From 687c5887af0752016964b85486fdf9b8f0994098 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 29 Dec 2023 15:51:20 +1100
Subject: [PATCH] HAL_ESP32: allow for building of examples and tool firmware
 on ESP32

use waf build target to find the right library name
---
 .../targets/esp32/esp-idf/CMakeLists.txt      | 26 +++++++++-------
 .../targets/esp32s3/esp-idf/CMakeLists.txt    | 30 +++++++++----------
 2 files changed, 31 insertions(+), 25 deletions(-)

diff --git a/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt b/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt
index 07f1a4df7e8e7..5c03820e3f827 100644
--- a/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt
+++ b/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt
@@ -34,25 +34,31 @@ if(NOT DEFINED ARDUPILOT_CMD)
     set(ARDUPILOT_CMD "none")
 endif()
 
-IF(${ARDUPILOT_CMD} STREQUAL "plane")
+message("ARDUPILOT_CMD=${ARDUPILOT_CMD}")
+message("WAF_BUILD_TARGET=${WAF_BUILD_TARGET}")
+
+string(REGEX MATCH "^(examples|tool)/" IS_EXAMPLE "${WAF_BUILD_TARGET}")
+
+if (IS_EXAMPLE)
+    string(REPLACE "/" ";" A ${WAF_BUILD_TARGET})
+    list(GET A 0 EXAMPLE_BASE)
+    list(GET A 1 EXAMPLE_NAME)
+    message("Building ${EXAMPLE_BASE} ${EXAMPLE_NAME}")
+    target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/${EXAMPLE_BASE}/lib${EXAMPLE_NAME}.a")
+    target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libap.a")
+ELSEIF(${ARDUPILOT_CMD} STREQUAL "plane")
     message("Building for plane")
     target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libarduplane.a")
     target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libArduPlane_libs.a")
-ENDIF()
-
-IF(${ARDUPILOT_CMD} STREQUAL "copter")
+ELSEIF(${ARDUPILOT_CMD} STREQUAL "copter")
     message("Building for copter")
     target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libarducopter.a")
     target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libArduCopter_libs.a")
-ENDIF()
-
-IF(${ARDUPILOT_CMD} STREQUAL "rover")
+ELSEIF(${ARDUPILOT_CMD} STREQUAL "rover")
     message("Building for rover")
     target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libardurover.a")
     target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libRover_libs.a")
-ENDIF()
-
-IF(${ARDUPILOT_CMD} STREQUAL "sub")
+ELSEIF(${ARDUPILOT_CMD} STREQUAL "sub")
     message("Building for submarine")
     target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libardusub.a")
     target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libArduSub_libs.a")
diff --git a/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt b/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt
index 7cf8efb64a3e5..4e0fafb3eac05 100644
--- a/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt
+++ b/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt
@@ -34,35 +34,35 @@ if(NOT DEFINED ARDUPILOT_CMD)
     set(ARDUPILOT_CMD "none")
 endif()
 
-IF(${ARDUPILOT_CMD} STREQUAL "plane")
+message("WAF_BUILD_TARGET=${WAF_BUILD_TARGET}")
+
+string(REGEX MATCH "^(examples|tool)/" IS_EXAMPLE "${WAF_BUILD_TARGET}")
+
+if (IS_EXAMPLE)
+    string(REPLACE "/" ";" A ${WAF_BUILD_TARGET})
+    list(GET A 0 EXAMPLE_BASE)
+    list(GET A 1 EXAMPLE_NAME)
+    message("Building ${EXAMPLE_BASE} ${EXAMPLE_NAME}")
+    target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/${EXAMPLE_BASE}/lib${EXAMPLE_NAME}.a")
+    target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libap.a")
+ELSEIF(${ARDUPILOT_CMD} STREQUAL "plane")
     message("Building for plane")
     target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libarduplane.a")
     target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libArduPlane_libs.a")
-ENDIF()
-
-IF(${ARDUPILOT_CMD} STREQUAL "copter")
+ELSEIF(${ARDUPILOT_CMD} STREQUAL "copter")
     message("Building for copter")
     target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libarducopter.a")
     target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libArduCopter_libs.a")
-ENDIF()
-
-IF(${ARDUPILOT_CMD} STREQUAL "rover")
+ELSEIF(${ARDUPILOT_CMD} STREQUAL "rover")
     message("Building for rover")
     target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libardurover.a")
     target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libRover_libs.a")
-ENDIF()
-
-IF(${ARDUPILOT_CMD} STREQUAL "sub")
+ELSEIF(${ARDUPILOT_CMD} STREQUAL "sub")
     message("Building for submarine")
     target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libardusub.a")
     target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libArduSub_libs.a")
 ENDIF()
 
-IF(${ARDUPILOT_CMD} STREQUAL "antennatracker")
-    message("Building AntennaTracker")
-    target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libantennatracker.a")
-    target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libAntennaTracker_libs.a")
-ENDIF()
 add_custom_target(showinc ALL
         COMMAND echo -e
         "$<TARGET_PROPERTY:${elf_file},INCLUDE_DIRECTORIES>"