mirror of https://github.com/ArduPilot/ardupilot
waf: readme: update instruction with basic usages
Add a new "Basic use" section so people don't get overhauled with build instructions. They can read about the more advanced commands once they are able to use the basic ones. While at it, update the instructions to use the waf wrapper.
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Lucas De Marchi
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BUILD.md
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BUILD.md
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# WAF Build #
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# Building ArduPilot #
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Ardupilot is gradually moving from the make-based build system to
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[Waf](https://waf.io/).
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[Waf](https://waf.io/). You can read the [Waf Book](https://waf.io/book/) if
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you want to learn more about Waf.
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To keep access to Waf convenient, use the following alias from the
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root ardupilot directory:
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Waf should always be called from the ardupilot's root directory. Differently
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from the make-based build, with Waf there's a configure step to choose the
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board to be used (default is `sitl`).
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```bash
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alias waf="$PWD/modules/waf/waf-light"
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```
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## Basic usage ##
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You can also define the alias or create a function in your shell rc file (e.g.
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`~/.bashrc`).
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There are several commands in the build system for advanced usages, but here we
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list some basic and more used commands as example.
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You can read the [Waf Book](https://waf.io/book/) if you want to learn more
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about Waf.
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* **Build ArduCopter**
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## Calling waf ##
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Here we use minlure as an example of Linux board. Other boards can be used
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and the next section shows how to get a list of available boards.
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Waf should always be called from the ardupilot's root directory.
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```sh
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./waf configure --board minlure
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./waf copter
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```
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Differently from the make-based build, with Waf there's a configure step
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to choose the board to be used (default is `sitl`):
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The first command should be called only once or when you want to change a
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configuration option. One configuration often used is the `--board` option to
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switch from one board to another one. For example we could switch to
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Pixhawk and build again:
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```sh
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./waf configure --board px4-v2
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./waf copter
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```
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* **List available boards**
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It's possible to get a list of supported boards on ArduPilot with the command
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below
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```sh
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./waf list_boards
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```
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* **Clean the build**
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Commands `clean` and `distclean` can be used to clean the objects produced by
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the build. The first keeps the `configure` information, cleaning only the
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objects for the current board. The second cleans everything for every board,
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including the saved `configure` information.
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Cleaning the build is very often not necessary and discouraged. We do
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incremental builds reducing the build time by orders of magnitude.
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* **Upload or install**
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Build commands have a `--upload` option in order to upload the binary built
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to a connected board. This option is supported by Pixhawk. The command below
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uses the `--targets` option that is explained in the next item.
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```sh
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./waf --targets bin/arducopter-quad --upload
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```
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Currently Linux boards don't support the upload option, but there's an
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install command, which will install to a certain directory. This can be
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used by distributors to create .deb, .rpm or other package types:
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```sh
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./waf copter
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DESTDIR=/my/temporary/location ./waf install
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```
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* **Use different targets**
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The build commands in the items above use `copter` as argument. This
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builds all binaries that fall under the "copter" group. See the
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section [Advanced usage](#advanced-usage) below for more details regarding
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groups.
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This shows a list of all possible targets:
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```
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./waf list
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```
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For example, to build only a single binary:
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```
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# Quad frame of ArduCopter
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./waf --targets bin/arducopter-quad
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# unit test of our math functions
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./waf --targets tests/test_math
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```
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* **Other options**
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It's possible to see all available commands and options:
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```
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./waf -h
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```
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Also, take a look on the [Advanced section](#advanced-usage) below.
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## Advanced usage ##
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This section contains some explanations on how the Waf build system works
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and how you can use more advanced features.
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Waf build system is composed of commands. For example, the command below
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(`configure`) is for configuring the build with all the options used by this
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particular build.
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```bash
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# Configure the Linux board
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waf configure --board=linux
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./waf configure --board=linux
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```
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Waf build system is composed of commands. For example, the above command
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(`configure`) is for configuring the build. Consequently, in order to build, a
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"build" command is issued, thus `waf build`. That is the default command, so
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calling just `waf` is enough:
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Consequently, in order to build, a "build" command is issued, thus `waf build`.
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That is the default command, so calling just `waf` is enough:
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```bash
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# Build programs from bin group
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waf
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./waf
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# Waf also accepts '-j' option to parallelize the build.
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waf -j8
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./waf -j8
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```
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To clean things up, use the `clean` or `distclean` command:
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By default waf tries to parallelize the build automatically to all processors
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so the `-j` option is usually not needed, unless you are using icecc (thus
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you want a bigger value) or you don't want to stress your machine with
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the build.
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```bash
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# Clean the build products, but keep configure information
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waf clean
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# Clean everything, will need to call configure again
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waf distclean
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```
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Using git to clean the files also work fine.
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To list the task generator names that can be used for the option `--targets`,
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use the `list`command:
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```bash
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waf list
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```
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## Program groups ##
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### Program groups ###
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Program groups are used to represent a class of programs. They can be used to
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build all programs of a certain class without having to specify each program.
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@ -70,7 +147,7 @@ to one main group.
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There's a special group, called "all", that comprises all programs.
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### Main groups ###
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#### Main groups ####
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The main groups form a partition of all programs. Besides separating the
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programs logically, they also define where they are built.
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@ -94,20 +171,20 @@ main group the program belongs to. For example, for a linux build, arduplane,
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which belongs to the main group "bin", will be located at
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`build/linux/bin/arduplane`.
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### Main products groups ###
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#### Main product groups ####
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Those are groups for ardupilot's main products. They contain programs for the
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product they represent. Currently only the "copter" group has more than one
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program - one for each frame type.
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The main products groups are:
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The main product groups are:
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- antennatracker
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- copter
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- plane
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- rover
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## Building a program group ##
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#### Building a program group ####
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Ardupilot adds to waf an option called `--program-group`, which receives as
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argument the group you want it to build. For a build command, if you don't pass
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```bash
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# Group bin is the default one
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waf
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./waf
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# Build all vehicles and Antenna Tracker
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waf --program-group bin
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./waf --program-group bin
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# Build all benchmarks and tests
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waf --program-group benchmarks --program-group tests
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./waf --program-group benchmarks --program-group tests
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```
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### Shortcut for program groups ###
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#### Shortcut for program groups ####
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For less typing, you can use the group name as the command to waf. Examples:
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```bash
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# Build all vehicles and Antenna Tracker
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waf bin
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./waf bin
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# Build all examples
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waf examples
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./waf examples
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# Build arducopter binaries
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waf copter
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./waf copter
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```
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## Building a specific program ##
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### Building a specific program ###
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In order to build a specific program, you just need to pass its path relative
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to `build/<board>/` to the option `--targets`. Example:
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```bash
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# Build arducopter for quad frame
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waf --targets bin/arducopter-quad
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./waf --targets bin/arducopter-quad
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# Build vectors unit test
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waf --targets tests/test_vectors
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./waf --targets tests/test_vectors
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```
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## Uploading ##
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### Checking ###
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There's a build option `--upload` that can be used to tell the build that it
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must upload the program(s) addressed by `--targets` arguments. The
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implementation is board-specific and not all boards may have that implemented.
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Example:
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```bash
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# PX4 supports uploading the program through a USB connection
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waf configure --board px4-v2
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# Build arducopter-quad and upload it to my board
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waf --targets bin/arducopter-quad --upload
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```
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## Checking ##
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The command `check` builds all programs and then run the relevant tests. In
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that context, a relevant test is a program from the group "tests" that makes
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The command `check` builds all programs and then executes the relevant tests.
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In that context, a relevant test is a program from the group "tests" that makes
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one of the following statements true:
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- it's the first time the test is built since the last cleanup or when the
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@ -188,28 +251,38 @@ Examples:
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```bash
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# Build everything and run relevant tests
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waf check
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./waf check
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# Build everything and run all tests
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waf check --alltests
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./waf check --alltests
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# Build everything and run all tests
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waf check-all
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./waf check-all
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```
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## Debugging ##
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### Debugging ###
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It's possible to pass the option `--debug` to the `configure` command. That
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will set compiler flags to store debugging information in the binaries so that
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you can use them with `gdb`, for example. The build directory will be set to
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`build/<board>-debug/`. That option might come handy when using SITL.
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## Make wrapper ##
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### Build-system wrappers ###
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The `waf` binary on root tree is actually a wrapper to the real `waf` that's
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maintained in its own submodule. It's possible to call the latter directly via
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`./modules/waf/waf-light` or to use an alias if you prefer typing `waf` over
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`./waf`.
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```sh
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alias waf="<ardupilot-directory>/modules/waf/waf-light"
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```
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There's also a make wrapper called `Makefile.waf`. You can use
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`make -f Makefile.waf help` for instructions on how to use it.
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## Command line help ##
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### Command line help ###
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You can use `waf --help` to see information about commands and options built-in
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to waf as well as some quick help on those added by ardupilot.
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