taste-orchestrator.py 118 KB
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#!/usr/bin/env python2
'''
This is the orchestrator that builds all TASTE systems - completely automating
the build process, invoking all necessary tools and code generators
'''
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#
# (C) Semantix Information Technologies.
#
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# Copyright 2014-2015 IB Krates <info@krates.ee>
#       QGenc code generator integration
#
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# Semantix Information Technologies is licensing the code of the
# Data Modelling Tools (DMT) in the following dual-license mode:
#
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# GNU GPL v. 2.1:
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#       This version of DMT is the one to use for the development of
# non-commercial applications, when you are willing to comply
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# with the terms of the GNU General Public License version 2.1.
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#
# The features of the two licenses are summarized below:
#
#                       Commercial
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#                       Developer               GPL
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#                       License
#
# License cost          License fee charged     No license fee
#
# Must provide source
# code changes to DMT   No, modifications can   Yes, all source code
#                       be closed               must be provided back
#
# Can create            Yes, That is,           No, applications are subject
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# proprietary           no source code needs    to the GPL and all source code
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# applications          to be disclosed         must be made available
#
# Support               Yes, 12 months of       No, but available separately
#                       premium technical       for purchase
#                       support
#
# Charge for Runtimes   None                    None
#
import sys
import os
import shutil
import getopt
import re
import hashlib
import traceback
import subprocess
import copy
import time
import glob
import logging
import multiprocessing

# File handle where build log (log.txt) is
g_log = None

# Flag to control whether we stop at each command or not (useful for debug)
g_bFast = False

# Flag controlling whether we abort on error, or wait for ENTER and retry
g_bRetry = True

# Flag controlling whether we use PO-HI-Ada or PO-HI-C
g_bPolyORB_HI_C = False

# Dictionary that contains the list of Functions per partition, e.g.
# { 'mypartition_obj142' : [ 'passive_function', 'cyclic_function' ] }
g_distributionNodes = {}

# Dictionary that contains elements for both partitions and functions,
# with the values being a pair of PLATFORM, GCC prefix, e.g.
#
# { 'mypartition_obj142' : ['PLATFORM_LEON_RTEMS', 'sparc-rtems4.8-'],
#   'passive_function' : ['PLATFORM_LEON_RTEMS', 'sparc-rtems4.8-'] }

g_distributionNodesPlatform = {}

# Dictionary that points to the containing partition of a function
# (the _objNNN suffix of TASTEIV is removed from the partition name)
#
# { 'passive_function' : 'mypartition' }
g_fromFunctionToPartition = {}

# Two dictionaries that are carrying lists of special flags
# (compilation/linking) per partition, e.g.
#
# { 'mypartition' : ['-I /path/to/include', '-D_DEBUG'] }
#
# The "--nodeOptions" command line arg modifies these (and we need
# human-readable strings, not _objNNN stuff - that's why the keys
# are the humanly-named targets, not the artificially suffixed ones)
g_customCFlagsPerNode = {}
g_customLDFlagsPerNode = {}

# Discussion in Mantis ticket 278: Julien suggests using the
# compilation flags detected via the RTEMS Makefile only for
# user code compilation - ocarina already has them and dies
# otherwise.
g_customCFlagsForUserCodeOnlyPerNode = {}

# Output folder we build in
g_absOutputDir = ""

# current build stage
g_currentStage = ""

# Python logging handler, to report build stages for Peter
g_stageLog = None


class ColorFormatter(logging.Formatter):
    # FORMAT = ("[%(levelname)-19s]  " "$BOLD%(filename)-20s$RESET" "%(message)s")
    # FORMAT    = ( "[%(levelname)-18s]  " "($BOLD%(filename)s$RESET:%(lineno)d)  " "%(message)s"  )
    FORMAT = ("[%(levelname)s]  " "$BOLD$RESET" "%(message)s")
    BLACK, RED, GREEN, YELLOW, BLUE, MAGENTA, CYAN, WHITE = range(8)
    RESET_SEQ = "\x1b[0m"
    COLOR_SEQ = "\x1b[1;%dm"
    BOLD_SEQ = "\x1b[1m"
    COLORS = {
        'WARNING': YELLOW,
        'INFO': GREEN,
        'DEBUG': WHITE,
        'CRITICAL': RED,
        'ERROR': RED
    }

    def __init__(self, use_color):
        self.use_color = use_color
        msg = self.formatter_msg(self.FORMAT)
        logging.Formatter.__init__(self, msg)

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    @staticmethod
    def bold_string(s):
        fore_color = 30 + ColorFormatter.COLORS['WARNING']
        return ColorFormatter.COLOR_SEQ % fore_color + s + ColorFormatter.RESET_SEQ

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    def formatter_msg(self, msg):
        if self.use_color:
            msg = msg.replace("$RESET", self.RESET_SEQ).replace("$BOLD", self.BOLD_SEQ)
        else:
            msg = msg.replace("$RESET", "").replace("$BOLD", "")
        return msg

    def format(self, record):
        levelname = record.levelname
        if self.use_color and levelname in self.COLORS:
            fore_color = 30 + self.COLORS[levelname]
            levelname_color = self.COLOR_SEQ % fore_color + levelname + self.RESET_SEQ
            record.levelname = levelname_color
        global g_currentStage
        g_currentStage = record.getMessage()
        return logging.Formatter.format(self, record)


def panic(x):
    '''Function called to abort with a message'''
    if not x.endswith("\n"):
        x += "\n"
    sys.stderr.write(x)
    g_stageLog.error(g_currentStage)
    sys.exit(1)


def mysystem(x, outputDir=None):
    '''Spawns a cmd, logs it, and if it failed, will optionally retry it when ENTER is pressed'''
    global g_log
    if g_log is None:
        g_log = open(outputDir + os.sep + "log.txt", "w")
        return
    g_log.write("From: " + os.getcwd() + "\n")
    g_log.write(x + "\n")
    g_log.flush()
    while os.system(x) != 0:
        # Save the environment that was used for the failed command under OUTPUT_FOLDER/env.txt
        os.system('env > "' + g_absOutputDir + os.sep + 'env.txt"')
        if g_bRetry:
            if os.getenv('CLEANUP') is not None:
                print "Exception in user code:"
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                print '-' * 60
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                traceback.print_stack()
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                print '-' * 60
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            sys.stderr.write("Failed while executing:\n" + x + "\nFrom this directory:\n" + os.getcwd())
            sys.stdout.flush()
            sys.stderr.flush()
            if os.getenv('CLEANUP') is None:
                raw_input("\n\nPress ENTER to retry...")
            else:
                panic("\nFailed to compile...")
        else:
            panic("Failed while executing:\n" + x + "\nFrom this directory:\n" + os.getcwd())


def getSingleLineFromCmdOutput(cmd):
    try:
        f = os.popen(cmd)
        returnedLine = f.readlines()[0].strip()
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        if f.close() is not None:
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            print "Failed! Output was:\n", returnedLine
            raise Exception()
        return returnedLine
    except:
        panic("Failed to spawn '%s'" % cmd)


def banner(msg):
    '''Splashes message in big green letters'''
    if sys.stdout.isatty():
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        print "\n" + chr(27) + "[32m" + msg + chr(27) + "[0m\n"
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    else:
        print "\n" + msg + "\n"
    if not g_bFast:
        raw_input("Press ENTER to continue...")
    print "\n"
    sys.stdout.flush()


def usage():
    '''Shows all available cmd line arguments'''
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    panic("TASTE/ASSERT orchestrator, revision: COMMITID\n"
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          "Usage: " + os.path.basename(sys.argv[0]) + " <options>\nWhere <options> are:\n\n"
          "-f, --fast\n\tSkip waiting for ENTER between stages\n\n"
          "-g, --debug\n\tEnable debuging options\n\n"
          "-p, --with-polyorb-hi-c\n\tUse PolyORB-HI-C (instead of the default, PolyORB-HI-Ada)\n\n"
          "-r, --with-coverage\n\tUse GCC coverage options (gcov) for the generated applications\n\n"
          "-h, --gprof\n\tCreate binaries that can be profiled with gprof\n\n"
          "-o, --output outputDir\n\tDirectory with generated sources and code\n\n"
          "-s, --stack stackSizeInKB\n\tHow much stack size to use (in KB)\n\n"
          "-i, --interfaceView i_view.aadl\n\tThe interface view in AADL\n\n"
          "-c, --deploymentView d_view.aadl\n\tThe deployment view in AADL\n\n"
          "-S, --subSCADE name:zipFile\n\ta zip file with the SCADE generated C code for a subsystem\n\twith the AADL name of the subsystem before the ':'\n\n"
          "-M, --subSIMULINK name:zipFile\n\ta zip file with the SIMULINK/ERT generated C code for a subsystem\n\twith the AADL name of the subsystem before the ':'\n\n"
          "-C, --subC name:zipFile\n\ta zip file with the C code for a subsystem\n\twith the AADL name of the subsystem before the ':'\n\n"
          "-B, --subCPP name:zipFile\n\ta zip file with the C++ code for a subsystem\n\twith the AADL name of the subsystem before the ':'\n\n"
          "-A, --subAda name:zipFile\n\ta zip file with the Ada code for a subsystem\n\twith the AADL name of the subsystem before the ':'\n\n"
          "-G, --subOG name:file1.pr<,file2.pr,...>\n\tObjectGeode PR files for a subsystem\n\twith the AADL name of the subsystem before the ':'\n\n"
          "-P, --subRTDS name:zipFile\n\ta zip file with the RTDS-generated code for a subsystem\n\twith the AADL name of the subsystem before the ':'\n\n"
          "-V, --subVHDL name\n\twith the AADL name of the VHDL subsystem\n\n"
          "-n, --nodeOptions name@debug=<on/off>@gcov=<on/off>@gprof=<on/off>@stackCheck=<on/off>\n\tcustom options per NODE (i.e. binary)\n\n"
          "-e, --with-extra-C-code deploymentPartition:directoryWithCfiles\n\tDirectory containing additional .c files to be compiled and linked in for deploymentPartition\n\n"
          "-d, --with-extra-Ada-code deploymentPartition:directoryWithADBfiles\n\tDirectory containing additional .adb files to be compiled and linked in for deploymentPartition\n\n"
          "-l, --with-extra-lib deploymentPartition:/path/to/libLibrary1.a<,/path/to/libLibrary2.a,...>\n\tAdditional libraries to be linked in for deploymentPartition\n\n"
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          "-w, --with-cv-attributes properties_filename\n\tUpdate thread priorities, stack size and offset/phase during the build\n\n"
          "-x, --timer granularityInMilliseconds\n\tSet timer resolution (default: 100ms)")
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def md5hash(filename):
    '''Returns MD5 hash of input filename'''
    a = hashlib.md5()
    a.update(open(filename, 'r').read())
    return a.hexdigest()


def mkdirIfMissing(name):
    '''Creates a directory only if it is missing'''
    if not os.path.isdir(name):
        os.mkdir(name)


def mflags(node):
    '''Returns special link flags depending on the target platform of the desired target node'''
    if node not in g_distributionNodesPlatform:
        panic("%s did not exist in the 'nodes' file..." % node)
    kind, _ = g_distributionNodesPlatform[node]
    result = ""
    if kind.startswith("PLATFORM_LINUX32"):
        result += " -m32 "
    if kind == "PLATFORM_LINUX64":
        result += " -m64 "
    if kind.startswith("PLATFORM_LEON_RTEMS"):
        result += " -msoft-float "
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    if kind.startswith("PLATFORM_ARM_CORTEX"):
        result += " -mfloat-abi=hard "
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    return result


def handleXenomaiCommon(functionName, option):
    '''Returns special Xenomai compile/link flags if the input node is indeed a Xenomai one'''
    if functionName in g_distributionNodesPlatform:
        platform = g_distributionNodesPlatform[functionName][0]
        if platform.startswith("PLATFORM_LINUX32_XENOMAI"):
            skin = platform.split("_")[-1].lower()
            return " " + getSingleLineFromCmdOutput("xeno-config --skin=%s --%s" % (skin, option)) + " "
        else:
            return " "
    else:
        return " "


def handleXenomaiCflags(functionName):
    return handleXenomaiCommon(functionName, "cflags")


def handleXenomaiLDflags(functionName):
    return handleXenomaiCommon(functionName, "ldflags")


def handlePoHiC(functionName):
    '''Returns additional compilation flags for PO-HI-C builds'''
    if functionName not in g_distributionNodesPlatform:
        panic("%s did not exist in the 'nodes' file" % functionName)
    kind, _ = g_distributionNodesPlatform[functionName]

    extraCdirIncludes = ""
    polyorbActivityHpath = ""
    prefix = g_absOutputDir + "/GlueAndBuild/"
    for d in os.listdir(prefix):
        if os.path.isdir(prefix + d) and not d.startswith("glue"):
            polyorbActivityHpath = prefix + d
            break
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    # In the past, we were looking for a folder under deploymentview_final
    # that started with the function name.
    #
    # This is not robust...

    # OBSOLETE
    # for d in os.listdir(polyorbActivityHpath):
    #     if os.path.isdir(polyorbActivityHpath + os.sep + d) and d.startswith(functionName):
    #         polyorbActivityHpath += os.sep + d
    #         break
    # else:

    # ...so we always check the 'nodes' info to see who is using this function.
    for partition in g_distributionNodes.keys():
        if functionName.lower() in [x.lower() for x in g_distributionNodes[partition]]:
            polyorbActivityHpath += os.sep + partition
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            break
    else:
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        polyorbActivityHpath = ""
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    if kind == "PLATFORM_X86_LINUXTASTE":
        extraCdirIncludes += " -I$LINUXTASTE_PATH/output//target/usr/local/include -DPOSIX"
    if g_bPolyORB_HI_C and polyorbActivityHpath != "":
        extraCdirIncludes += " -I " + polyorbActivityHpath
    if g_bPolyORB_HI_C:
        extraCdirIncludes += " -I " + getSingleLineFromCmdOutput("ocarina-config --prefix") + \
            "/include/ocarina/runtime/polyorb-hi-c/include/"
    return extraCdirIncludes


def CalculateCFLAGS(node, withPOHIC=True):
    '''Uses the previous functions to create the complete set of flags for a target node'''
    if node not in g_distributionNodesPlatform:
        panic("%s did not exist in the 'nodes' file" % node)
    kind, _ = g_distributionNodesPlatform[node]
    result = " " + mflags(node) + " "
    if g_bPolyORB_HI_C and withPOHIC:
        result += handlePoHiC(node) + " "
    result += handleXenomaiCflags(node)
    if "COMPCERT" in kind:
        result += "-DWORD_SIZE=4"
    if "NDS" in kind:
        result += " -mstructure-size-boundary=8 -mcpu=arm9tdmi -mfpu=vfp -mfloat-abi=soft -mthumb-interwork -g "
    if "GUMSTIX" in kind:
        result += " -mstructure-size-boundary=8 -mcpu=xscale -mfpu=vfp -mfloat-abi=soft -g "
    for binary, listOfFunctions in g_distributionNodes.items():
        key = re.sub(r'_obj\d+$', '', binary)
        if node == binary or node in listOfFunctions:
            # use custom options, if available
            if key in g_customCFlagsPerNode:
                result += ' '.join(g_customCFlagsPerNode[key])
                break
    # Let the user specify -fdata-sections -ffunction-sections if he wants.
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    # if "-pg" not in result and not any(map(lambda x: x in kind, ["LEON", "COMPCERT"])):
    #    result += " -fdata-sections -ffunction-sections "
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    return result


def CalculateUserCodeOnlyCFLAGS(node):
    '''Uses the previous functions to create the complete set of flags for a target node'''
    if node not in g_distributionNodesPlatform:
        panic("%s did not exist in the 'nodes' file" % node)
    result = " "
    for binary, listOfFunctions in g_distributionNodes.items():
        key = re.sub(r'_obj\d+$', '', binary)
        if node == binary or node in listOfFunctions:
            # use custom options, if available
            if key in g_customCFlagsForUserCodeOnlyPerNode:
                result += ' '.join(g_customCFlagsForUserCodeOnlyPerNode[key]) + ' '
                break
    return result


def SetEnvForRTEMS(platformType):
    try:
        if platformType.startswith("PLATFORM_X86_RTEMS"):
            src = "RTEMS_MAKEFILE_PATH_X86"
            os.putenv("RTEMS_MAKEFILE_PATH", os.environ[src])
        elif platformType.startswith("PLATFORM_LEON_RTEMS"):
            src = "RTEMS_MAKEFILE_PATH_LEON"
            os.putenv("RTEMS_MAKEFILE_PATH", os.environ[src])
        elif platformType.startswith("PLATFORM_NDS_RTEMS"):
            src = "RTEMS_MAKEFILE_PATH_NDS"
            os.putenv("RTEMS_MAKEFILE_PATH", os.environ[src])
        elif platformType.startswith("PLATFORM_GUMSTIX_RTEMS"):
            src = "RTEMS_MAKEFILE_PATH_GUMSTIX"
            os.putenv("RTEMS_MAKEFILE_PATH", os.environ[src])
    except KeyError:
        panic("You must configure %s in your environment" % src)


def UpdateEnvForNode(node):
    '''Sets env vars GNAT{GCC,MAKE,BIND,LINK} and OBJCOPY, based on node's platform'''
    if node not in g_distributionNodesPlatform:
        panic("%s did not exist in the 'nodes' file" % node)
    kind, pref = g_distributionNodesPlatform[node]
    if kind == "PLATFORM_NATIVE_COMPCERT":
        os.putenv("GNATGCC", "ccomp")
    else:
        os.putenv("GNATGCC", pref + "gcc")
        os.putenv("GNATGXX", pref + "g++")
    os.putenv("GNATMAKE", pref + "gnatmake")
    os.putenv("GNATBIND", pref + "gnatbind")
    os.putenv("GNATLINK", pref + "gnatlink")
    os.putenv("OBJCOPY", pref + "objcopy")
    platformType = g_distributionNodesPlatform[node][0]
    SetEnvForRTEMS(platformType)


def DetermineNumberOfCPUs():
    """ Number of virtual or physical CPUs on this system"""
    # Python 2.6+
    try:
        return multiprocessing.cpu_count()
    except (ImportError, NotImplementedError):
        pass

    # POSIX
    try:
        res = int(os.sysconf('SC_NPROCESSORS_ONLN'))
        if res > 0:
            return res
    except (AttributeError, ValueError):
        pass

    # Windows
    try:
        res = int(os.environ['NUMBER_OF_PROCESSORS'])
        if res > 0:
            return res
    except (KeyError, ValueError):
        pass

    # BSD
    try:
        sysctl = subprocess.Popen(['sysctl', '-n', 'hw.ncpu'], stdout=subprocess.PIPE)
        scStdout = sysctl.communicate()[0]
        res = int(scStdout)
        if res > 0:
            return res
    except (OSError, ValueError):
        pass

    # Linux
    try:
        res = open('/proc/cpuinfo').read().count('processor\t:')
        if res > 0:
            return res
    except IOError:
        pass

    # Solaris
    try:
        pseudoDevices = os.listdir('/devices/pseudo/')
        expr = re.compile('^cpuid@[0-9]+$')
        res = 0
        for pd in pseudoDevices:
            if expr.match(pd) is not None:
                res += 1
        if res > 0:
            return res
    except OSError:
        pass

    # Other UNIXes (heuristic)
    try:
        try:
            dmesg = open('/var/run/dmesg.boot').read()
        except IOError:
            dmesgProcess = subprocess.Popen(['dmesg'], stdout=subprocess.PIPE)
            dmesg = dmesgProcess.communicate()[0]
        res = 0
        while '\ncpu' + str(res) + ':' in dmesg:
            res += 1
        if res > 0:
            return res
    except OSError:
        pass

    raise Exception('Can not determine number of CPUs on this system')


patternCO = re.compile(r'^.*?<compiler-option>(.*?)</compiler-option>(.*)$')
patternLO = re.compile(r'^.*?<linker-option>(.*?)</linker-option>(.*)$')


def CheckDirectives(baseDir):
    '''Scans for and returns TASTE directives for additional compilation/linking flags'''
    if os.path.exists("../directives") and os.path.exists("../directives/directives.xml"):
        for line in open("../directives/directives.xml"):
            for pattern, target in [
                    (patternCO, g_customCFlagsPerNode),
                    (patternLO, g_customLDFlagsPerNode)]:
                data = line[:]
                while True:
                    findCO = re.match(pattern, data)
                    if findCO:
                        opt = findCO.group(1)
                        data = findCO.group(2)
                        partition = g_fromFunctionToPartition[baseDir]
                        target.setdefault(partition, []).append(opt)
                    else:
                        break


def CommonBuildingPart(
    baseDir, toolDescription, CDirectories, cflagsSoFar,
    buildCmd=lambda baseDir, cf:
        mysystem("\"$GNATGCC\" -c %s -I ../../GlueAndBuild/glue%s/ -I ../../auto-src/ *.c" % (cf, baseDir))):

    '''The common build sequence for C, SCADE, Simulink'''

    if not os.path.isdir(baseDir):
        panic("No directory %s! (pwd=%s)" % (baseDir, os.getcwd()))
    if not os.path.isdir(baseDir + os.sep + baseDir):
        panic("%s zip file did not contain a %s dir..." % (toolDescription, baseDir))
    os.chdir(baseDir + os.sep + baseDir)
    CheckDirectives(baseDir)
    mysystem("for i in %s_vm_if.c %s_vm_if.h %s.h ; do if [ -f ../$i ] ; then cp ../$i . ; fi ; done" %
             (baseDir, baseDir, baseDir))
    mysystem("for i in hpredef.h invoke_ri.c ; do if [ -f ../$i ] ; then cp ../$i . ; fi ; done")
    mysystem("cp ../*polyorb_interface.? . 2>/dev/null || exit 0")
    mysystem("cp ../Context-*.? . 2>/dev/null || exit 0")
    mysystem("rm -f ../*-uniq.? *-uniq.? 2>/dev/null || exit 0")
    mysystem("rm -f ../dataview.[ch] dataview.* 2>/dev/null || exit 0")
    extraCdirIncludes = " "
    partitionName = g_fromFunctionToPartition[baseDir]
    if partitionName in CDirectories:
        for d in CDirectories[partitionName]:
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            extraCdirIncludes += "-I \"" + d + "\" "
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    if (baseDir in g_distributionNodesPlatform.keys()):
        UpdateEnvForNode(baseDir)
    cflags = cflagsSoFar + extraCdirIncludes + CalculateCFLAGS(baseDir) + CalculateUserCodeOnlyCFLAGS(baseDir)
    # Add include path to glue code
    cflags += " -I ../../GlueAndBuild/glue" + baseDir + "/ "
    buildCmd(baseDir, cflags)
    os.chdir("../..")


def BuildSCADEsystems(scadeSubsystems, CDirectories, cflagsSoFar):
    '''Compiles all user code for SCADE Functions'''
    if scadeSubsystems:
        g_stageLog.info("Building SCADE subSystems")
    for baseDir in scadeSubsystems.keys():
        CommonBuildingPart(baseDir, "SCADE", CDirectories, cflagsSoFar)


def BuildSimulinkSystems(simulinkSubsystems, CDirectories, cflagsSoFar, bUseSimulinkMakefiles):
    '''Compiles all user code for Simulink Functions'''
    if simulinkSubsystems:
        g_stageLog.info("Building Simulink subSystems")

    def buildCmdSimulink(baseDir, cf):
        if bUseSimulinkMakefiles[baseDir][0]:
            mysystem('make -f "' + bUseSimulinkMakefiles[baseDir][1] + '" assertBuild')
            if g_bPolyORB_HI_C:
                mysystem("\"$GNATGCC\" -c %s *polyorb_interface.c" % cf)
        else:
            mysystem("\"$GNATGCC\" -c %s *.c" % cf)
    for baseDir in simulinkSubsystems.keys():
        CommonBuildingPart(baseDir, "Simulink", CDirectories, cflagsSoFar, buildCmdSimulink)


def BuildCsystems(cSubsystems, CDirectories, cflagsSoFar):
    '''Compiles all user code for C Functions'''
    if cSubsystems:
        g_stageLog.info("Building C subSystems")
    for baseDir in cSubsystems.keys():
        CommonBuildingPart(baseDir, "C", CDirectories, cflagsSoFar)


def BuildCPPsystems(cppSubsystems, CDirectories, cflagsSoFar):
    '''Compiles all user code for C++ Functions'''
    if cppSubsystems:
        g_stageLog.info("Building C++ subSystems")

    def buildCmdCPP(baseDir, cf):
        mysystem("\"$GNATGXX\" -c %s -I ../../GlueAndBuild/glue%s/ -I ../../auto-src/ *.cc" % (cf, baseDir))
        mysystem("\"$GNATGCC\" -c %s -I ../../GlueAndBuild/glue%s/ -I ../../auto-src/ *.c" % (cf, baseDir))
    for baseDir in cppSubsystems.keys():
        CommonBuildingPart(baseDir, "C++", CDirectories, cflagsSoFar, buildCmdCPP)


def BuildAdaSystems_C_code(adaSubsystems, unused_CDirectories, uniqueSetOfAdaPackages, cflagsSoFar):
    '''Compiles all C bridge code for Ada Functions (Ada user code compiled via Ocarina Makefiles)'''
    if adaSubsystems:
        g_stageLog.info("Building Ada subSystems")
    for baseDir in adaSubsystems.keys():
        if not os.path.isdir(baseDir):
            panic("No directory %s! (pwd=%s)" % (baseDir, os.getcwd()))
        if not os.path.isdir(baseDir + os.sep + baseDir):
            panic("Ada zip file did not contain a %s dir..." % (baseDir))
        os.chdir(baseDir + os.sep + baseDir)
        CheckDirectives(baseDir)
        mysystem("for i in `/bin/ls ../../GlueAndBuild/glue%s/*.ad? 2>/dev/null | grep -v '/asn1_'` ; do cp \"$i\"  . ; done" % baseDir)
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        # mysystem("cp ../../GlueAndBuild/glue%s/asn1_types.ads ." % baseDir)
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        mysystem("cp ../../GlueAndBuild/glue%s/adaasn1rtl.ad? . 2>/dev/null ; exit 0" % baseDir)
        for modulebase in uniqueSetOfAdaPackages.keys():
            mysystem("cp ../../GlueAndBuild/glue%s/%s.ad? . 2>/dev/null ; exit 0" % (baseDir, modulebase))
        mysystem("for i in %s_vm_if.c %s_vm_if.h vm_callback.c ; do if [ -f ../$i ] ; then cp ../$i . ; fi ; done" %
                 (baseDir, baseDir))
        mysystem("for i in hpredef.h invoke_ri.c vm_callback.h ; do if [ -f ../$i ] ; then cp ../$i . ; fi ; done")
        mysystem("cp ../*polyorb_interface.h . 2>/dev/null || exit 0")
        mysystem("rm -f ../dataview.ad[sb] 2>/dev/null || exit 0")
        # obsolete: compilation of Ada code is done via Ocarina's makefiles, not by the orchestrator
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        # mysystem("\"$GNATGCC\" -g -c *.adb")
        # mysystem("for i in *.ads ; do [ ! -f ${i/.ads/.adb} ] && \"$GNATGCC\" -g -c *.ads || break ; done")
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        if (baseDir in g_distributionNodesPlatform.keys()):
            UpdateEnvForNode(baseDir)
        mysystem("\"$GNATGCC\" -c %s -I ../../GlueAndBuild/glue%s/ -I ../../auto-src/ *.c" %
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                 (cflagsSoFar + CalculateCFLAGS(baseDir) + CalculateUserCodeOnlyCFLAGS(baseDir), baseDir))
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        os.chdir("..")
        cflags = cflagsSoFar + CalculateCFLAGS(baseDir) + CalculateUserCodeOnlyCFLAGS(baseDir)
        mysystem("\"$GNATGCC\" -c -I ../GlueAndBuild/glue%s/ -I ../auto-src/ %s *.c" % (baseDir, cflags))
        os.chdir("..")


def BuildObjectGeodeSystems(ogSubsystems, CDirectories, cflagsSoFar):
    '''Compiles all user code for ObjectGeode Functions'''
    if ogSubsystems:
        g_stageLog.info("Building ObjectGeode subSystems")
    for ss in ogSubsystems.keys():
        base = os.path.basename(ss)
        baseDir = os.path.splitext(base)[0]
        if not os.path.isdir(baseDir + os.sep + "ext"):
            panic("OG subsystems must contain an ext/ directory! (%s)" % str(ss))
        # This is for ObjectGeode code
        os.chdir(baseDir + os.sep + "ext")
        CheckDirectives(baseDir)
        mysystem("if [ ! -f \"$WORKDIR/GlueAndBuild/glue%s/OG_ASN1_Types.h\" ] ; then touch \"$WORKDIR/GlueAndBuild/glue%s/OG_ASN1_Types.h\" ; fi" % (ss, ss))
        mysystem("cp ../*polyorb_interface.? . 2>/dev/null || exit 0")
        mysystem("cp ../Context-*.? . 2>/dev/null || exit 0")
        mysystem("rm -f ../*-uniq.? *-uniq.? 2>/dev/null || exit 0")
        mysystem("rm -f ../dataview.[ch] 2>/dev/null || exit 0")
        extraCdirIncludes = " "
        partitionName = g_fromFunctionToPartition[baseDir]
        if partitionName in CDirectories:
            for d in CDirectories[partitionName]:
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                extraCdirIncludes += "-I \"" + d + "\" "
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        if (baseDir in g_distributionNodesPlatform.keys()):
            UpdateEnvForNode(baseDir)
        mysystem("for i in *.c ; do \"$GNATGCC\" -c %s -I \"$WORKDIR/auto-src/\"  -I \"$WORKDIR/GlueAndBuild/glue%s/\" \"$i\" || exit 1 ; done" %
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                 (cflagsSoFar + extraCdirIncludes + CalculateCFLAGS(ss) + CalculateUserCodeOnlyCFLAGS(ss), ss))
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        os.chdir("../..")


def BuildRTDSsystems(rtdsSubsystems, CDirectories, cflagsSoFar):
    '''Compiles all user code for PragmaDev Functions'''
    if rtdsSubsystems:
        g_stageLog.info("Building RTDS subSystems")
    for baseDir in rtdsSubsystems.keys():
        if not os.path.isdir(baseDir):
            panic("No directory %s! (pwd=%s)" % (baseDir, os.getcwd()))
        if not os.path.isdir(baseDir + os.sep + baseDir):
            panic("RTDS zip file did not contain a %s dir..." % (baseDir))
        os.chdir(baseDir + os.sep + baseDir)
        CheckDirectives(baseDir)
        mysystem("for i in common.h invoke_ri.c %s_vm_if.c %s_vm_if.h glue_%s.h glue_%s.c profile/RTDS_Proc.c ; do if [ -f ../$i ] ; then cp ../$i . ; fi ; done" %
                 (baseDir, baseDir, baseDir, baseDir))
        mysystem("cp ../*polyorb_interface.? . 2>/dev/null || exit 0")
        mysystem("cp ../Context-*.? . 2>/dev/null || exit 0")
        mysystem("rm -f ../*-uniq.? *-uniq.? 2>/dev/null || exit 0")
        mysystem("cp ../*syncRI.c . 2>/dev/null || exit 0")
        mysystem("rm -f ../dataview.[ch] 2>/dev/null || exit 0")
        extraCdirIncludes = " "
        partitionName = g_fromFunctionToPartition[baseDir]
        if partitionName in CDirectories:
            for d in CDirectories[partitionName]:
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                extraCdirIncludes += "-I \"" + d + "\" "
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        if (baseDir in g_distributionNodesPlatform.keys()):
            UpdateEnvForNode(baseDir)
        mysystem("\"$GNATGCC\" -c -DRTDS_NO_SCHEDULER %s %s -I ../../GlueAndBuild/glue%s/ -I ../../auto-src/ -I ../profile *.c" %
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                 (cflagsSoFar + CalculateCFLAGS(baseDir) + CalculateUserCodeOnlyCFLAGS(baseDir), extraCdirIncludes, baseDir))
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        os.chdir("../..")


def BuildVHDLsystems_C_code(vhdlSubsystems, CDirectories, cflagsSoFar):
    '''Compiles all C bridge code for VHDL Functions'''
    if vhdlSubsystems:
        g_stageLog.info("Building C code of VHDL subSystems")
    for baseDir in vhdlSubsystems.keys():
        if not os.path.isdir(baseDir):
            panic("No VHDL directory %s! (pwd=%s)" % (baseDir, os.getcwd()))
        os.chdir(baseDir)
        extraCdirIncludes = ""
        partitionName = g_fromFunctionToPartition[baseDir]
        if partitionName in CDirectories:
            for d in CDirectories[partitionName]:
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                extraCdirIncludes += "-I \"" + d + "\" "
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        if len([x for x in os.listdir(".") if x.endswith("polyorb_interface.c")])>0:
            if (baseDir in g_distributionNodesPlatform.keys()):
                UpdateEnvForNode(baseDir)
            mysystem("\"$GNATGCC\" -c %s %s -I ../GlueAndBuild/glue%s/ -I ../auto-src/ *.c" %
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                     (cflagsSoFar + CalculateCFLAGS(baseDir) + CalculateUserCodeOnlyCFLAGS(baseDir), extraCdirIncludes, baseDir))
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        os.chdir("..")


def BuildGUIs(guiSubsystems, cflagsSoFar, asn1Grammar):
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    '''Builds automatically generated wxWdigets GUIs'''
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    if guiSubsystems:
        g_stageLog.info("Building automatically created GUIs")
    commentedGUIfilters = []
    for baseDir in guiSubsystems:
        if not os.path.isdir(baseDir):
            panic("No directory %s! (pwd=%s)" % (baseDir, os.getcwd()))
        # This is for GUI code
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        if not os.path.exists(baseDir + os.sep + baseDir + "_gui_code.c"):
            panic("GUI generated code did not contain a %s ..." % (baseDir + os.sep + baseDir + "_gui_code.c"))
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        os.chdir(baseDir)
        mkdirIfMissing("ext")
        mysystem('for i in * ; do if [ -f "$i" -a ! -e ext/"$i" ] ; then ln -s ../"$i" ext/ ; fi ; done')
        os.chdir("ext")
        partitionNameWithoutSuffix = g_fromFunctionToPartition.get(baseDir, None)
        if partitionNameWithoutSuffix:
            for k, v in g_distributionNodesPlatform.iteritems():
                if k.startswith(partitionNameWithoutSuffix):
                    platform = v[0]
                    break
            else:
                platform = None
            if platform == 'PLATFORM_WIN32':
                installPath = getSingleLineFromCmdOutput("taste-config --prefix")
                mysystem("%s/share/gui-udp/build_gui_glue.py %s" % (installPath, baseDir))
                mysystem('cp "%s"/share/gui-udp/udpcontroller.? .' % installPath)
            else:
                mysystem("cp \"$DMT\"/AutoGUI/queue_manager.? .")
        mysystem("cp ../*polyorb_interface.? . 2>/dev/null || exit 0")
        mysystem("cp ../Context-*.? . 2>/dev/null || exit 0")
        mysystem("rm -f ../*-uniq.? *-uniq.? 2>/dev/null || exit 0")
        if (baseDir in g_distributionNodesPlatform.keys()):
            UpdateEnvForNode(baseDir)
        mysystem("\"$GNATGCC\" -c %s -I ../../GlueAndBuild/glue%s/ -I ../../auto-src/ *.c" %
                 (cflagsSoFar + CalculateCFLAGS(baseDir) + CalculateUserCodeOnlyCFLAGS(baseDir), baseDir))
        os.chdir("..")
        # Now create the controlling GUI application
        mkdirIfMissing("GUI")
        mysystem('for i in * ; do if [ -f "$i" -a ! -e GUI/"$i" ] ; then ln -s ../"$i" GUI/ ; fi ; done')
        os.chdir("GUI")
        mysystem("cp \"$DMT\"/AutoGUI/* .")
        mysystem("cat Makefile | sed 's,DataView,%s,g' > a_temp_name && mv a_temp_name Makefile" % os.path.splitext(os.path.basename(asn1Grammar))[0])
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        mysystem("cat Makefile | sed 's,applicationName,%s,g' > a_temp_name && mv a_temp_name Makefile" % (baseDir + "_GUI"))
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        mysystem("cp -u ../../GlueAndBuild/glue" + baseDir + "/C_*.[ch] .")
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        # mysystem("cp ../auto-src/* .")
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        if baseDir.endswith('probe_console'):
            os.chdir("../..")
            continue
        os.chdir("../..")
    return commentedGUIfilters


def BuildPythonStubs(pythonSubsystems, asn1Grammar, acnFile):
    '''Builds automatically generated Python stubs'''
    if pythonSubsystems:
        g_stageLog.info("Building automatically created Python stubs")
    for baseDir in pythonSubsystems:
        if not os.path.isdir(baseDir):
            panic("No directory %s! (pwd=%s)" % (baseDir, os.getcwd()))
        olddir = os.getcwd()
        pattern = re.compile(r'.*?glue([^/]*)')
        findFV = re.match(pattern, baseDir)
        if findFV:
            FVname = findFV.group(1)
        else:
            panic("Could not detect FVname out of '%s'" % baseDir)
        os.chdir(baseDir)
        mysystem("cp \"$DMT\"/AutoGUI/queue_manager.? .")
        mysystem("cp \"$DMT\"/AutoGUI/timeInMS.? .")
        mysystem("cp \"$DMT\"/AutoGUI/debug_messages.? .")
        mysystem("cp \"%s\"/%s/%s_enums_def.h ." % (g_absOutputDir, FVname, FVname))
        mysystem("cp \"%s\" ." % asn1Grammar)
        mysystem("cp \"%s\" ." % acnFile)
        mkdirIfMissing("asn2dataModel")
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        mysystem("asn2dataModel -o asn2dataModel -toPython " + os.path.basename(asn1Grammar))
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        os.chdir("asn2dataModel")
        mysystem("cp \"%s\" ." % acnFile)

        guiName = re.sub(r'^.*/glue(.*)/.*$', '\\1', baseDir)
        partitionNameWithoutSuffix = g_fromFunctionToPartition.get(guiName, None)
        if partitionNameWithoutSuffix:
            for k, v in g_distributionNodesPlatform.iteritems():
                if k.startswith(partitionNameWithoutSuffix):
                    platform = v[0]
                    break
            else:
                platform = None
            if platform == 'PLATFORM_WIN32':
                installPath = getSingleLineFromCmdOutput("taste-config --prefix")
                mysystem('cp "%s"/share/gui-udp/Makefile.python .' % installPath)
        mysystem("cp \"%s\"/%s/interface_enum.h ." % (g_absOutputDir, FVname))
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        mysystem("make -f Makefile.python")
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        os.chdir("..")
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        mysystem("cp asn2dataModel/asn1crt.h asn2dataModel/Stubs.py asn2dataModel/DV* asn2dataModel/*.so .")
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        mysystem("cp asn2dataModel/%s.h ." % os.path.splitext(os.path.basename(asn1Grammar))[0])
        mysystem("cp asn2dataModel/%s_asn.py ." % os.path.splitext(os.path.basename(asn1Grammar))[0].replace("-", "_"))
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        # mysystem("swig  -Wall -includeall -outdir . -python ./PythonAccess.i")
        # mysystem("gcc -g -fPIC -c `python-config --cflags` gui_api.c queue_manager.c timeInMS.c debug_messages.c PythonAccess_wrap.c")
        mysystem("gcc -g -fPIC -c `python-config --cflags` gui_api.c queue_manager.c timeInMS.c debug_messages.c")
        # mysystem("gcc -g -shared -o _PythonAccess.so PythonAccess_wrap.o gui_swig.o queue_manager.o timeInMS.o debug_messages.o `python-config --ldflags` -lrt")
        mysystem("gcc -g -shared -o PythonAccess.so gui_api.o queue_manager.o timeInMS.o debug_messages.o `python-config --ldflags` -lrt")
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        os.chdir(olddir)


def BuildCyclicSubsystems(cyclicSubsystems, cflagsSoFar):
    '''Compiles code of Cyclic Functions'''
    if cyclicSubsystems:
        g_stageLog.info("Building cyclic subSystems")
    for baseDir in cyclicSubsystems:
        if not os.path.isdir(baseDir):
            panic("No directory %s! (pwd=%s)" % (baseDir, os.getcwd()))
        # This is for automatically generated Cyclic code
        os.chdir(baseDir + os.sep)
        if (baseDir in g_distributionNodesPlatform.keys()):
            UpdateEnvForNode(baseDir)
        if 0 != len([x for x in os.listdir(".") if x.endswith(".c")]):
            mysystem("\"$GNATGCC\" -c %s -I ../GlueAndBuild/glue%s/ -I ../auto-src/ *.c" %
                     (cflagsSoFar + CalculateCFLAGS(baseDir) + CalculateUserCodeOnlyCFLAGS(baseDir), baseDir))
        os.chdir("..")


def RenameCommonlyNamedSymbols(scadeSubsystems, simulinkSubsystems, cSubsystems, cppSubsystems, adaSubsystems, rtdsSubsystems, ogSubsystems, guiSubsystems, cyclicSubsystems, vhdlSubsystems):
    '''Identifies and renames identical symbols in separate subsystems'''
    g_stageLog.info("Renaming commonly named symbols")

    def getTarget(baseDir):
        if baseDir in ogSubsystems or baseDir in guiSubsystems:
            return "/ext/"
        elif baseDir in cyclicSubsystems or baseDir in vhdlSubsystems:
            return os.sep
        else:
            return os.sep + baseDir + os.sep

    prefixes = {}
    for baseDir in scadeSubsystems.keys() + simulinkSubsystems.keys() + cSubsystems.keys() + cppSubsystems.keys() + \
            adaSubsystems.keys() + rtdsSubsystems.keys() + ogSubsystems.keys() + \
            guiSubsystems + cyclicSubsystems + vhdlSubsystems.keys():
        if baseDir not in g_distributionNodesPlatform:
            panic("%s did not exist in the 'nodes' file" % baseDir)
        systemPlatform, pref = g_distributionNodesPlatform[baseDir]
        prefixes[pref] = systemPlatform
        appendTarget = getTarget(baseDir)
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        if 0 != len([x for x in os.listdir("GlueAndBuild/glue" + baseDir) if x.endswith(".o")]):
            mysystem("mv GlueAndBuild/glue" + baseDir + "/*.o " + baseDir + appendTarget)
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    for prefix, systemPlatform in prefixes.items():
        renamingDirs = 0
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        cmd = "patchAPLCs.py "
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        for baseDir in scadeSubsystems.keys() + simulinkSubsystems.keys() + cSubsystems.keys() + cppSubsystems.keys() + \
                adaSubsystems.keys() + rtdsSubsystems.keys() + ogSubsystems.keys() + \
                guiSubsystems + cyclicSubsystems + vhdlSubsystems.keys():
            _, pref = g_distributionNodesPlatform[baseDir]
            if pref != prefix:
                continue
            appendTarget = getTarget(baseDir)
            cmd += ' "' + baseDir + appendTarget + '"'
            cmd += ' "' + baseDir.replace(' ', '_') + '_renamed"'
            renamingDirs += 1
            if baseDir not in adaSubsystems:
                cmd += ' "' + baseDir + appendTarget + '"'
                cmd += ' "' + baseDir.replace(' ', '_') + '"'
                renamingDirs += 1
        if renamingDirs > 1:
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            os.putenv("OBJCOPY", prefix + "objcopy")
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            asn1SccFolder = "auto-src_" + systemPlatform
            if os.path.isdir(asn1SccFolder):
                cmd += ' ' + asn1SccFolder + "/"
                cmd += ' ' + asn1SccFolder
            mysystem(cmd)


def InvokeOcarinaMakefiles(
    scadeSubsystems, simulinkSubsystems, cSubsystems, cppSubsystems, adaSubsystems, rtdsSubsystems, ogSubsystems, guiSubsystems, cyclicSubsystems, vhdlSubsystems,
        cflagsSoFar, CDirectories, AdaDirectories, AdaIncludePath, ExtraLibraries,
        bDebug, bUseEmptyInitializers, bCoverage, bProfiling):

    '''Invokes Makefiles generated by Ocarina - generates final executable code'''
    g_stageLog.info("Invoking Ocarina generated Makefiles")
    os.chdir(g_absOutputDir)
    os.chdir("GlueAndBuild")
    for root, _, files in os.walk("."):
        for _ in [x for x in files if x.lower() == "makefile"]:
            # Learn the name of the AADL system
            node = ""
            for line in open(root + os.sep + "Makefile").readlines():
                line = line.strip()
                if line.startswith("#  Node name"):
                    node = line[34:]
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            if node == "":
                # Handle LaTEX-doxygen related Makefiles (closes: #488)
                continue
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            if node not in g_distributionNodes:
                panic("There is no '%s' node in the distribution nodes generated by buildsupport." % node)

            partitionNameWithoutSuffix = re.sub(r'_obj\d+$', '', node)

            # Create the EXTERNAL_OBJECTS line
            externals = ""
            userCFlags = "-g " if bDebug else ""
            userLDFlags = "-g " if bDebug else ""

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            # VCD support
            if bDebug and g_bPolyORB_HI_C:
                userCFlags += "-D__PO_HI_USE_VCD=1 "

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            # Profiling: Either the global "--gprof" has been used,
            # or the node-specific "-n nodeName@gprof=on" has been used.
            # or no profiling is needed.

            # Has the user asked for this specific node to be profiled?
            nodeIsGPROFed = partitionNameWithoutSuffix in g_customCFlagsPerNode and \
                "-pg" in g_customCFlagsPerNode[partitionNameWithoutSuffix]
            # Or maybe the user passed "--gprof" ?
            nodeIsGPROFed = nodeIsGPROFed or bProfiling
            # In either case, setup profiling:
            if nodeIsGPROFed:
                userCFlags += " -D__PO_HI_USE_GPROF "
                os.putenv("USE_GPROF", "1")
                if g_distributionNodesPlatform[node][0].startswith("PLATFORM_LEON_RTEMS"):
                    userCFlags += " -I " + os.getenv("RTEMS_MAKEFILE_PATH_LEON") + "/lib/include/ "
            else:
                # Otherwise disable it
                os.unsetenv("USE_GPROF")
            # If global ("--gprof") profiling is set, add "-pg" to CFLAGS and LDFLAGS
            if bProfiling:
                userCFlags += " -pg "
                userLDFlags += " -pg "

            # With AADLv2, we support multi-platform builds, so we must compile the code with the appropriate compiler
            UpdateEnvForNode(node)
            olddir = os.getcwd()

            # Check to see if we are using pohic and building a system with Ada parts.
            bNeedAdaBuildWorkaround = False
            for aplc in g_distributionNodes[node]:
                if aplc in adaSubsystems.keys():
                    if g_bPolyORB_HI_C:
                        bNeedAdaBuildWorkaround = True
                        break

            os.chdir("..")
            asn1target = "auto-src_" + g_distributionNodesPlatform[node][0]
            asn1target = os.path.abspath(asn1target)
            poHiAdaLinkCmd = ""
            # in case of rebuilds
            mysystem("rm -rf \"%s\" 2>/dev/null ; exit 0" % asn1target)
            if not os.path.exists(asn1target):
                os.mkdir(asn1target)
                os.chdir(asn1target)
                mysystem("cp ../auto-src/*.[ch] .")
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                mysystem("\"$GNATGCC\" -c %s *.c" % (cflagsSoFar + CalculateCFLAGS(node) + CalculateUserCodeOnlyCFLAGS(node)))
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                os.chdir("..")

            if bNeedAdaBuildWorkaround:
                os.chdir(asn1target)
                for baseDir, ss in adaSubsystems.items():
                    if baseDir not in g_distributionNodes[node]:
                        continue
                    mysystem("cp ../GlueAndBuild/glue" + baseDir + "/*.adb . 2>/dev/null || exit 0")
                    mysystem("cp ../GlueAndBuild/glue" + baseDir + "/*.ads . 2>/dev/null || exit 0")
                TasteAda = open('tasteada.ads', 'w')
                for baseDir, ss in adaSubsystems.items():
                    if baseDir not in g_distributionNodes[node]:
                        continue
                    TasteAda.write('with %s;\n' % baseDir)
                TasteAda.write('package TasteAda is\n')
                TasteAda.write('end TasteAda;\n')
                TasteAda.close()
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                # open("conf.ec",'w').write("pragma No_Run_Time;\n")
                # mysystem("gnatmake -c -I../../auto-src " + baseDir + " " + x + " -gnatec=conf.ec")
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                mysystem("\"$GNATMAKE\" -c %s -I.  -gnat2012 tasteada.ads" % mflags(node))
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                if not os.path.exists("tasteada.ali"):
                    panic("WARNING: No tasteada.ali file was generated")
                mysystem("\"$GNATBIND\" -t -n tasteada.ali -o ada-start.adb")
                dbg = "-g" if bDebug else ""
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                mysystem("\"$GNATMAKE\" -c %s %s -gnat2012 ada-start.adb" % (dbg, mflags(node)))
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                for line in open("ada-start.adb").readlines():
                    if -1 != line.find("adalib"):
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                        poHiAdaLinkCmd = line.strip().replace("--", "")
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                        runtimePath = " " + line.strip().replace("-L", "-Wl,-R") + " "
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                        poHiAdaLinkCmd += runtimePath.replace("--", "")
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                if poHiAdaLinkCmd == "":
                    panic("There was no line containing 'adalib' inside 'ada-start.adb'")
                poHiAdaLinkCmd += " -lgnat -lgnarl"
                os.chdir("..")

            externals += asn1target + '/*.o '
            if g_distributionNodesPlatform[node][0] in ("PLATFORM_LINUX32",):  # and platform.architecture()[0] == '64bit':
                userCFlags += ' -m32 '
                userLDFlags += ' -m32 '
            userLDFlags += handleXenomaiLDflags(node)
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