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waf: add waf support

This commit is contained in:
Caio Marcelo de Oliveira Filho 2015-10-09 11:03:59 -03:00 committed by Andrew Tridgell
parent b9650696b7
commit 6e7b73610d
87 changed files with 1315 additions and 0 deletions
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2
.gitignore vendored
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@ -29,6 +29,8 @@
.settings/
.autotools
.vagrant
/.lock-waf*
/.waf*
/tmp/*
/Tools/ArdupilotMegaPlanner/3DRRadio/bin
/Tools/ArdupilotMegaPlanner/3DRRadio/obj

31
APMrover2/wscript Normal file
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@ -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',
)

20
AntennaTracker/wscript Normal file
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@ -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',
)

41
ArduCopter/wscript Normal file
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@ -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',
)

35
ArduPlane/wscript Normal file
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@ -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',
)

58
README_waf.txt Normal file
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@ -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.

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

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

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

0
Tools/ardupilotwaf/__init__.py Normal file
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131
Tools/ardupilotwaf/ardupilotwaf.py Normal file
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@ -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(),
)

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

13
libraries/AP_ADC/examples/AP_ADC_test/wscript Normal file
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@ -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',
)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

10
libraries/AP_HAL_AVR/examples/I2CDriver_HMC5883L/wscript Normal file
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@ -0,0 +1,10 @@
#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

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

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

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

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

10
libraries/AP_HAL_AVR/examples/SPIDriver_MPU6000/wscript Normal file
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@ -0,0 +1,10 @@
#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

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

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

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

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

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

10
libraries/AP_HAL_FLYMAPLE/examples/AP_Baro_BMP085_test/wscript Normal file
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@ -0,0 +1,10 @@
#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

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

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

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

10
libraries/AP_HAL_FLYMAPLE/examples/I2CDriver_HMC5883L/wscript Normal file
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@ -0,0 +1,10 @@
#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

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

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

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

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

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

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

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

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

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

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

10
libraries/AP_HAL_PX4/examples/simple/wscript Normal file
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@ -0,0 +1,10 @@
#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

10
libraries/AP_InertialSensor/examples/INS_generic/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

10
libraries/AP_InertialSensor/examples/VibTest/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

10
libraries/AP_Math/examples/eulers/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

10
libraries/AP_Math/examples/location/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

10
libraries/AP_Math/examples/polygon/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

10
libraries/AP_Math/examples/rotations/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

10
libraries/AP_Mission/examples/AP_Mission_test/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

13
libraries/AP_Motors/examples/AP_Motors_Time_test/wscript Normal file
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#!/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',
)

13
libraries/AP_Motors/examples/AP_Motors_test/wscript Normal file
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#!/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',
)

10
libraries/AP_Mount/examples/trivial_AP_Mount/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

10
libraries/AP_Notify/examples/AP_Notify_test/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

10
libraries/AP_Notify/examples/ToshibaLED_test/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

10
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

10
libraries/AP_Parachute/examples/AP_Parachute_test/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

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

10
libraries/AP_Scheduler/examples/Scheduler_test/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

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

10
libraries/Filter/examples/Derivative/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

10
libraries/Filter/examples/Filter/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

10
libraries/Filter/examples/LowPassFilter/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

10
libraries/Filter/examples/LowPassFilter2p/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

13
libraries/GCS_Console/examples/Console/wscript Normal file
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#!/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',
)

10
libraries/GCS_MAVLink/examples/routing/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

10
libraries/PID/examples/pid/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

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

10
libraries/StorageManager/examples/StorageTest/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
import ardupilotwaf
def build(bld):
ardupilotwaf.program(
bld,
use='ap',
)

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#!/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)