STM32 single/double precision workaround for Ada builds.

Just read the lengthy comment description in the commit itself.

orchestrator/taste-orchestrator.py

@@ -672,11 +672,45 @@ def BuildAdaSystems_C_code(adaSubsystems, unused_CDirectories, uniqueSetOfAdaPac
             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)
-        # mysystem("cp ../../GlueAndBuild/glue%s/asn1_types.ads ." % baseDir)
-        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))
+        #
+        # Ada files should no longer need to be copied, since we now use ADA_INCLUDE_PATH.
+        #
+        # Detailed description
+        # ====================
+        # When building Ada code of Functional blocks, we used to copy the files that were 'with'-ed,
+        # into the folders we were compiling them in. Maxime has now found out that by using
+        # ADA_INCLUDE_PATH we can point to these folders instead - and everything will be just fine.
+        #
+        # So we commented the copies of the ASN.1 Ada RTL below, and set ADA_INCLUDE_PATH to point
+        # to any one of the glue<AdaFunctionalBlock> folders - since the invocations of ASN1SCC
+        # inside them have created all the necessary files.
+        #
+        # This is also made all the more necessary because of the brain-dead STM32 floating point
+        # mess. The Crazyflies can't deal with double precisions - they can only work with 'float',
+        # not 'double's (see also "--fp-word-size 4" elsewhere in the orchestrator). This means
+        # that ASN1SCC has to be invoked in the 'special' mode that creates 'dumb-STM32-compatible'
+        # type declarations for the REAL variables.
+        #
+        # This in turn means that the .ads/.adb files created are NOW DIFFERENT when targeting STM32
+        # (i.e. when 'make'-ing the Ocarina Makefiles that build for STM32, we NEED to point ADA_INCLUDE_PATH
+        # to the .ads/.adb files generated by ASN1SCC when it creates the glue for any one of the Ada
+        # Functional Blocks that "live" inside STM32).
+        #
+        # So when building our AdaIncludePath (see further below - section ADA_STM32_INSANITY)
+        # we need to 'hack' it to prepend a path towards one of the glue<AdaFunctionalBlock> folders).
+        # And this HAS to be up-front, so that GNAT finds it first.
+        #
+        # In other words, the simplicity of 'invoke ASN1SCC just once, compiled for everyone else'
+        # is completely messed up by the insanity of STM32 FP handling.
+        #
+        # P.S. The next time someone tells me to abandon the orchestrator and 'just use Makefiles'
+        # I will point to this comment. You have been warned :-)
+        #
+        #mysystem("for i in `/bin/ls ../../GlueAndBuild/glue%s/*.ad? 2>/dev/null | grep -v '/asn1_'` ; do cp \"$i\"  . ; done" % baseDir)
+        ## mysystem("cp ../../GlueAndBuild/glue%s/asn1_types.ads ." % baseDir)
+        #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")
@@ -1166,6 +1200,46 @@ def InvokeOcarinaMakefiles(
             if AdaIncludePath is None:
                 cmd = "cd '" + root + "' && %s EXTERNAL_OBJECTS=\""
             else:
+                # ADA_STM32_INSANITY
+                # ==================
+                #
+                # When building Ada code of Functional blocks, we used to copy the files that were 'with'-ed,
+                # into the folders we were compiling them in. Maxime has now found out that by using
+                # ADA_INCLUDE_PATH we can point to these folders instead - and everything will be just fine.
+                #
+                # So we commented the copies of the ASN.1 Ada RTL, and set ADA_INCLUDE_PATH to point
+                # to any one of the glue<AdaFunctionalBlock> folders - since the invocations of ASN1SCC
+                # inside them have created all the necessary files.
+                #
+                # This is also made all the more necessary because of the brain-dead STM32 floating point
+                # mess. The Crazyflies can't deal with double precisions - they can only work with 'float',
+                # not 'double's (see also "--fp-word-size 4" elsewhere in the orchestrator). This means
+                # that ASN1SCC has to be invoked in the 'special' mode that creates 'dumb-STM32-compatible'
+                # type declarations for the REAL variables.
+                #
+                # This in turn means that the .ads/.adb files created are NOW DIFFERENT when targeting STM32
+                # (i.e. when 'make'-ing the Ocarina Makefiles that build for STM32, we NEED to point ADA_INCLUDE_PATH
+                # to the .ads/.adb files generated by ASN1SCC when it creates the glue for any one of the Ada
+                # Functional Blocks that "live" inside STM32).
+                #
+                # So when building our AdaIncludePath we need to 'hack' it to prepend a path towards one of the
+                # glue<AdaFunctionalBlock> folders. And this HAS to be up-front, so that GNAT finds it first.
+                #
+                # In other words, the simplicity of 'invoke ASN1SCC just once, compile the code for everyone else'
+                # is completely messed up by the insanity of STM32 FP handling.
+                #
+                # P.S. The next time someone tells me to abandon the orchestrator and 'just use Makefiles'
+                # I will point to this comment. You have been warned :-)
+                #
+                #
+                # Look at each one of the Functional blocks that are written in Ada
+                for baseDir, ss in adaSubsystems.items():
+                    # Are they a part of this target?
+                    if baseDir in g_distributionNodes[node]:
+                        # They are; so prepend their glue folder into the ADA_INCLUDE_PATH, so that the
+                        # STM32-specific .ads/.adb RTL files will be seen first.
+                        AdaIncludePath = os.path.abspath("../GlueAndBuild/glue" + baseDir) + ":" + AdaIncludePath
+                        break
                 cmd = "cd '" + root + "' && ADA_INCLUDE_PATH=\"" + AdaIncludePath + "\" %s EXTERNAL_OBJECTS=\""
             # Just before invoking ocarina-generated Makefiles, make sure that only one C_ASN1_Types.o is used:
             externalFiles = ' '.join(x for x in externals.split(' ') if not x.startswith("-"))