First commit

- Include vitis verbs
- Extend version to support reporting on sub-components and KRS
- Include new 'kernel' verb to configure Linux

Signed-off-by: Víctor Mayoral Vilches <[email protected]>

.gitignore

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+build/
+*egg-info
+dist
+COLCON_IGNORE
+__pycache__
+log/

README.rst

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+colcon-krs
+=========
+
+An extension for `colcon-core <https://github.com/colcon/colcon-core>`_ to include to include the Xilinx Kria Robotics Stack (KRS), a complete integrated set of robotics software and hardware utilities to develop and maintain industrial-grade robotic applications.

colcon_krs/__init__.py

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+# Copyright (c) 2021, Xilinx®.
+# All rights reserved
+#
+# Author: Víctor Mayoral Vilches <[email protected]>
+
+__version__ = "0.1.0"

colcon_krs/subverb/__init__.py

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+# Copyright (c) 2021, Xilinx®
+# All rights reserved
+#
+# Author: Víctor Mayoral Vilches <[email protected]>
+
+import os
+import subprocess
+
+from colcon_core.logging import colcon_logger
+from colcon_core.plugin_system import instantiate_extensions
+from colcon_core.plugin_system import order_extensions_by_name
+from colcon_krs.verb import gray, yellow, red
+
+logger = colcon_logger.getChild(__name__)
+
+
+class KRSSubverbExtensionPoint:
+    """
+    The interface for vitis subverb extensions.
+    A vitis subverb extension provides a subverb to the `vitis` verb of
+    the command line tool.
+    For each instance the attribute `SUBVERB_NAME` is being set to the basename
+    of the entry point registering the extension.
+    """
+
+    """The version of the vitis subverb extension interface."""
+    EXTENSION_POINT_VERSION = "1.0"
+
+    def add_arguments(self, *, parser):
+        """
+        Add command line arguments specific to the subverb.
+        The method is intended to be overridden in a subclass.
+
+        :param parser: The argument parser
+        """
+        pass
+
+    def main(self, *, context):
+        """
+        Execute the subverb extension logic.
+        This method must be overridden in a subclass.
+
+        :param context: The context providing the parsed command line arguments
+        :returns: The return code
+        """
+        raise NotImplementedError()
+
+
+def get_subverb_extensions():
+    """
+    Get the available subverb extensions.
+    The extensions are ordered by their entry point name.
+
+    :rtype: OrderedDict
+    """
+    extensions = instantiate_extensions(__name__)
+    for name, extension in extensions.items():
+        extension.SUBVERB_NAME = name
+    return order_extensions_by_name(extensions)
+
+
+def get_vitis_dir():
+    """
+    Get the path to the Vitis deployed software.
+    Tries first the XILINX_VITIS env. variable and defaults
+    to the current directory's PWD/xilinx/vitis.
+
+    :rtype: String
+    """
+    if "XILINX_VITIS" in os.environ:
+        vitis_dir = os.getenv("XILINX_VITIS")
+    else:
+        # take it from current directory
+        current_dir = os.environ.get("PWD", "")
+        vitis_dir = current_dir + "/xilinx/vitis"
+
+    if os.path.exists(vitis_dir):
+        return vitis_dir
+    else:
+        raise FileNotFoundError(
+            vitis_dir,
+            "consider setting XILINX_VITIS or running "
+            + "this command from the root directory of the workspace "
+            + "after xilinx's firmware has been deployed. \n"
+            + "Try 'colcon build --merge-install' first.",
+        )
+
+
+def get_vivado_dir():
+    """
+    Get the path to the Vivado software.
+    Tries first the XILINX_VIVADO env. variable and defaults
+    to the current directory's PWD/xilinx/vivado.
+
+    :rtype: String
+    """
+    if "XILINX_VIVADO" in os.environ:
+        vivado_dir = os.getenv("XILINX_VIVADO")
+    else:
+        # take it from current directory
+        current_dir = os.environ.get("PWD", "")
+        vivado_dir = current_dir + "/xilinx/vivado"
+
+    if os.path.exists(vivado_dir):
+        return vivado_dir
+    else:
+        raise FileNotFoundError(
+            vivado_dir,
+            "consider setting XILINX_VIVADO or running "
+            + "this command from the root directory of the workspace "
+            + "after xilinx's firmware has been deployed. \n"
+            + "Try 'colcon build --merge-install' first.",
+        )
+
+
+def get_vitis_hls_dir():
+    """
+    Get the path to the Vitis HLS deployed software.
+    Tries first the XILINX_HLS env. variable and defaults
+    to the current directory's PWD/xilinx/vitis_hls.
+
+    :rtype: String
+    """
+    if "XILINX_HLS" in os.environ:
+        vitis_hls_dir = os.getenv("XILINX_HLS")
+    else:
+        # take it from current directory
+        current_dir = os.environ.get("PWD", "")
+        vitis_hls_dir = current_dir + "/xilinx/vitis_hls"
+
+    if os.path.exists(vitis_hls_dir):
+        return vitis_hls_dir
+    else:
+        raise FileNotFoundError(
+            vitis_hls_dir,
+            "consider setting XILINX_HLS or running "
+            + "this command from the root directory of the workspace "
+            + "after xilinx's firmware has been deployed. \n"
+            + "Try 'colcon build --merge-install' first.",
+        )
+
+
+def get_build_dir():
+    """
+    Get the path to the build directory
+
+    :rtype: String
+    """
+    current_dir = os.environ.get("PWD", "")
+    build_dir = current_dir + "/build"
+    if os.path.exists(build_dir):
+        return build_dir
+    else:
+        raise FileNotFoundError(
+            build_dir,
+            "consider running "
+            + "this command from the root directory of the workspace "
+            + "after building the ROS 2 workspace overlay. \n"
+            + "Try 'colcon build --merge-install' first.",
+        )
+
+
+def get_firmware_dir():
+    """
+    Get the path to the Xilinx firmware deployed software
+
+    NOTE: firmware is board-specific. Consult the README and/or change
+    branch as per your hardware/board requirements.
+
+    :rtype: String
+    """
+    current_dir = os.environ.get("PWD", "")
+    firmware_dir = current_dir + "/xilinx/firmware"
+    if os.path.exists(firmware_dir):
+        return firmware_dir
+    else:
+        raise FileNotFoundError(
+            firmware_dir,
+            "consider running "
+            + "this command from the root directory of the workspace "
+            + "after xilinx's firmware has been deployed. \n"
+            + "Try 'colcon build --merge-install' first.",
+        )
+
+
+def get_platform_dir():
+    """
+    Get the path to the Xilinx hardware platform deployed software. Usually
+    lives within "<ros2_ws>/xilinx/firmware/platform".
+
+    NOTE: platform is board-specific. Consult the README and/or change
+    branch as per your hardware/board requirements.
+
+    :rtype: String
+    """
+    current_dir = os.environ.get("PWD", "")
+    platform_dir = current_dir + "/xilinx/firmware/platform"
+    if os.path.exists(platform_dir):
+        return platform_dir
+    else:
+        raise FileNotFoundError(
+            platform_dir,
+            "consider running "
+            + "this command from the root directory of the workspace "
+            + "after xilinx's firmware has been deployed. \n"
+            + "Try 'colcon build --merge-install' first.",
+        )
+
+
+def get_install_dir(install_dir_input="install"):
+    """
+    Get the path to the install directory of the current ROS 2 overlay worksapce
+
+    :rtype: String
+    """
+    current_dir = os.environ.get("PWD", "")
+    install_dir = current_dir + "/" + install_dir_input
+    if os.path.exists(install_dir):
+        return install_dir
+    else:
+        raise FileNotFoundError(
+            install_dir,
+            "no install directory "
+            + "found in the current workspace. Consider building it first. "
+            + "Try 'colcon build --merge-install'.",
+        )
+
+
+def check_install_directory():
+    """
+    Check if the install directory exits in the root of the current workspace.
+
+    :rtype: Bool
+    """
+    current_dir = os.environ.get("PWD", "")
+    install_dir = current_dir + "/install"
+    if os.path.exists(install_dir):
+        return True
+    else:
+        return False
+
+
+def get_rawimage_path():
+    """
+    Retring the full path of the raw image "sd_card.img" contained in the firmware directory
+    if exists, None otherwise.
+
+    :rtype: String
+    """
+    firmware_dir = get_firmware_dir()
+    rawimage_path = firmware_dir + "/sd_card.img"
+    if os.path.exists(rawimage_path):
+        return rawimage_path
+    else:
+        return None
+
+
+def run(cmd, shell=False, timeout=1):
+    """
+    Spawns a new processe launching cmd, connect to their input/output/error pipes, and obtain their return codes.
+
+    :param cmd: command split in the form of a list
+    :returns: stdout
+    """
+    proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, shell=shell)
+    try:
+        outs, errs = proc.communicate(timeout=timeout)
+    except TimeoutExpired:
+        proc.kill()
+        outs, errs = proc.communicate()
+
+    # decode, or None
+    if outs:
+        outs = outs.decode("utf-8").strip()
+    else:
+        outs = None
+
+    if errs:
+        errs = errs.decode("utf-8").strip()
+    else:
+        errs = None
+
+    # # debug
+    # gray(outs)
+    # red(errs)
+
+    return outs, errs