waf: add waf support

.gitignore

@@ -29,6 +29,8 @@
 .settings/
 .autotools
 .vagrant
+/.lock-waf*
+/.waf*
 /tmp/*
 /Tools/ArdupilotMegaPlanner/3DRRadio/bin
 /Tools/ArdupilotMegaPlanner/3DRRadio/obj

APMrover2/wscript

@@ -0,0 +1,31 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    vehicle = bld.path.name
+    ardupilotwaf.vehicle_stlib(
+        bld,
+        name=vehicle + '_libs',
+        vehicle=vehicle,
+        libraries=ardupilotwaf.COMMON_VEHICLE_DEPENDENT_LIBRARIES + [
+            'APM_Control',
+            'AP_Camera',
+            'AP_Frsky_Telem',
+            'AP_L1_Control',
+            'AP_Menu',
+            'AP_Mount',
+            'AP_Navigation',
+            'AP_RCMapper',
+            'AP_RSSI',
+            'AP_Relay',
+            'AP_ServoRelayEvents',
+            'PID',
+        ],
+    )
+
+    ardupilotwaf.program(
+        bld,
+        use=vehicle + '_libs',
+    )

AntennaTracker/wscript

@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    vehicle = bld.path.name
+    ardupilotwaf.vehicle_stlib(
+        bld,
+        name=vehicle + '_libs',
+        vehicle=vehicle,
+        libraries=ardupilotwaf.COMMON_VEHICLE_DEPENDENT_LIBRARIES + [
+            'PID',
+        ],
+    )
+
+    ardupilotwaf.program(
+        bld,
+        use=vehicle + '_libs',
+    )

ArduCopter/wscript

@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    vehicle = bld.path.name
+    ardupilotwaf.vehicle_stlib(
+        bld,
+        name=vehicle + '_libs',
+        vehicle=vehicle,
+        libraries=ardupilotwaf.COMMON_VEHICLE_DEPENDENT_LIBRARIES + [
+            'AC_AttitudeControl',
+            'AC_Fence',
+            'AC_PID',
+            'AC_PrecLand',
+            'AC_Sprayer',
+            'AC_WPNav',
+            'AP_Camera',
+            'AP_Curve',
+            'AP_EPM',
+            'AP_Frsky_Telem',
+            'AP_IRLock',
+            'AP_InertialNav',
+            'AP_LandingGear',
+            'AP_Menu',
+            'AP_Motors',
+            'AP_Mount',
+            'AP_Parachute',
+            'AP_RCMapper',
+            'AP_RPM',
+            'AP_RSSI',
+            'AP_Relay',
+            'AP_ServoRelayEvents',
+        ],
+    )
+
+    ardupilotwaf.program(
+        bld,
+        use=vehicle + '_libs',
+    )

ArduPlane/wscript

@@ -0,0 +1,35 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    vehicle = bld.path.name
+    ardupilotwaf.vehicle_stlib(
+        bld,
+        name=vehicle + '_libs',
+        vehicle=vehicle,
+        libraries=ardupilotwaf.COMMON_VEHICLE_DEPENDENT_LIBRARIES + [
+            'APM_Control',
+            'APM_OBC',
+            'AP_Arming',
+            'AP_Camera',
+            'AP_Frsky_Telem',
+            'AP_L1_Control',
+            'AP_Menu',
+            'AP_Mount',
+            'AP_Navigation',
+            'AP_RCMapper',
+            'AP_RPM',
+            'AP_RSSI',
+            'AP_Relay',
+            'AP_ServoRelayEvents',
+            'AP_SpdHgtControl',
+            'AP_TECS',
+        ],
+    )
+
+    ardupilotwaf.program(
+        bld,
+        use=vehicle + '_libs',
+    )

README_waf.txt

@@ -0,0 +1,58 @@
+To keep access to waf convenient, use the following alias from the
+root ArduPilot directory
+
+    alias waf="$PWD/waf"
+
+that way waf can be called from subdirectories to trigger partial
+builds.
+
+Differently from the make-based build, with waf there's a configure step
+to choose the board to be used
+
+    # Configure the Linux board.
+    waf configure --board=linux
+
+by default the board used is 'sitl'. This must be called from the root
+ardupilot directory. Other commands may be issued from anywhere in the
+tree.
+
+To build, use the 'waf build' command. This is the default command, so
+calling just 'waf' is enough
+
+    # From the root ardupilot directory, build everything.
+    waf
+
+    # Waf also accepts '-j' option to parallelize the build.
+    waf -j8
+
+In subdirectories of vehicles, examples and tools (they contain a
+wscript file), it's possible to trigger a build of just that program
+either by calling waf in the subdirectory or by specifying it as part of
+targets
+
+    # Will build only ArduCopter
+    cd ArduCopter; waf -j9; cd -
+
+    # From the top directory, note the board name used in the target
+    waf --targets=ArduCopter.linux
+
+    # List all the targets available
+    waf list
+
+By default all the files produced by the build will be inside the build/
+subdirectory. The binaries will also be there, with the name identifying
+the target board.
+
+To clean things up use
+
+    # Clean the build products, but keep configure information
+    waf clean
+
+    # Clean everything, will need to call configure again
+    waf distclean
+
+using git to clean the files also work fine.
+
+
+TODO: Add explanation on how the build system is organized once we
+settle down.

Tools/CPUInfo/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

Tools/Hello/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

Tools/Replay/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

Tools/ardupilotwaf/ardupilotwaf.py

@@ -0,0 +1,131 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+SOURCE_EXTS = [
+    '*.S',
+    '*.c',
+    '*.cpp',
+]
+
+UTILITY_SOURCE_EXTS = [ 'utility/' + glob for glob in SOURCE_EXTS ]
+
+# TODO: Once HAL patches get in, need to filter out the HAL based
+# on the bld.env.BOARD.
+COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
+    'AP_ADC',
+    'AP_ADC_AnalogSource',
+    'AP_AHRS',
+    'AP_Airspeed',
+    'AP_Baro',
+    'AP_BattMonitor',
+    'AP_BoardConfig',
+    'AP_Buffer',
+    'AP_Common',
+    'AP_Compass',
+    'AP_Declination',
+    'AP_GPS',
+    'AP_HAL',
+    'AP_HAL_Empty',
+    'AP_InertialSensor',
+    'AP_Math',
+    'AP_Mission',
+    'AP_NavEKF',
+    'AP_NavEKF2',
+    'AP_Notify',
+    'AP_OpticalFlow',
+    'AP_Param',
+    'AP_Progmem',
+    'AP_Rally',
+    'AP_RangeFinder',
+    'AP_Scheduler',
+    'AP_SerialManager',
+    'AP_Terrain',
+    'AP_Vehicle',
+    'DataFlash',
+    'Filter',
+    'GCS_MAVLink',
+    'RC_Channel',
+    'SITL',
+    'StorageManager',
+]
+
+def _get_legacy_defines(name):
+    return [
+        'APM_BUILD_DIRECTORY=' + name,
+        'SKETCH="' + name + '"',
+        'SKETCHNAME="' + name + '"',
+    ]
+
+IGNORED_AP_LIBRARIES = [
+    'doc',
+    'AP_Limits',
+    'GCS_Console',
+]
+
+def get_all_libraries(bld):
+    libraries = []
+    for lib_node in bld.srcnode.ant_glob('libraries/*', dir=True):
+        name = lib_node.name
+        if name in IGNORED_AP_LIBRARIES:
+            continue
+        if name.startswith('AP_HAL'):
+            continue
+        libraries.append(name)
+    libraries.extend(['AP_HAL', 'AP_HAL_Empty'])
+    return libraries
+
+def program(bld, **kw):
+    if 'target' in kw:
+        bld.fatal('Do not pass target for program')
+    if 'defines' not in kw:
+        kw['defines'] = []
+    if 'source' not in kw:
+        kw['source'] = bld.path.ant_glob(SOURCE_EXTS)
+
+    name = bld.path.name
+    kw['defines'].extend(_get_legacy_defines(name))
+
+    target = bld.bldnode.make_node(name + '.' + bld.env.BOARD)
+    bld.program(
+        target=target,
+        **kw
+    )
+
+# NOTE: Code in libraries/ is compiled multiple times. So ensure each
+# compilation is independent by providing different index for each.
+# The need for this should disappear when libraries change to be
+# independent of vehicle type.
+LAST_IDX = 0
+
+def _get_next_idx():
+    global LAST_IDX
+    LAST_IDX += 1
+    return LAST_IDX
+
+def vehicle_stlib(bld, **kw):
+    if 'name' not in kw:
+        bld.fatal('Missing name for vehicle_stlib')
+    if 'vehicle' not in kw:
+        bld.fatal('Missing vehicle for vehicle_stlib')
+    if 'libraries' not in kw:
+        bld.fatal('Missing libraries for vehicle_stlib')
+
+    sources = []
+    libraries = kw['libraries'] + bld.env.AP_LIBRARIES
+
+    for lib_name in libraries:
+        lib_node = bld.srcnode.find_dir('libraries/' + lib_name)
+        if lib_node is None:
+            bld.fatal('Could not find library ' + lib_name)
+        lib_sources = lib_node.ant_glob(SOURCE_EXTS + UTILITY_SOURCE_EXTS)
+        sources.extend(lib_sources)
+
+    name = kw['name']
+    vehicle = kw['vehicle']
+
+    bld.stlib(
+        source=sources,
+        target=name,
+        defines=_get_legacy_defines(vehicle),
+        idx=_get_next_idx(),
+    )

libraries/AC_PID/examples/AC_PID_test/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_ADC/examples/AP_ADC_test/wscript

@@ -0,0 +1,13 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    if bld.env.BOARD in ['sitl']:
+        return
+
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_AHRS/examples/AHRS_Test/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Airspeed/examples/Airspeed/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Baro/examples/BARO_generic/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_BattMonitor/examples/AP_BattMonitor_test/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Common/examples/AP_Common/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Compass/examples/AP_Compass_test/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Declination/examples/AP_Declination_test/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_GPS/examples/GPS_AUTO_test/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_GPS/examples/GPS_UBLOX_passthrough/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL/examples/AnalogIn/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL/examples/Printf/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL/examples/RCInput/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL/examples/RCInputToRCOutput/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL/examples/RCOutput/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL/examples/Storage/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL/examples/UART_test/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_AVR/examples/ArduCopterLibs/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_AVR/examples/ArduPlaneLibs/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_AVR/examples/Blink/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_AVR/examples/Console/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_AVR/examples/I2CDriver_HMC5883L/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_AVR/examples/LCDTest/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_AVR/examples/RCInputTest/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_AVR/examples/RCJitterTest/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_AVR/examples/RCPassthroughTest/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_AVR/examples/SPIDriver_MPU6000/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_AVR/examples/Scheduler/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_AVR/examples/Semaphore/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_AVR/examples/Storage/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_AVR/examples/UARTDriver/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_AVR/examples/UtilityStringTest/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_FLYMAPLE/examples/AP_Baro_BMP085_test/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_FLYMAPLE/examples/AnalogIn/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_FLYMAPLE/examples/Blink/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_FLYMAPLE/examples/Console/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_FLYMAPLE/examples/I2CDriver_HMC5883L/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_FLYMAPLE/examples/RCInput/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_FLYMAPLE/examples/RCPassthroughTest/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_FLYMAPLE/examples/SPIDriver/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_FLYMAPLE/examples/Scheduler/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_FLYMAPLE/examples/Semaphore/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_FLYMAPLE/examples/Storage/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_FLYMAPLE/examples/UARTDriver/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_FLYMAPLE/examples/UtilityStringTest/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_FLYMAPLE/examples/empty_example/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_Linux/examples/BusTest/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_HAL_PX4/examples/simple/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_InertialSensor/examples/INS_generic/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_InertialSensor/examples/VibTest/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Math/examples/eulers/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Math/examples/location/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Math/examples/polygon/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Math/examples/rotations/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Mission/examples/AP_Mission_test/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Motors/examples/AP_Motors_Time_test/wscript

@@ -0,0 +1,13 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    # TODO: Test code doesn't build. Fix or delete the test.
+    return
+
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Motors/examples/AP_Motors_test/wscript

@@ -0,0 +1,13 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    # TODO: Test code doesn't build. Fix or delete the test.
+    return
+
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Mount/examples/trivial_AP_Mount/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Notify/examples/AP_Notify_test/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Notify/examples/ToshibaLED_test/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Parachute/examples/AP_Parachute_test/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_RangeFinder/examples/RFIND_test/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/AP_Scheduler/examples/Scheduler_test/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/DataFlash/examples/DataFlash_test/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/Filter/examples/Derivative/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/Filter/examples/Filter/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/Filter/examples/LowPassFilter/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/Filter/examples/LowPassFilter2p/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/GCS_Console/examples/Console/wscript

@@ -0,0 +1,13 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    # TODO: Test code doesn't build. Fix or delete the test.
+    return
+
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/GCS_MAVLink/examples/routing/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/PID/examples/pid/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/RC_Channel/examples/RC_Channel/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

libraries/StorageManager/examples/StorageTest/wscript

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import ardupilotwaf
+
+def build(bld):
+    ardupilotwaf.program(
+        bld,
+        use='ap',
+    )

wscript

@@ -0,0 +1,205 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+import os.path
+import sys
+sys.path.insert(0, 'Tools/ardupilotwaf/')
+
+import ardupilotwaf
+
+# TODO: implement a command 'waf help' that shows the basic tasks a
+# developer might want to do: e.g. how to configure a board, compile a
+# vehicle, compile all the examples, add a new example. Should fit in
+# less than a terminal screen, ideally commands should be copy
+# pastable. Add the 'export waf="$PWD/waf"' trick to be copy-pastable
+# as well.
+
+# TODO: add support for unit tests.
+
+# TODO: replace defines with the use of a generated config.h file
+# this makes recompilation at least when defines change. which might
+# be sufficient.
+
+# TODO: set git version as part of build preparation.
+
+# TODO: Check if we should simply use the signed 'waf' "binary" (after
+# verifying it) instead of generating it ourselves from the sources.
+
+# TODO: evaluate if we need shortcut commands for the common targets
+# (vehicles). currently using waf --targets=NAME the target name must
+# contain the board extension so make it less convenient, maybe hook
+# to support automatic filling this extension?
+
+PROJECT_CONFIG = dict(
+    CFLAGS=[
+        '-ffunction-sections',
+        '-fdata-sections',
+        '-fsigned-char',
+
+        '-Wformat',
+        '-Wall',
+        '-Wshadow',
+        '-Wpointer-arith',
+        '-Wcast-align',
+        '-Wno-unused-parameter',
+        '-Wno-missing-field-initializers',
+    ],
+
+    CXXFLAGS=[
+        '-std=gnu++11',
+
+        '-fdata-sections',
+        '-ffunction-sections',
+        '-fno-exceptions',
+        '-fsigned-char',
+
+        '-Wformat',
+        '-Wall',
+        '-Wshadow',
+        '-Wpointer-arith',
+        '-Wcast-align',
+        '-Wno-unused-parameter',
+        '-Wno-missing-field-initializers',
+        '-Wno-reorder',
+        '-Werror=format-security',
+        '-Werror=array-bounds',
+        '-Wfatal-errors',
+        '-Werror=unused-but-set-variable',
+        '-Werror=uninitialized',
+        '-Werror=init-self',
+        '-Wno-missing-field-initializers',
+    ],
+
+    LINKFLAGS=[
+        '-Wl,--gc-sections',
+    ],
+)
+
+# NOTE: Keeping all the board definitions together so we can easily
+# identify opportunities to simplify how it works. In the future might
+# be worthy to keep board definitions in files of their own.
+BOARDS = {
+    'sitl': dict(
+        DEFINES=[
+            'CONFIG_HAL_BOARD=HAL_BOARD_SITL',
+            'CONFIG_HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_NONE',
+        ],
+
+        LIB=[
+            'm',
+            'pthread',
+        ],
+
+        AP_LIBRARIES=[
+            'AP_HAL_SITL',
+            'SITL',
+        ],
+    ),
+
+    'linux': dict(
+        DEFINES=[
+            'CONFIG_HAL_BOARD=HAL_BOARD_LINUX',
+            'CONFIG_HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_LINUX_NONE',
+        ],
+
+        LIB=[
+            'm',
+            'pthread',
+            'rt',
+        ],
+
+        AP_LIBRARIES=[
+            'AP_HAL_Linux',
+        ],
+    ),
+
+    'minlure': dict(
+        DEFINES=[
+            'CONFIG_HAL_BOARD=HAL_BOARD_LINUX',
+            'CONFIG_HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_LINUX_MINLURE',
+        ],
+
+        LIB=[
+            'm',
+            'pthread',
+            'rt',
+        ],
+
+        AP_LIBRARIES=[
+            'AP_HAL_Linux',
+        ],
+    ),
+}
+
+BOARDS_NAMES = sorted(list(BOARDS.keys()))
+
+def options(opt):
+    opt.load('compiler_cxx compiler_c')
+    opt.add_option('--board',
+                   action='store',
+                   choices=BOARDS_NAMES,
+                   default='sitl',
+                   help='Target board to build, choices are %s' % BOARDS_NAMES)
+
+def configure(cfg):
+    cfg.load('compiler_cxx compiler_c')
+
+    cfg.msg('Setting board to', cfg.options.board)
+    cfg.env.BOARD = cfg.options.board
+    board = BOARDS[cfg.env.BOARD]
+
+    # Always prepend so that arguments passed in the command line get the
+    # priority. Board configuration gets priority over the project
+    # configuration.
+    for k in board.keys():
+        cfg.env.prepend_value(k, board[k])
+    for k in PROJECT_CONFIG.keys():
+        cfg.env.prepend_value(k, PROJECT_CONFIG[k])
+
+    cfg.env.prepend_value('INCLUDES', [
+        cfg.srcnode.abspath() + '/libraries/'
+    ])
+
+    # TODO: Investigate if code could be changed to not depend on the
+    # source absolute path.
+    cfg.env.prepend_value('DEFINES', [
+        'SKETCHBOOK="' + cfg.srcnode.abspath() + '"',
+    ])
+
+def collect_dirs_to_recurse(bld, glob, **kw):
+    dirs = []
+    for d in bld.srcnode.ant_glob(glob + '/wscript', **kw):
+        dirs.append(d.parent.relpath())
+    return dirs
+
+def build(bld):
+    # NOTE: Static library with vehicle set to UNKNOWN, shared by all
+    # the tools and examples. This is the first step until the
+    # dependency on the vehicles is reduced. Later we may consider
+    # split into smaller pieces with well defined boundaries.
+    ardupilotwaf.vehicle_stlib(
+        bld,
+        name='ap',
+        vehicle='UNKNOWN',
+        libraries=ardupilotwaf.get_all_libraries(bld),
+    )
+
+    # TODO: Currently each vehicle also generate its own copy of the
+    # libraries. Fix this, or at least reduce the amount of
+    # vehicle-dependent libraries.
+    vehicles = collect_dirs_to_recurse(bld, '*')
+
+    # NOTE: we need to sort to ensure the repeated sources get the
+    # same index, and random ordering of the filesystem doesn't cause
+    # recompilation.
+    vehicles.sort()
+
+    tools = collect_dirs_to_recurse(bld, 'Tools/*')
+    examples = collect_dirs_to_recurse(bld, 'libraries/*/examples/*', excl='*/AP_HAL_*/* */SITL/*')
+
+    hal_examples = []
+    for l in bld.env.AP_LIBRARIES:
+        hal_examples.extend(collect_dirs_to_recurse(bld, 'libraries/' + l + '/examples/*'))
+
+    for d in vehicles + tools + examples + hal_examples:
+        bld.recurse(d)