scripts: west commands to support --domain

This commit extends the west commands build, flash, and debug to support
--domain when having multiple domains (images) defined in a domains.yaml
build file.

The domains.yaml uses the following yaml format to specify the
build directory of each domain in the multi image build:
> default: <domain-n>
> domains:
>   <domain-1>:
>     build_dir: <build_dir-domain-1>
>   <domain-2>:
>     build_dir: <build_dir-domain-2>
>   ...

`west <build|flash|debug>` has been extended to support
`--domain <domain>`.

`west build` calls CMake to create the build system, and if `--domain`
is given, then the build tool will be invoked afterwards for the
specified domain.

`west flash` will default flash all domains, but `--domain <domain>`
argument can be used to select a specific domain to flash, for example:
> west flash --domain mcuboot

`west debug` only a single domain can be debugged at any given time.
If `--domain` is not specified, then the default domain specified in the
domains.yml file will be used.
Users can still select a different domain, for example with:
> west debug --domain mcuboot

Signed-off-by: Torsten Rasmussen <Torsten.Rasmussen@nordicsemi.no>

scripts/west_commands/build.py

@@ -12,7 +12,7 @@ import yaml
 from west import log
 from west.configuration import config
 from zcmake import DEFAULT_CMAKE_GENERATOR, run_cmake, run_build, CMakeCache
-from build_helpers import is_zephyr_build, find_build_dir, \
+from build_helpers import is_zephyr_build, find_build_dir, load_domains, \
     FIND_BUILD_DIR_DESCRIPTION
 
 from zephyr_ext_common import Forceable
@@ -115,6 +115,9 @@ class Build(Forceable):
                            help='force a cmake run')
         group.add_argument('--cmake-only', action='store_true',
                            help="just run cmake; don't build (implies -c)")
+        group.add_argument('--domain', action='append',
+                           help='''execute build tool (make or ninja) only for
+                           given domain''')
         group.add_argument('-t', '--target',
                            help='''run build system target TARGET
                            (try "-t usage")''')
@@ -201,8 +204,9 @@ class Build(Forceable):
 
         self._sanity_check()
         self._update_cache()
+        self.domains = load_domains(self.build_dir)
 
-        self._run_build(args.target)
+        self._run_build(args.target, args.domain)
 
     def _find_board(self):
         board, origin = None, None
@@ -464,7 +468,7 @@ class Build(Forceable):
         config_sysbuild = config_getboolean('sysbuild', False)
         if self.args.sysbuild or (config_sysbuild and not self.args.no_sysbuild):
             cmake_opts.extend(['-S{}'.format(SYSBUILD_PROJ_DIR),
-                               '-DAPP_DIR={}'.format(self.source_dir)])
+                               '-DAPP_DIR:PATH={}'.format(self.source_dir)])
         else:
             # self.args.no_sysbuild == True or config sysbuild False
             cmake_opts.extend(['-S{}'.format(self.source_dir)])
@@ -499,7 +503,7 @@ class Build(Forceable):
                       '-P', cache['ZEPHYR_BASE'] + '/cmake/pristine.cmake']
         run_cmake(cmake_args, cwd=self.build_dir, dry_run=self.args.dry_run)
 
-    def _run_build(self, target):
+    def _run_build(self, target, domain):
         if target:
             _banner('running target {}'.format(target))
         elif self.run_cmake:
@@ -511,8 +515,23 @@ class Build(Forceable):
         if self.args.verbose:
             self._append_verbose_args(extra_args,
                                       not bool(self.args.build_opt))
-        run_build(self.build_dir, extra_args=extra_args,
-                  dry_run=self.args.dry_run)
+
+        domains = load_domains(self.build_dir)
+        build_dir_list = []
+
+        if domain is None:
+            # If no domain is specified, we just build top build dir as that
+            # will build all domains.
+            build_dir_list = [domains.get_top_build_dir()]
+        else:
+            _banner('building domain(s): {}'.format(' '.join(domain)))
+            domain_list = domains.get_domains(domain)
+            for d in domain_list:
+                build_dir_list.append(d.build_dir)
+
+        for b in build_dir_list:
+            run_build(b, extra_args=extra_args,
+                      dry_run=self.args.dry_run)
 
     def _append_verbose_args(self, extra_args, add_dashes):
         # These hacks are only needed for CMake versions earlier than

scripts/west_commands/build_helpers.py

@@ -16,6 +16,7 @@ from pathlib import Path
 from west import log
 from west.configuration import config
 from west.util import escapes_directory
+from domains import Domains
 
 DEFAULT_BUILD_DIR = 'build'
 '''Name of the default Zephyr build directory.'''
@@ -133,3 +134,19 @@ def is_zephyr_build(path):
     log.dbg(f'{path} is NOT a valid zephyr build directory',
             level=log.VERBOSE_EXTREME)
     return False
+
+
+def load_domains(path):
+    '''Load domains from a domains.yaml.
+
+    If domains.yaml is not found, then a single 'app' domain referring to the
+    top-level build folder is created and returned.
+    '''
+    domains_file = Path(path) / 'domains.yaml'
+
+    if not domains_file.is_file():
+        return Domains.from_data({'default': 'app',
+                                  'build_dir': path,
+                                  'domains': [{'name': 'app', 'build_dir': path}]})
+
+    return Domains.from_file(domains_file)

scripts/west_commands/domains.py

@@ -0,0 +1,139 @@
+# Copyright (c) 2022 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: Apache-2.0
+
+'''Domain handling for west extension commands.
+
+This provides parsing of domains yaml file and creation of objects of the
+Domain class.
+'''
+
+import yaml
+import pykwalify.core
+from west import log
+
+DOMAINS_SCHEMA = '''
+## A pykwalify schema for basic validation of the structure of a
+## domains YAML file.
+##
+# The domains.yaml file is a simple list of domains from a multi image build
+# along with the default domain to use.
+type: map
+mapping:
+  default:
+    required: true
+    type: str
+  build_dir:
+    required: true
+    type: str
+  domains:
+    required: false
+    type: seq
+    sequence:
+      - type: map
+        mapping:
+          name:
+            required: true
+            type: str
+          build_dir:
+            required: true
+            type: str
+'''
+
+schema = yaml.safe_load(DOMAINS_SCHEMA)
+
+
+class Domains:
+
+    def __init__(self, data):
+        self._domains = []
+        self._domain_names = []
+        self._domain_default = []
+
+        self._build_dir = data.get('build_dir')
+        domain_list = data.get('domains')
+        if not domain_list:
+            log.wrn("no domains defined; this probably won't work")
+
+        for d in domain_list:
+            domain = Domain(d['name'], d['build_dir'])
+            self._domains.append(domain)
+            self._domain_names.append(domain.name)
+            if domain.name == data['default']:
+                self._default_domain = domain
+
+    @staticmethod
+    def from_file(domains_file):
+        '''Load domains from domains.yaml.
+
+        Exception raised:
+           - ``FileNotFoundError`` if the domains file is not found.
+        '''
+        try:
+            with open(domains_file, 'r') as f:
+                domains = yaml.safe_load(f.read())
+        except FileNotFoundError:
+            log.die(f'domains.yaml file not found: {domains_file}')
+
+        try:
+            pykwalify.core.Core(source_data=domains, schema_data=schema)\
+                .validate()
+        except pykwalify.errors.SchemaError:
+            log.die(f'ERROR: Malformed yaml in file: {domains_file}')
+
+        return Domains(domains)
+
+    @staticmethod
+    def from_data(domains_data):
+        '''Load domains from domains dictionary.
+        '''
+        return Domains(domains_data)
+
+    def get_domains(self, names=None):
+        ret = []
+
+        if not names:
+            return self._domains
+
+        for n in names:
+            found = False
+            for d in self._domains:
+                if n == d.name:
+                    ret.append(d)
+                    found = True
+                    break
+            # Getting here means the domain was not found.
+            # Todo: throw an error.
+            if not found:
+                log.die(f'domain {n} not found, '
+                        f'valid domains are:', *self._domain_names)
+        return ret
+
+    def get_default_domain(self):
+        return self._default_domain
+
+    def get_top_build_dir(self):
+        return self._build_dir
+
+
+class Domain:
+
+    def __init__(self, name, build_dir):
+        self.name = name
+        self.build_dir = build_dir
+
+    @property
+    def name(self):
+        return self._name
+
+    @name.setter
+    def name(self, value):
+        self._name = value
+
+    @property
+    def build_dir(self):
+        return self._build_dir
+
+    @build_dir.setter
+    def build_dir(self, value):
+        self._build_dir = value

scripts/west_commands/flash.py

@@ -8,7 +8,8 @@
 
 from west.commands import WestCommand
 
-from run_common import add_parser_common, do_run_common
+from run_common import add_parser_common, do_run_common, get_build_dir
+from build_helpers import load_domains
 
 
 class Flash(WestCommand):
@@ -26,4 +27,6 @@ class Flash(WestCommand):
         return add_parser_common(self, parser_adder)
 
     def do_run(self, my_args, runner_args):
-        do_run_common(self, my_args, runner_args)
+        build_dir = get_build_dir(my_args)
+        domains = load_domains(build_dir).get_domains(my_args.domain)
+        do_run_common(self, my_args, runner_args, domains=domains)

scripts/west_commands/run_common.py

@@ -16,7 +16,7 @@ import textwrap
 import traceback
 
 from west import log
-from build_helpers import find_build_dir, is_zephyr_build, \
+from build_helpers import find_build_dir, is_zephyr_build, load_domains, \
     FIND_BUILD_DIR_DESCRIPTION
 from west.commands import CommandError
 from west.configuration import config
@@ -104,6 +104,8 @@ def add_parser_common(command, parser_adder=None, parser=None):
                        help='override default runner from --build-dir')
     group.add_argument('--skip-rebuild', action='store_true',
                        help='do not refresh cmake dependencies first')
+    group.add_argument('--domain', action='append',
+                       help='execute runner only for given domain')
 
     group = parser.add_argument_group(
         'runner configuration',
@@ -145,7 +147,7 @@ def add_parser_common(command, parser_adder=None, parser=None):
 
     return parser
 
-def do_run_common(command, user_args, user_runner_args):
+def do_run_common(command, user_args, user_runner_args, domains=None):
     # This is the main routine for all the "west flash", "west debug",
     # etc. commands.
 
@@ -153,13 +155,30 @@ def do_run_common(command, user_args, user_runner_args):
         dump_context(command, user_args, user_runner_args)
         return
 
-    command_name = command.name
     build_dir = get_build_dir(user_args)
-    cache = load_cmake_cache(build_dir, user_args)
-    board = cache['CACHED_BOARD']
     if not user_args.skip_rebuild:
         rebuild(command, build_dir, user_args)
 
+    if domains is None:
+        if user_args.domain is None:
+            # No domains are passed down and no domains specified by the user.
+            # So default domain will be used.
+            domains = [load_domains(build_dir).get_default_domain()]
+        else:
+            # No domains are passed down, but user has specified domains to use.
+            # Get the user specified domains.
+            domains = load_domains(build_dir).get_domains(user_args.domain)
+
+    for d in domains:
+        do_run_common_image(command, user_args, user_runner_args, d.build_dir)
+
+def do_run_common_image(command, user_args, user_runner_args, build_dir=None):
+    command_name = command.name
+    if build_dir is None:
+        build_dir = get_build_dir(user_args)
+    cache = load_cmake_cache(build_dir, user_args)
+    board = cache['CACHED_BOARD']
+
     # Load runners.yaml.
     yaml_path = runners_yaml_path(build_dir, board)
     runners_yaml = load_runners_yaml(yaml_path)
@@ -173,7 +192,9 @@ def do_run_common(command, user_args, user_runner_args):
     # Set up runner logging to delegate to west.log commands.
     logger = logging.getLogger('runners')
     logger.setLevel(LOG_LEVEL)
-    logger.addHandler(WestLogHandler())
+    if not logger.hasHandlers():
+        # Only add a runners log handler if none has been added already.
+        logger.addHandler(WestLogHandler())
 
     # If the user passed -- to force the parent argument parser to stop
     # parsing, it will show up here, and needs to be filtered out.