividing Waf build support to create
RTEMS libraries or executables.
RTEMS Waf provides:
* Checking for a valid RTEMS installation of tools and kernel.
* Support for multiple versions of RTEMS.
* Support to build a number of BSPs at once.
* Support for the RTEMS tools and kernel being installed under a shared or
separate prefixes [2].
* Flexible integration that allows easy project specific specialization.
* Support to check which features RTEMS is built with.
* Support for BSP compiler and linker flags. The flags are separated into their
various types to allow flexible options management in a project.
* Support to list the available architectures and BSPs.
* Additional support for creating root file systems for RTEMS targets.
Bugs
----
Please report issues to the RTEMS Users list mailto:users@rtems.org or raise a
ticket in RTEMS's Trac under https://devel.rtems.org/.
Feedback is always welcome.
Waf
---
You can find the Waf project here:
https://waf.io/
Waf does not come as a package in distrubitions so you need to download and
install it.
1. Waf is a Python program so you will also need to have a current Python
installed and accessible via your environment's path.
2. Download the latest signed Waf executable file from the Waf website.
3. Place the waf executable in a personal directory that is in your path, for
example $HOME/bin. Modify the file's permissions so it can be executed:
$ chmod +x $HOME/bin/waf
Git Submodule
-------------
RTEMS Waf can be used as a git submodule. This lets a number of projects share
the common waf support.
1. Add RTEMS Waf a git submodule to your project:
$ cd my_project
$ git submodule add git://git.rtems.org/rtems_waf.git rtems_waf
2. Initialize the submodule(s) for your project:
$ git submodule init
3. Update the RTEMS Waf submodule:
$ git submodule update rtems_waf
Note, the `rtems_waf` submodule name is provided as some projects may have
other submodules you may not wish to update.
4. When submodules are added they are headless which means they are not on a
current branch. Switch to a branch:
$ cd rtems_waf
$ git checkout master
$ cd ..
Note, you can replace `master` in the `checkout` above with any valid branch
in the RTEMS Waf repo.
5. Update the RTEMS Waf submodule to the latest version on the selected branch:
$ cd rtems_waf
$ git pull
$ cd ..
6. Check the new submodule is part of your project and ready to be committed:
$ git status
The `rtems_waf` module will be listed as `modified`.
7. Commit the change by adding it to your staged files:
$ git add rtems_waf
When ready commit:
$ git commit
Review the changes and if they are correct push them:
$ git log -p
$ git push
The RTEMS Waf module is updated from time to time as new features are added or
changes happen in waf. To update a project's existing RTEMS Waf submodule
perform steps 5. to 7.
Project Instructions
--------------------
Create a README.waf file in your project and add the Waf installation section,
your project specific options and the following steps. These steps are for
RTEMS 5, change for the specific version of RTEMS your project supports.
1. Build or install the tools. In this example the path is the personal prefix
of $HOME/development/rtems/5 [1].
2. Build and install the RTEMS Board Support Packages you want to use. In this
example separate tools and kernel prefixes are used [2]. The kernel path is
$HOME/development/rtems/bsps/5.
3. Unpack this package somewhere, anywhere on your disk and change into the top
level directory.
4. Populate the git submodule:
$ git submodule init
$ git submodule update rtems_waf
5. Configure with your specific settings. In this case the path to the tools
and the kernel are separate and provided on the command line. Your
envronment's path variable does not need to changed [3]. We limit the build
to 'sparc/erc32' BSP:
$ waf configure --rtems=$HOME/development/rtems/bsps/5 \
--rtems-tools=$HOME/development/rtems/5 \
--rtems-bsps=sparc/erc32
You can use '--rtems-archs=sparc,i386' or
'--rtems-bsps=sparc/erc32,i386/pc586' to build more than BSP at a time.
6. Build:
$ waf
An RTEMS Waf Project
--------------------
RTEMS Waf provides a base to build RTEMS application.
Waf provides a build system framework. You can use waf in your project by
simply prooviding a list of files you wish to build and link to create an
executable or you can use waf as framework which is integrated into your
project to become is build system.
Importing RTEMS Waf
~~~~~~~~~~~~~~~~~~~
Using RTEMS Waf as a submodule means it may not be present if the submodules
have not been initialized and updated. This results in a Python error. The
following import is recommended so a user friendly error is reported:
from __future__ import print_function
try:
import rtems_waf.rtems as rtems
except:
print('error: no rtems_waf git submodule; see README.waf', file = stderr)
import sys
sys.exit(1)
Initialization
~~~~~~~~~~~~~~
The `wscript` `init()` function is called early in waf's processing. The RTEMS
Waf's `init()` call lets you provide:
1. Filters
2. RTEMS Version
3. Long command line control
4. Waf BSP initialization hook
A example call to RTEMS Waf's `init()` is:
rtems_version = "5"
def init(ctx):
rtems.init(ctx, version = rtems_version, long_commands = True)
Filters provide a way to control the tools, architectures and BSPs your project
supports. RTEMS Waf scans and finds all installed RTEMS tool sets and BSPs and
your project may only support a limited number of these. Filtering provides a
way for your project to control what RTEMS Waf accepts and rejects when
automatically scanning the installed tools and RTEMS kernels. A filter is a
Python dictionary and the following example will accept `arm` and `sparc` tool
chains and filtering out the `bfin` tool chain. The filter will only build the
`arm` acrhitecture and will accept all BSPs except ones starting with `lpc` if
they are installed:
my_filter = { 'tools': { 'in': ['arm', 'sparc'], 'out': ['bfin'] },
'arch': { 'in': ['arm'], 'out': [] },
'bsps': { 'in': [], 'out': ['lpc.*'] } }
There are three (3) filters the `tools`, `archs` and `bsps` and each of these
filter types has an `in` and `out` list. The `in` and `out` items are Python
regular expressions.
The RTEMS Version lets your project provide the default RTEMS version. This can
be overridden by the configure option `--rtems-version`.
Long commands is specific to Windows and provides support for tool command
lines that are longer than the standard Windows command shell's limit. The
support is based on the example available in Waf extra's.
The Waf BSP initialization hook is a function called as part of the RTEMS Waf's
`init()` call with the Waf environment and list of BSP contexts. This hook can
be used to provide specialized BSP support.
Options
~~~~~~~
The `wscript` `option()` function is called to collect command line options for
Waf argument processing.
A example call to RTEMS Waf's `options()` is:
def options(opt):
rtems.options(opt)
Configure
~~~~~~~~~
The `wscript` `configure()` function is called when Waf is configuring a
build. The RTEMS Waf's `configure()` lets you provide:
1. Waf BSP configure hook
A example call to RTEMS Waf's `configure()` is:
def configure(conf):
rtems.configure(conf)
The BSP configure hook is called at end of a BSP's configuration. The BSP's
`conf` variable and the `arch/bsp` are passed as arguments. The `arch/bsp` is
the RTEMS standard for specifing a BSP, for example `sparc/erc32`. The BSP
configure support can be used to check a BSP for header, check an RTEMS feature
is present for a specific BSP or add per BSP build variant support:
def bsp_configure(conf, arch_bsp):
conf.check(header_name = "dlfcn.h", features = "c")
conf.check(header_name = "rtems/pci.h", features = "c", mandatory = False)
if not rtems.check_posix(conf):
conf.fatal("POSIX is disabled; configure RTEMS with --enable-posix")
env = conf.env.derive()
for builder in builders:
ab = conf.env.RTEMS_ARCH_BSP
variant = ab + "-" + builder
conf.msg('Configure variant: ', variant)
conf.setenv(variant, env)
build_variant_bsp_configure(conf, arch_bsp)
conf.setenv(ab)
Build
~~~~~
The `wscript` `build()` function is called when Waf is asking what to
build.
A example call to RTEMS Waf's `build()` is:
def build(bld):
rtems.build(bld)
bld(features = 'c cprogram',
target = 'hello.exe',
source = ['hello.c'])
In this example the C source file `hello.c` is compiled and linked to create
the RTEMS executable `hello.exe`. The build is within the context of the BSP.
Example
~~~~~~~
Save the following as `wscript`:
#
# Example Waf build script for RTEMS
#
# To configure, build and run:
#
# $ waf configure --rtems=$HOME/development/rtems/build/5 \
# --rtems-tools=$HOME/development/rtems/5 \
# --rtems-bsps=sparc/erc32
# $ waf
# $ $HOME/development/rtems/5/bin/sparc-rtems5-run \
# ./build/sparc-rtems5-erc32/hello.exe
#
# You can use '--rtems-archs=sparc,i386' or
# '--rtems-bsps=sparc/erc32,i386/pc586' to build for more than one BSP at a
# time.
#
from __future__ import print_function
rtems_version = "5"
try:
import rtems_waf.rtems as rtems
except:
print('error: no rtems_waf git submodule; see README.waf', file = stderr)
import sys
sys.exit(1)
def init(ctx):
rtems.init(ctx, version = rtems_version, long_commands = True)
def options(opt):
rtems.options(opt)
def configure(conf):
rtems.configure(conf)
def build(bld):
rtems.build(bld)
bld.env.CFLAGS += ['-O2','-g']
bld(features = 'c cprogram',
target = 'hello.exe',
source = ['hello.c'])
Save the example C hello world as `hello.c`:
#include <rtems.h>
#include <stdlib.h>
#include <stdio.h>
rtems_task Init(rtems_task_argument ignored) {
printf("Hello World\n");
exit(0);
}
/* configuration information */
#include <bsp.h>
#define CONFIGURE_APPLICATION_DOES_NOT_NEED_CLOCK_DRIVER
#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
#define CONFIGURE_USE_DEVFS_AS_BASE_FILESYSTEM
#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
#define CONFIGURE_MAXIMUM_TASKS 1
#define CONFIGURE_INIT
#include <rtems/confdefs.h>
--
[1] A personal prefix is private to you and located where you have enough disk
space to complete an RTEMS installation. We often show this as your home
directory ($HOME) because it works on machines you may not have root access
to and cannot configure. We recommend you never work as root on a machine
you control.
[2] RTEMS supports shared or separate tool and kernel prefixes. The prefix is
the path given to the tools and kernel when building and is the path the
tools or kernel are installed into when you run the install phase of a
build. A shared tools and kernel prefix is often used with releases because
the tools and kernel in a release are matched and do not change. Separate
tools and kernel paths can be used if you have a common tool set with
changing kernel versions. This tends to happen when you are testing kernel
patches or changes.
[3] It is good practice to keep your environment as empty as possible. Using
the environment to set paths to tools or specific values to configure and
control builds is dangerous because settings can leak between different
builds and change what you expect or not been and seen and lost. The waf
tool used here lets you specify on the command line the tools and RTEMS
paths and this is embedded in waf's configuration information. If you have
a few source trees working at any one time with different tool sets or
configurations you can easly move between them safe in the knowledge that
one build will not affect another.
