CLI improvements (#224)

* Remove incorrect variable check for UROS_VERBOSE_BUILD

This is not really needed as the variable is always set in
build_firmware.sh. It was also implemented incorrectly, as the -z check
does not work for unset variables (the correct way would be to use [ -z
${UROS_VERBOSE_BUILD+x} ]).

Signed-off-by: Robert Wilbrandt <robert@stamm-wilbrandt.de>

* Made zephyr configuration file selection more consistent

This will output a line for the configuration file in every build and
also prevent the double-output in case of PLATFORM=host with no
transport-specific config.

Signed-off-by: Robert Wilbrandt <robert@stamm-wilbrandt.de>

* Use getopts for build_firmware.sh argument parsing

This is a much more robust solution for custom argument parsing and
allows for providing a useful help message.

Signed-off-by: Robert Wilbrandt <robert@stamm-wilbrandt.de>

* Add option to pass through build arguments to west

There are some use cases where this feature is useful, e.g.:
- It is quite common to use -DCMAKE_EXPORT_COMPILE_COMMANDS for better
  IDE support
- In zephyr specifically, you might want to pass
  -DZEPHYR_EXTRA_MODULES=[...] so you can use e.g. out-of-tree device
  drivers

The syntax used here is consistent with the way west can forward
arguments directly to cmake.

Signed-off-by: Robert Wilbrandt <robert@stamm-wilbrandt.de>

* Add verbose build output to zephyr build

Signed-off-by: Robert Wilbrandt <robert@stamm-wilbrandt.de>

Author: RobertWilbrandt

config/zephyr/generic/build.sh

@@ -52,29 +52,52 @@ pushd $FW_TARGETDIR >/dev/null
         export BOARD=$PLATFORM
     fi
 
-    # Use transport specific conf if given and exists.
-    if [ -z "$TRANSPORT" ];then
+    # Choose configuration based on transport and host
+    if [ -z "$TRANSPORT" ]; then
+        echo "Configuration: No transport set, using prj.conf"
         export CONF_FILE="prj.conf"
+
+    elif [ "$PLATFORM" = "host" ]; then
+        echo "Configuration: Platform 'host' detected, using host-udp.conf"
+        export CONF_FILE="host-udp.conf"
+
     else
         if [ ! -f "$UROS_APP_FOLDER/$TRANSPORT.conf" ]; then
-            echo "Specific config for transport not found. Using prj.conf."
+            echo "Configuration: Specific config for transport $TRANSPORT not found, using prj.conf"
             export CONF_FILE="prj.conf"
         else
+            echo "Configuration: Using transport-specific $TRANSPORT.conf"
             export CONF_FILE="$TRANSPORT.conf"
         fi
     fi
 
-    if [ "$PLATFORM" = "host" ]; then
-        echo "Zephyr native-posix detected. Using host-udp.conf."
+    UROS_BUILD_CMD="
+        west build
+          -b $BOARD
+          -p auto
+          $UROS_APP_FOLDER
+          -- -DCONF_FILE=$UROS_APP_FOLDER/$CONF_FILE
+             -G'Unix Makefiles'
+             -DCMAKE_VERBOSE_MAKEFILE=$UROS_VERBOSE_BUILD
+             -DMICRO_ROS_FIRMWARE_DIR=$FW_TARGETDIR
+             ${UROS_EXTRA_BUILD_ARGS[@]}"
 
-        export CONF_FILE="host-udp.conf"
+    if [ "$UROS_VERBOSE_BUILD" = "on" ]; then
+        echo ""
+        echo "-----------------------------"
+        echo "| Verbose build information |"
+        echo "-----------------------------"
+        echo "Fast build:                  $UROS_FAST_BUILD"
+        echo "App name:                    $UROS_APP"
+        echo "Full app path:               $UROS_APP_FOLDER"
+        echo "Zephyr board:                $BOARD"
+        echo "Zephyr configuration file:   $UROS_APP_FOLDER/$CONF_FILE"
+        echo "Extra build arguments:       ${UROS_EXTRA_BUILD_ARGS[@]}"
+        echo "Full build command:          "${UROS_BUILD_CMD[@]}
+        echo ""
     fi
 
-    # Check build argument parameters
-    if [ -z "$UROS_VERBOSE_BUILD" ]; then
-      UROS_VERBOSE_BUILD=off
-    fi
+    # Build zephyr + app
+    eval ${UROS_BUILD_CMD[@]}
 
-    # Build Zephyr + app
-    west build -b $BOARD -p auto $UROS_APP_FOLDER -- -DCONF_FILE=$UROS_APP_FOLDER/$CONF_FILE -G'Unix Makefiles' -DCMAKE_VERBOSE_MAKEFILE=$UROS_VERBOSE_BUILD -DMICRO_ROS_FIRMWARE_DIR=$FW_TARGETDIR
 popd >/dev/null

scripts/build_firmware.sh

@@ -11,24 +11,38 @@ PREFIX=$(ros2 pkg prefix micro_ros_setup)
 # Parse cli arguments
 UROS_FAST_BUILD=off
 UROS_VERBOSE_BUILD=off
-for param in "$@"
+UROS_EXTRA_BUILD_ARGS=""
+
+while getopts "vf" o
 do
-  case $param in
-    "-f")
-        echo "Fast-Build active, ROS workspace will not be re-built!"
-        UROS_FAST_BUILD=on
-        shift
-        ;;
-      "-v")
-        echo "Building in verbose mode"
-        UROS_VERBOSE_BUILD=on
-        shift
-        ;;
+    case "$o" in
+        f)
+            echo "Fast-Build active, ROS workspace will not be re-built!"
+            UROS_FAST_BUILD=on
+            ;;
+        v)
+            echo "Building in verbose mode"
+            UROS_VERBOSE_BUILD=on
+            ;;
+        [?])
+            echo "Usage: ros2 run micro_ros_setup build_firmware.sh [options] -- [build_args]"
+            echo "Options:"
+            echo "  -v   Print verbose build output."
+            echo "  -f   Activate Fast-Build. Without this, mcu_ws will get rebuilt completely."
+            echo "Build args: These options will get directly forwarded to the build system (currently only supported for zephyr)."
+            exit 1
+            ;;
   esac
 done
+shift $((OPTIND-1))
+
+if [[ -n "$@" ]]; then
+    UROS_EXTRA_BUILD_ARGS=("$@")
+fi
 
 export UROS_FAST_BUILD
 export UROS_VERBOSE_BUILD
+export UROS_EXTRA_BUILD_ARGS
 
 # Checking if firmware exists
 if [ -d $FW_TARGETDIR ]; then