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Merged
lgirdwood merged 6 commits into from
Aug 3, 2022
Merged

[SKIP CI] Use west manifest in SOF #6005

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cae62af
Add west.yml configuring zephyr dependencies from sof
kfrydryx Mar 30, 2022
9c1ae3e
xtensa-build-zephyr.py: use west manifest
Jul 14, 2022
ea169a2
scripts: xtensa-build-zephyr.py west reinitialization
Jul 22, 2022
a85bdd1
scripts: xtensa-build-zephyr.py removed calls over symlink
Aug 2, 2022
78964de
scripts: docker-build.sh updated with changes from xtensa-build-zephy…
Jul 13, 2022
6e34ff5
scripts: added versioning to xtensa-build-zephyr.py and west manifest
Aug 1, 2022
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11 changes: 7 additions & 4 deletions .github/workflows/zephyr.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,13 +13,16 @@ jobs:
steps:
- uses: actions/checkout@v2
# From time to time this will catch a git tag and change SOF_VERSION
with: {fetch-depth: 10, submodules: recursive}
with:
fetch-depth: 10
path: ./workspace/sof

# https://github.com/zephyrproject-rtos/docker-image
# Note: env variables can be passed to the container with
# -e https_proxy=...
- name: build
run: docker run -v "$(pwd)":/workdir
run: docker run -v "$(pwd)/workspace":/workspace
--workdir /workspace
ghcr.io/zephyrproject-rtos/zephyr-build:latest
./zephyr/docker-build.sh --cmake-args=-DEXTRA_CFLAGS=-Werror
--cmake-args=--warn-uninitialized -a
./sof/zephyr/docker-build.sh --cmake-args=-DEXTRA_CFLAGS=-Werror
--cmake-args=--warn-uninitialized -a
221 changes: 96 additions & 125 deletions scripts/xtensa-build-zephyr.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,12 +17,15 @@
import warnings
# anytree module is defined in Zephyr build requirements
from anytree import AnyNode, RenderTree
from packaging import version

# Version of this script matching Major.Minor.Patch style.
VERSION = version.Version("2.0.0")

# Constant value resolves SOF_TOP directory as: "this script directory/.."
SOF_TOP = pathlib.Path(__file__).parents[1].resolve()
# Default value may be overriten by -p arg
west_top = pathlib.Path(SOF_TOP, "zephyrproject")
default_rimage_key = pathlib.Path("modules", "audio", "sof", "keys", "otc_private_key.pem")
west_top = pathlib.Path(SOF_TOP, "..").resolve()
default_rimage_key = pathlib.Path(SOF_TOP, "keys", "otc_private_key.pem")

sof_version = None

Expand Down Expand Up @@ -67,7 +70,7 @@
"IPC4_RIMAGE_DESC": "tgl-cavs.toml",
"XTENSA_CORE": "cavs2x_LX6HiFi3_2017_8",
"XTENSA_TOOLS_VERSION": f"RG-2017.8{xtensa_tools_version_postfix}",
"RIMAGE_KEY": pathlib.Path("modules", "audio", "sof", "keys", "otc_private_key_3k.pem")
"RIMAGE_KEY": pathlib.Path(SOF_TOP, "keys", "otc_private_key_3k.pem")
},
{
"name": "tgl-h",
Expand All @@ -76,7 +79,7 @@
"IPC4_RIMAGE_DESC": "tgl-h-cavs.toml",
"XTENSA_CORE": "cavs2x_LX6HiFi3_2017_8",
"XTENSA_TOOLS_VERSION": f"RG-2017.8{xtensa_tools_version_postfix}",
"RIMAGE_KEY": pathlib.Path("modules", "audio", "sof", "keys", "otc_private_key_3k.pem")
"RIMAGE_KEY": pathlib.Path(SOF_TOP, "keys", "otc_private_key_3k.pem")
},
# NXP platforms
{
Expand Down Expand Up @@ -173,34 +176,13 @@ def parse_args():
help="Path to a non-default rimage signing key.")
parser.add_argument("-o", "--overlay", type=pathlib.Path, required=False, action='append',
default=[], help="Paths to overlays")
parser.add_argument("-z", "--zephyr-ref", required=False,
help="Initial Zephyr git ref for the -c option."
" Can be a branch, tag, full SHA1 in a fork")
parser.add_argument("-u", "--url", required=False,
default="https://github.com/zephyrproject-rtos/zephyr/",
help="URL to clone Zephyr from")
mode_group = parser.add_mutually_exclusive_group()
mode_group.add_argument("-p", "--west_path", required=False, type=pathlib.Path,
help="""Points to existing Zephyr project directory. Incompatible with -c.
Uses by default path used by -c mode: SOF_TOP/zephyrproject.
If zephyr-project/modules/audio/sof is missing then a
symbolic link pointing to SOF_TOP directory will automatically be
created and west will recognize it as its new sof module.
If zephyr-project/modules/audio/sof already exists and is a
different copy than where this script is run from, then the
behavior is undefined.
This -p option is always required_if the real (not symbolic)
sof/ and zephyr-project/ directories are not nested in one
another.""",
)
mode_group.add_argument("-c", "--clone_mode", required=False, action="store_true",
help="""Using west, downloads inside this sof clone a new Zephyr
project with the required git repos. Creates a
sof/zephyrproject/modules/audio/sof symbolic link pointing
back at this sof clone.
Incompatible with -p. To stop after downloading Zephyr, do not
pass any platform or cmake argument.""",
)
parser.add_argument("-p", "--pristine", required=False, action="store_true",
help="Perform pristine build removing build directory.")
parser.add_argument("-u", "--update", required=False, action="store_true",

@marc-hb marc-hb Jul 20, 2022

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More like --init-and-update

@aborisovich aborisovich Jul 20, 2022

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No, because init can be done also when we do not update. Check my reply to

This must be part of if args.update.

It seems weird to call it "init_and_update". It implicitly suggest that when you do not use this flag you do not perform west init what is not true.

help="""Runs west update command - clones SOF dependencies. Downloads next to this sof clone a new Zephyr
project with its required dependencies. Creates a modules/audio/sof symbolic link pointing
back at this sof clone. All projects are checkout out to
revision defined in manifests of SOF and Zephyr.""")
parser.add_argument('-v', '--verbose', default=0, action='count',
help="""Verbosity level. Repetition of the flag increases verbosity.
The same number of '-v' is passed to "west".
Expand Down Expand Up @@ -228,6 +210,13 @@ def parse_args():
help="""Use an output subdirectory for each platform.
Otherwise, all firmware files are installed in the same staging directory by default.""")

parser.add_argument("--no-interactive", default=False, action="store_true",
help="""Run script in non-interactive mode when user input can not be provided.
This should be used with programmatic script invocations (eg. Continuous Integration).
""")
parser.add_argument("--version", required=False, action="store_true",
help="Prints version of this script.")

args = parser.parse_args()

if args.all:
Expand All @@ -245,15 +234,7 @@ def parse_args():
if args.ipc != "IPC4":
args.ipc="IPC4"
warnings.warn(f"The option '--fw-naming AVS' has to be used with '-i IPC4'. Enable '-i IPC4' automatically.")
if args.zephyr_ref and not args.clone_mode:
raise RuntimeError(f"Argument -z without -c makes no sense")
if args.clone_mode and not args.zephyr_ref:
args.zephyr_ref = "main" # set default name for -z if -c specified

if args.west_path: # let the user provide an already existing zephyrproject/ anywhere
west_top = pathlib.Path(args.west_path)
elif not args.clone_mode: # if neather -p nor -c provided, use -p
args.west_path = west_top

def execute_command(*run_args, **run_kwargs):
"""[summary] Provides wrapper for subprocess.run that prints
Expand Down Expand Up @@ -302,22 +283,60 @@ def check_west_installation():
"https://docs.zephyrproject.org/latest/getting_started/index.html")
print(f"Found west: {west_path}")

def find_west_workspace():
"""[summary] Scans for west workspaces using west topdir command by checking script execution
west_top and SOF_TOP directories.
def west_reinitialize(west_root_dir: pathlib.Path, west_manifest_path: pathlib.Path):
"""[summary] Performs west reinitialization to SOF manifest file asking user for permission.
Prints error message if script is running in non-interactive mode.

:return: [description] Returns path when west workspace had been found, otherwise None
:rtype: [type] bool, pathlib.Path
:param west_root_dir: directory where is initialized.
:type west_root_dir: pathlib.Path
:param west_manifest_path: manifest file to which west is initialized.
:type west_manifest_path: pathlib.Path
:raises RuntimeError: Raised when west is initialized to wrong manifest file
(not SOFs manifest) and script is running in non-interactive mode.
"""
global west_top
message = "West is initialized to manifest other than SOFs!\n"
message += f"Initialized to manifest: {west_manifest_path}." + "\n"
dot_west_directory = pathlib.Path(west_root_dir.resolve(), ".west")
if args.no_interactive:
message += f"Try deleting {dot_west_directory } directory and rerun this script."
raise RuntimeError(message)
question = message + "Reinitialize west to SOF manifest? [Y/n] "

@marc-hb marc-hb Jul 22, 2022

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This is really overkill. Just print the two rm-rf .west west init command sthat people must run in this case and done. These two commands alo gives them a chance to understand what's going on if they're interested.

Also don't forget this script is heavily used in non-interactive CI

@aborisovich aborisovich Jul 24, 2022 •
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@marc-hb I'm sorry but we are starting to run circles with this code review.
You suggested me that a path containing .west directory is a implementation detail and should not be used.
I tried not to use it but turns out that there is no other way to deinitialize west when set to invalid manifest X.
So I've made this user prompt to hide this implementation detail at least in interactive default mode. To have it working with CI I also added no-interactive flag. Now you:

  • write me that the work I've already done is an overkill
  • tell me to just print rm -rf .west which was implementation detail before and had to be hidden/not used.
  • Write:

Also don't forget this script is heavily used in non-interactive CI

@marc-hb are you reading my patch notes? I wrote there:

  • to avoid user prompt in CI and programmatical calls of the script added new flag --no-interactive
  • updated docker-build.sh to call xtensa-build-zephyr.py with --no-interactive flag.

@aborisovich aborisovich Jul 24, 2022

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Let's stop for a while and think this trough.
We can always put my work to garbage saying that it is overkill, but since the job had been already done I would reconsider. To me it does look like a useful thing - you answer 'Y' to prompt and do not have to stop script execution remove .west folder and start again.
The only downfall I see now is that user does not know that .west directory is being deleted and west tool does not have anything related to "reinitialization" in its docs (and running west init -l <other_dir> on a already initailized manifest results in error not in reinitialization).
I would proceed with leaving existing user prompt and appending to it additional line of message:
"this will remove {some_path/.west} directory"
Do you agree or we drop the idea of user prompts?

@marc-hb marc-hb Jul 25, 2022

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I initially did not realize that you were concerned about "de-initializing" the west workspace, something which seems unfortunately missing from the west documentation :-( In that case then yes I'm afraid that deleting the .west/ "implementation detail" seems to be the only, non-documented way. Still, because it's undocumented then better just ask people to do it manually instead of the script deleting it. Scripting rm -rf $path is never a good idea, imagine when a bug creeps in how $path is made!

print(f"{question}")
while True:
reinitialize_answer = input().lower()
if reinitialize_answer == "y" or reinitialize_answer == "n":
break
sys.stdout.write('Please respond with \'Y\' or \'n\'.\n')

if reinitialize_answer != 'y':
sys.exit("Can not proceed. Reinitialize your west manifest to SOF and rerun this script.")
shutil.rmtree(dot_west_directory)
execute_command(["west", "init", "-l", f"{SOF_TOP}"], cwd=west_top)

def west_init_if_needed():
"""[summary] Validates whether west workspace had been initialized and points to SOF manifest.
Peforms west initialization if needed.
"""
global west_top, SOF_TOP
paths = [ pathlib.Path(os.getcwd()), SOF_TOP, west_top]
for path in paths:
if path.is_dir():
result = execute_command(["west", "topdir"], capture_output=True,
text=True, check=False, cwd=path)
if result.returncode == 0:
return pathlib.Path(result.stdout.rstrip(os.linesep))
return None
west_manifest_path = pathlib.Path(SOF_TOP, "west.yml")
result_rootdir = execute_command(["west", "topdir"], capture_output=True, cwd=west_top,
timeout=10, check=False)
if result_rootdir.returncode != 0:

@marc-hb marc-hb Aug 1, 2022

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The "more pythonic" way is to drop check=False and replace with

except subprocess.CalledProcessError:
  return None, None

@aborisovich aborisovich Aug 2, 2022 •
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Well, generally yes but not in this specific case.
Look at the "check" flag docs fragment

If check is true, and the process exits with a non-zero exit code, a CalledProcessError exception will be raised. Attributes of that exception hold the arguments, the exit code, and stdout and stderr if they were captured.

So it's not like we catch an exception from subprocess directly but python command subprocess.run generates that exception and raises it if you set check=True. So in this case asking subprocess.run to raise exception just to catch it seems irrational.

@marc-hb marc-hb Aug 2, 2022

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The operating system only provides error codes, so all subprocess exceptions are "faked" anyway. subprocess synthesizes exceptions because it's more "pythonic".

My suggestion to catch CalledProcessError was also a suggestion to let other, unexpected exceptions/error codes "crash" the script with a stack trace to help debug it.

Nevermind, no real issue here.

execute_command(["west", "init", "-l", f"{SOF_TOP}"], cwd=west_top)
return
west_root_dir = pathlib.Path(result_rootdir.stdout.decode().strip('\n')).resolve()
result_manifest_dir = execute_command(["west", "config", "manifest.path"], capture_output=True,
cwd=west_top, timeout=10, check=True)
west_manifest_dir = pathlib.Path(west_root_dir, result_manifest_dir.stdout.decode().strip('\n')).resolve()
manifest_file_result = execute_command(["west", "config", "manifest.file"], capture_output=True,
cwd=west_top, timeout=10, check=True)
returned_manifest_path = pathlib.Path(west_manifest_dir, manifest_file_result.stdout.decode().strip('\n'))
if not returned_manifest_path.samefile(west_manifest_path):
west_reinitialize(west_root_dir, returned_manifest_path)
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else:
print(f"West workspace: {west_root_dir}")
print(f"West manifest path: {west_manifest_path}")

@marc-hb marc-hb Aug 2, 2022

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I would print these in any case...

@aborisovich aborisovich Aug 2, 2022 •
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Well, west init kinda prints it already and I did not want to repeat after it:
image


def create_zephyr_directory():
global west_top
Expand Down Expand Up @@ -356,38 +375,11 @@ def create_zephyr_sof_symlink():
"security-policy-settings/create-symbolic-links")
raise

def west_init_update():
"""[summary] Downloads zephyrproject inside sof/ and create a ../../.. symbolic
link back to sof/"""
global west_top, SOF_TOP
zephyr_dir = pathlib.Path(west_top, "zephyr")

z_remote = "origin"
z_ref = args.zephyr_ref

# Example of how to override SOF CI and point it at any Zephyr
# commit from anywhere and to run all tests on it. Simply
# uncomment and edit these lines and submit as an SOF Pull
# Request. Note: unlike many git servers, github allows direct
# fetching of (full 40-digits) SHAs; even SHAs not in origin but
# in forks! See the end of "git help fetch-pack".
#
# z_remote = "https://somewhere.else"
# z_ref = "pull/38374/head"
# z_ref = "cb9a279050c4e8ad4663ee78688d8e7de1cac953"

# SECURITY WARNING for reviewers: never allow unknown code from
# unknown submitters on any CI system.

execute_command(["git", "clone", "--depth", "5", args.url, str(zephyr_dir)], timeout=1200)
execute_command(["git", "fetch", "--depth", "5", z_remote, z_ref], timeout=300, cwd=zephyr_dir)
execute_command(["git", "checkout", "FETCH_HEAD"], cwd=zephyr_dir)
execute_command(["git", "-C", str(zephyr_dir), "--no-pager", "log", "--oneline", "--graph",
"--decorate", "--max-count=20"])
execute_command(["west", "init", "-l", str(zephyr_dir)])
create_zephyr_sof_symlink()
# Do NOT "west update sof"!!
execute_command(["west", "update", "zephyr", "hal_xtensa"], timeout=300, cwd=west_top)
def west_update():
"""[summary] Clones all west manifest projects to specified revisions"""
global west_top
execute_command(["west", "update"], check=True, timeout=3000, cwd=west_top)

@marc-hb marc-hb Jul 13, 2022

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I don't see the value of adding a bare layer of indirection on a mere west update. The purpose of this PR is to increase the direct usage of west and reduce the usage of this script.

@aborisovich aborisovich Jul 14, 2022 •
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The purpose of this PR is to increase the direct usage of west and reduce the usage of this script.

That is a very bold statement. I do not agree with it.
Usage of west is still more cumbersome that usage of this script.
Even when we move all platforms to Zephyr XTOS and integrate @nashif s PR6004 , the set of commands required to build a single platform (from scratch) is:

  1. west update
  2. west build build --build-dir build-<platform> -p always -b <board_name> sof/app
  3. cmake -B ./build-rimage -S ./drivers.audio.firmware.converged/rimage
  4. cmake --build ./build-rimage
  5. west sign --build-dir build-mtl -t rimage --tool-path ./build-rimage/rimage --tool-data ./sof/rimage/config -- -k ./sof/keys/some_key.pem
  6. ./build-mtl/zephyr/smex_ep/build/smex -l ./build-mtl/zephyr/zephyr.ldc ./build-mtl/zephyr/zephyr.elf

This is much longer than:
./scripts/xtensa-build-zephyr.py -c <platform>
That does this all for you. Maybe someday we will integrate it better so there are less commands to call but we are not there yet.

@marc-hb marc-hb Jul 20, 2022

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Good points, this script will still be used a lot.

OK, now I see this function is used as part of west init AND west update AND symlink, makes sense to me now.

@marc-hb marc-hb Jul 28, 2022 •
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Unresolving to keep @aborisovich's good summary visible.

At least two more things the script do:

  • building sof-logger
  • iterating on multiple platforms and "installing" all the files in the correct subdirectories:
build-sof-staging
├── tools
│   ├── cavstool.py
│   ├── cavstool_client.py
│   ├── cavstwist.sh
│   └── sof-logger
└── sof
    ├── sof-cnl.ldc
    ├── community
    │   ├── sof-apl.ri
    │   └── sof-cnl.ri
    └── sof-apl.ldc

@marc-hb marc-hb Jul 21, 2022

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For local testing I had to change this, otherwise any dry-run was incredibly time-consuming

Suggested change
execute_command(["west", "update"], check=True, timeout=3000, cwd=west_top)
execute_command(["west", "update", "--narrow", "--fetch-opt=--depth=5"],
check=True, timeout=3000, cwd=west_top)

Not urgent but we'll need to restore this optimization somehow after this PR gets merged, it makes a lot of difference for CI (and for testing changes to this script)

@aborisovich aborisovich Jul 21, 2022

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What says this west update --help message?
image

That I can't put a tag to manifest project revision or I am reading it wrong?
If so I would hesitate from using this flag, using tags in revision seems useful...

@aborisovich aborisovich Jul 21, 2022

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Added fetch depth flag for now

@aborisovich aborisovich Jul 22, 2022

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Looks like it does not work:
image
Looks like it fetches for depth=5 not "five commits from defined in manifest revision" but "five commits from all branches. What obviously is not enough to checkout commit older than 5 in history...

@marc-hb marc-hb Jul 22, 2022

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but "five commits from all branches.

Yes, that's what --narrow optimizes (which can cause other issues).

What obviously is not enough to checkout commit older than 5 in history...

Github allows fetching full SHA1s directly (try it from git), I'm surprised west is not smart enough to do that. There have been very long and complicated discussions on this topic, I'm sorry I forgot the conclusion of them: zephyrproject-rtos/west#319

Sorry for the distraction, we can try to optimize again after this is merged.



def get_sof_version(abs_build_dir):
"""[summary] Get version string major.minor.micro of SOF firmware
Expand Down Expand Up @@ -416,16 +408,6 @@ def build_platforms():
print(f"SOF_TOP={SOF_TOP}")
print(f"west_top={west_top}")

# Verify that zephyrproject is initialized and that it has a
# correct pointer back to us SOF. create_zephyr_sof_symlink()
# takes care of that but it's optional; maybe cloning was done
# outside this script. The link can also fail when hopping in
# and out of a container. Without this check, a not found SOF
# would fail later with surprisingly cryptic Kconfig errors.
execute_command(["west", "status", "hal_xtensa", "sof"], cwd=west_top,
stdout=subprocess.DEVNULL)

assert(west_top.exists())
global STAGING_DIR
STAGING_DIR = pathlib.Path(west_top, "build-sof-staging")
# smex does not use 'install -D'
Expand Down Expand Up @@ -485,6 +467,8 @@ def build_platforms():
build_cmd += ["build", "--build-dir", platform_build_dir_name]
source_dir = pathlib.Path(SOF_TOP, "app")
build_cmd += ["--board", PLAT_CONFIG, str(source_dir)]
if args.pristine:
build_cmd += ["-p", "always"]

build_cmd.append('--')
if args.cmake_args:
Expand All @@ -507,7 +491,12 @@ def build_platforms():
build_cmd.append(f"-DOVERLAY_CONFIG={overlays}")

# Build
execute_command(build_cmd, cwd=west_top)
try:
execute_command(build_cmd, cwd=west_top)
except:
zephyr_path = pathlib.Path(west_top, "zephyr")
if not os.path.exists(zephyr_path):
sys.exit("Zephyr project not found. Please run this script with -c flag or clone manually.")
smex_executable = pathlib.Path(west_top, platform_build_dir_name, "zephyr", "smex_ep",
"build", "smex")
fw_ldc_file = pathlib.Path(sof_platform_output_dir, f"sof-{platform}.ldc")
Expand All @@ -516,16 +505,15 @@ def build_platforms():
execute_command([str(smex_executable), "-l", str(fw_ldc_file), str(input_elf_file)])
# CMake - configure rimage module
rimage_dir_name="build-rimage"
sof_mirror_dir = pathlib.Path("modules", "audio", "sof")
rimage_source_dir = pathlib.Path(sof_mirror_dir, "rimage")
rimage_source_dir = pathlib.Path(SOF_TOP, "rimage")
execute_command(["cmake", "-B", rimage_dir_name, "-S", str(rimage_source_dir)],
cwd=west_top)
# CMake build rimage module
execute_command(["cmake", "--build", rimage_dir_name, "-j", str(args.jobs)],
cwd=west_top)
# Sign firmware
rimage_executable = shutil.which("rimage", path=pathlib.Path(west_top, rimage_dir_name))
rimage_config = pathlib.Path(sof_mirror_dir, "rimage", "config")
rimage_config = pathlib.Path(SOF_TOP, "rimage", "config")
sign_cmd = ["west"]
sign_cmd += ["-v"] * args.verbose
sign_cmd += ["sign", "--build-dir", platform_build_dir_name, "--tool", "rimage"]
Expand Down Expand Up @@ -588,40 +576,23 @@ def build_platforms():
tools_output_dir,
symlinks=True, ignore_dangling_symlinks=True, dirs_exist_ok=True)


def run_clone_mode():
if find_west_workspace():
raise RuntimeError("Zephyr found already! Not downloading it again")
create_zephyr_directory()
west_init_update()

def run_point_mode():
global west_top, SOF_TOP
west_workspace_path = find_west_workspace()
if not west_workspace_path:
raise RuntimeError("Failed to find west workspace.\nScanned directories:\n{}\n{}\n{}"
.format(os.getcwd(), SOF_TOP, west_top))
if not west_workspace_path.exists():
raise FileNotFoundError("West topdir returned {} as workspace but it"
" does not exist".format(west_workspace_path))
west_top = west_workspace_path
create_zephyr_sof_symlink()

def main():
parse_args()
if args.version:
print(VERSION)
sys.exit(0)
check_west_installation()
if len(args.platforms) == 0:
print("No platform build requested")
else:
print("Building platforms: {}".format(" ".join(args.platforms)))

# we made two modes mutually exclusive with argparse
if args.west_path:
# check west_path input + create symlink if needed
run_point_mode()
if args.clone_mode:
west_init_if_needed()

if args.update:
# Initialize zephyr project with west
run_clone_mode()
west_update()
create_zephyr_sof_symlink()

if args.platforms:
build_platforms()
Expand Down
12 changes: 12 additions & 0 deletions submanifests/README.txt
View file
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Original file line number Diff line number Diff line change
@@ -0,0 +1,12 @@
This directory can contain additional west manifest files. Any files
in this directory will be included in the main west.yml file sorted by
filename.

For more details about how this works, see this part of the west
documentation:

https://docs.zephyrproject.org/latest/guides/west/manifest.html#example-2-2-downstream-with-directory-of-manifest-files

Note: do not delete this file if there is no other content in submanifests directory.
Submanifests directory must exist for west update command to work (even if does not contain any actual manifests).
This is a known bug, see: https://github.com/zephyrproject-rtos/west/issues/594
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