From ddc4c3b52f59cfee24d11c4f7f419545fac9ae6b Mon Sep 17 00:00:00 2001
From: Bob Long <robertlong13@gmail.com>
Date: Tue, 8 Oct 2024 17:10:51 +1100
Subject: [PATCH] Tools: speed up Carbonix build script

SW-420
---
 Tools/Carbonix_scripts/carbonix_waf_build.sh | 74 +++++++++++++++-----
 1 file changed, 57 insertions(+), 17 deletions(-)

diff --git a/Tools/Carbonix_scripts/carbonix_waf_build.sh b/Tools/Carbonix_scripts/carbonix_waf_build.sh
index 82f7a0211e..6c55af8c38 100755
--- a/Tools/Carbonix_scripts/carbonix_waf_build.sh
+++ b/Tools/Carbonix_scripts/carbonix_waf_build.sh
@@ -5,6 +5,7 @@ set -e
 
 echo "Running distclean..."
 ./waf distclean
+rm -Rf output
 
 main_boards=("CubeOrange" "CubeOrangePlus" "CubeOrange-Volanti" "CubeOrangePlus-Volanti" "CubeOrange-Ottano" "CubeOrangePlus-Ottano")
 for board in "${main_boards[@]}"; do
@@ -15,35 +16,74 @@ done
 
 periph_boards=("CarbonixF405" "CarbonixF405-no-crystal")
 
+# Create a magic string as a placeholder for the board name, this will be
+# find/replaced within the AP_Periph binary. This makes the build much faster,
+# as changing CAN_APP_NODE_NAME causes pretty-much a full rebuild.
+board_magic_string="lm3eBX7cJeaUer67lXdkNr83q2WzPRbE2MxAgnGq9esBjPVecYynx9Pry5sRJMgCX8384NTYZRDpuR8K"
+
+# We use a subset of that magic string, because we don't want to waste the full
+# 80 bytes (max length allowed in the NodeStatus message) on the board name.
+# We use 40 bytes, which is slightly more than the longest board name:
+# "CarbonixF405-no-crystal-Volanti-LWing" (at time of writing).
+# If we ever need more than 40 bytes, we can increase this limit.
+max_board_name_length=40
+board_magic_string=${board_magic_string:0:max_board_name_length}
+
+# Create extra hwdef file
+printf "undef CAN_APP_NODE_NAME\ndefine CAN_APP_NODE_NAME \"$board_magic_string\"" > temp.hwdef
+
 # Build all periph board with custom parameters
 for board in "${periph_boards[@]}"; do
+  echo "Compiling AP_Periph for $board..."
+  ./waf configure --board "$board" --extra-hwdef=temp.hwdef
+  ./waf AP_Periph
+  bin_folder=build/$board/bin
   for file in $(find libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/ -name "*.parm"); do
+    echo "Processing parameter file $file for $board..."
     # Extract the filename without the extension 
     filename=$(basename -- "$file")
     filename="${filename%.*}"
     # Extract the Parent folder name 
     foldername=$(basename -- "$(dirname -- "$file")")
-    echo "Compiling AP_Periph for $board with $filename with foldername $foldername..."
-    # Create extra hwdef file
-    printf "undef CAN_APP_NODE_NAME\ndefine CAN_APP_NODE_NAME \"$board-$filename\"" > temp.hwdef
-    
-    # Compile AP_Periph for each board
-    echo "Compiling AP_Periph for $board with $filename..."
-    ./waf configure --board "$board" --extra-hwdef=temp.hwdef --default-parameters="$file" -g
-    ./waf AP_Periph
+
+    # Create output folder
+    output_folder=output/$foldername/${filename}_$board
+    mkdir -p $output_folder
+    # Copy param file in the output folder
+    cp $file $output_folder
+
+    # The find/replace operation works by converting the binary to a single long
+    # line of hex, then uses sed to replace the magic string with the board name
+    # that has been padded with zeros to the same length as the magic string,
+    # then converts the hex back to binary.
+    new_board_name="$board-$filename"
+    if [ ${#new_board_name} -gt $max_board_name_length ]; then
+      echo "Board name '$new_board_name' is too long (max $max_board_name_length bytes)"
+      exit 1
+    fi
+    board_magic_string_hex=$(echo -n "$board_magic_string" | xxd -p | tr -d '\n')
+    board_name_hex=$(echo -n "$new_board_name" | xxd -p | tr -d '\n')
+    # Pad with zeros to the same length as the magic string
+    board_name_hex=$(printf "%-${#board_magic_string_hex}s" "$board_name_hex" | tr ' ' '0')
     
-    # Rename build outputs
-    mkdir -p output/$foldername/${filename}_$board    
-    # Move all the files (not folders) in build/$board/bin to build/$board/bin/$filename
-    find build/$board/bin -maxdepth 1 -type f -exec mv {} output/$foldername/${filename}_$board \;
-    # Move default $file in the output folder
-    cp $file output/$foldername/${filename}_$board
-
-    # Cleanup
-    rm temp.hwdef
+    for binary in $bin_folder/AP_Periph $bin_folder/AP_Periph.bin; do
+      # Embed the parameters
+      echo "Embedding parameter file $filename into $binary..."
+      Tools/scripts/apj_tool.py $binary --set-file $file &> /dev/null
+
+      # Set the board name
+      echo "Setting board name to $new_board_name in $binary..."
+      cp $binary $binary.bak
+      xxd -p $binary.bak | tr -d '\n' | sed "s/$board_magic_string_hex/$board_name_hex/g" | xxd -r -p > $binary
+      cp $binary $output_folder
+    done
+    echo ""
   done
 done
 
+# Cleanup
+rm temp.hwdef
+
 # Build all Default periph board
 for board in "${periph_boards[@]}"; do
   echo "Compiling AP_Periph for $board..."