% nxtbuild
% nxtbuild is the function to generate binary executables for LEGO
% MINDSTORMS NXT.
% This function is designed for the following model architechture.
% 1. Support for only Exporting Function-Call Subsystem code generation
% 2. Requires Exported Function-Call Scheduler block to identify C functions
% 3. Requires LEGO Mindstorms NXT Blockset to implement NXT devece APIs
% (For more detailed information, please see nxtmouse, nxtracer and nxtway demos)
%
% NXTBUILD(MODEL, CMD):
% MODEL is a Virtual Subsystem name for RTW-EC Exporting Function-Call Subsystems.
% CMD is command to specify code generation procedure.
%
% <Examples>
% nxtbuild('model', 'cgen'):
% invokes RTW-EC as Exporting Function-Call Subsystems mode, then generates
% ecrobot_main.c file under ./nxtprj directory to build an executable.
%
% nxtbuild('model', 'build'):
% builds RXE/ROM/RXE executables by using GCC toolchain.
%
% nxtbuild('model', 'build', {'./foo.c', './foo1.c'}, [], pwd):
% build binary executable which includes external C source files and library.
% The third argument: external C source files with relative path from
% the current directory.
% The forth argument: external C library with absolute path
% The fifth argument: path to external C header files with absolute path
%
% nxtbuild('model', 'buildrxe'):
% builds an executable for only Enhanced NXT firmware by using GCC toolchain.
%
% nxtbuild('model', 'buildrom'):
% builds an executable for only NXT BIOS by using GCC toolchain.
%
% nxtbuild('model', 'buildram'):
% builds an executable for only No firmware by using GCC toolchain.
%
% nxtbuild('model', 'clean'):
% remove generated object files
%
% nxtbuild('model', 'rxeflash'):
% upload the ECRobot generated binary file into Enhanced NXT firmware
% in the NXT. nxtOSEK 2.02 or later version is required.
%
% nxtbuild('biosflash'):
% upload NXT BIOS to the NXT for ul2flash.
% LEJOS OSEK 2.00 or later version is required.
% NOTE that biosflash is required only for when LEGO standard firmware or
% other non-nxtOSEK firmware were installed in the NXT.
%
% nxtbuild('model', 'ul2flash'):
% nxtbuild('model', 'appflash'):
% upload the ECRobot generated binary file into FLASH memory in the
% NXT. nxtOSEK 2.00 or later version is required.
%
% nxtbuild('model', 'ul2ram'):
% nxtbuild('model', 'ramboot'):
% upload the ECRobot generated binary file into SRAM memory in the NXT.
%
% nxtbuild('model', 'cgen', 'xcp'):
% standard cgen command + implement Vector XCP on Bluetooth hook routines
%
% nxtbuild('model', 'build', 'xcp'):
% build binary executable for Vector XCP on Bluetooth with CANape
%
% NOTE:
% Embedded Coder Robot NXT 3.10 or later version supports XCP on Bluetooth
% for Vector CANape.
% XCP on Bluetooth allows users to measure and calibrate data in NXT via
% XCP protocol on Bluetooth by using Vector CANape.
% XCP driver porting to nxtOSEK and Embedded Coder Robot NXT integration
% are originally done by Yoshiaki SHOI <yoshiaki.shoi@vector-japan.co.jp>.
% Copyright 2010 The MathWorks, Inc.
function nxtbuild(varargin)
% check arguments
xcp_bt = 0; % init the flag to notify the use of XCP on Bluetooth
external_source = '';
external_lib = '';
external_path = '';
switch nargin
case 1
if isequal(lower(varargin{1}), 'biosflash')
cmd = 'biosflash';
env_dir = fileparts(which('nxtbuild'));
prj_dir = 'nxtprj';
else
error('NXTBuild:invalid argument.')
end
case 2
sys = varargin{1};
cmd = lower(varargin{2});
ert_rtw_dir = [sys '_ert_rtw'];
env_dir = fileparts(which('nxtbuild'));
prj_dir = 'nxtprj';
model = bdroot;
case 3
sys = varargin{1};
cmd = lower(varargin{2});
ert_rtw_dir = [sys '_ert_rtw'];
env_dir = fileparts(which('nxtbuild'));
prj_dir = 'nxtprj';
model = bdroot;
if ((isequal(cmd, 'build') || ...
isequal(cmd, 'buildrxe') || ...
isequal(cmd, 'buildrom') || ...
isequal(cmd, 'buildram') || ...
isequal(cmd, 'cgen')) && ...
isequal(lower(varargin{3}), 'xcp'))
% check Bluetooth device mode is set as Slave
if isequal(iGetBluetoothDeviceMode(model), 'Master')
error('Bluetooth device mode should be configured as Slave for XCP on Bluetooth.');
else
xcp_bt = 1;
end
elseif (isequal(cmd, 'build') || ...
isequal(cmd, 'buildrxe') || ...
isequal(cmd, 'buildrom') || ...
isequal(cmd, 'buildram') || ...
isequal(cmd, 'cgen'))
external_source = varargin{3};
else
error('NXTBuild:invalid argument.')
end
case 4
sys = varargin{1};
cmd = lower(varargin{2});
ert_rtw_dir = [sys '_ert_rtw'];
env_dir = fileparts(which('nxtbuild'));
prj_dir = 'nxtprj';
model = bdroot;
if (isequal(cmd, 'build') || ...
isequal(cmd, 'buildrxe') || ...
isequal(cmd, 'buildrom') || ...
isequal(cmd, 'buildram') || ...
isequal(cmd, 'cgen'))
external_source = varargin{3};
external_lib = varargin{4};
else
error('NXTBuild:invalid argument.')
end
case 5
sys = varargin{1};
cmd = lower(varargin{2});
ert_rtw_dir = [sys '_ert_rtw'];
env_dir = fileparts(which('nxtbuild'));
prj_dir = 'nxtprj';
model = bdroot;
if (isequal(cmd, 'build') || ...
isequal(cmd, 'buildrxe') || ...
isequal(cmd, 'buildrom') || ...
isequal(cmd, 'buildram') || ...
isequal(cmd, 'cgen'))
external_source = varargin{3};
external_lib = varargin{4};
external_path = varargin{5};
else
error('NXTBuild:invalid argument.')
end
otherwise
error('NXTBuild:invalid argument.')
end
% check third party tool configurations
if isequal(cmd, 'cgen') == 0
% check ecrobotnxtsetupinfo.m was generated
try
evalin('base', 'ecrobotnxtsetupinfo');
catch
error(['ecrobotnxtsetupinfo.m does not exist in environment directory. '...
'Execute ecrobotnxtsetup.m to specify necessity information.']);
end
% check GNUARM_ROOT is still defined in Windows Environment Varibles
% ECRobot NXT V3.10 or later version retrieves GNUARM root directory path
% by ecrobotnxtsetup.m.
% Therefore, GNUARM_ROOT makes a confliction during build process.
if (~isempty(getenv('GNUARM_ROOT')))
error('Please remove GNUARM_ROOT from Windows Environment Variable.');
end
end
% command handler
switch cmd
case 'cgen'
% generate code from the Virtual Subsystem to be connected to the
% Exported Function-Calls Scheduler block by using RTW-EC Export
% Function cgen
rtwbuild([gcs '/' sys], 'Mode', 'ExportFunctionCalls');
% create 'nxtprj' directory
try
if ~isempty(dir(prj_dir))
rmdir(prj_dir,'s');
end
mkdir(prj_dir);
catch
error(['### Failed to create nxtprj directory for model: ' sys]);
end
% generate ECRobot scheduler file(s)
disp(['### Generating ECRobot NXT scheduler file(s) for model: ' sys]);
iGenerateSchedulerFiles(model, sys, prj_dir, xcp_bt);
disp(['### Successful completion of ECRobot NXT scheduler file(s) generation for model: ' sys]);
% clear NXT.Signals in baseworkspace
clearNXTSignalObjects();
% if c_indent M function was found, then call it to indent generated C file(s)
if isempty(which('c_indent'))==0
cfiles = dir(['./' prj_dir '/*.c']);
for i = 1:length(cfiles)
c_indent(['./' prj_dir '/' cfiles(i).name]);
end
end
case {'build', 'buildrxe', 'buildrom', 'buildram'}
if xcp_bt == 1
nxtbuild(sys, 'cgen', 'xcp'); % call this function recursively
else
nxtbuild(sys, 'cgen'); % call this function recursively
end
current_dir = pwd;
cd(prj_dir); % move to project dir
try
disp('### Executing GNU-ARM toolchain for building executable ...');
iGenerateBuildBat(iGetCYGWIN_BIN()); % generate build.bat file in nxtprj dir
iGenerateMakefile(cmd, model, sys, ert_rtw_dir, env_dir, xcp_bt, external_source, external_lib, external_path); % generated Makefile in nxtprj dir
iGenerateCommand('make all'); % invoke GNU make with Makefile
cd(current_dir); % back to the model located dir
catch
cd(current_dir); % back to the model located dir
end
case 'rebuild'
nxtbuild(sys, 'clean'); % call this recursively with 'clean' cmd
nxtbuild(sys, 'build'); % call this recursively with 'build' cmd
case 'clean'
disp('### Executing GNU-ARM toolchain to clean up generated object files');
current_dir = pwd;
cd(prj_dir); % move to project dir
try
iGenerateCommand('make clean'); % invoke GNU make with Makefile
cd(current_dir); % back to the model located dir
catch
cd(current_dir); % back to the model located dir
end
case {'ul2ram', 'ramboot'}
current_dir = pwd;
cd(prj_dir); % move to project dir
try
bin_file = [sys '_ram.bin'];
disp(['### Execute ramboot for uploading a program into RAM: ./' prj_dir '/' bin_file]);
iGenerateCommand('make ramboot');
iGenerateCommand('sh ./ramboot.sh');
cd(current_dir); % back to the model located dir
catch
cd(current_dir); % back to the model located dir
end
case {'ul2flash', 'appflash'}
current_dir = pwd;
cd(prj_dir); % move to project dir
try
bin_file = [sys '_rom.bin'];
disp(['### Execute appflash for uploading a program into FLASH: ./' prj_dir '/' bin_file]);
iGenerateCommand('make appflash');
iGenerateCommand('sh ./appflash.sh');
cd(current_dir); % back to the model located dir
catch
cd(current_dir); % back to the model located dir
end
case 'rxeflash'
current_dir = pwd;
cd(prj_dir); % move to project dir
try
rxe_file = [sys '.rxe'];
disp(['### Execute NeXTTool for uploading a program to the enhanced NXT standard firmware: ./' prj_dir '/' rxe_file]);
iGenerateCommand('make rxeflash');
iGenerateCommand('sh ./rxeflash.sh');
cd(current_dir); % back to the model located dir
catch
cd(current_dir); % back to the model located dir
end
case 'biosflash'
current_dir = pwd;
cd(prj_dir); % move to project dir
try
disp('### Execute NeXTTool for uploading NXT BIOS...');
iGenerateBuildBat(iGetCYGWIN_BIN()); % generate build.bat file in nxtprj dir
iGenerateCommand('make biosflash');
iGenerateCommand('sh ./biosflash.sh');
cd(current_dir); % back to the model located dir
catch
cd(current_dir); % back to the model located dir
end
otherwise
error(['### NXTBuild:' cmd ' is invalid.']);
end
% End of function
% End of file
