Commit Graph

697 Commits

Author SHA1 Message Date
Gustavo Jose de Sousa a35c0d48b0 waf: ardupilotwaf: rename program to ap_program
Make the rename so that there is no name clashes when defining it as a taskgen
method.
2016-01-22 20:10:28 -02:00
Gustavo Jose de Sousa 54d938e2c4 waf: fail the check if not all test programs succeed
So that integration with Travis work properly.
2016-01-19 00:21:15 -02:00
Gustavo Jose de Sousa 8d0522f6ef waf: gtest: add gtest Waf tool
Tool for building gtest from the submodule.
2016-01-19 00:21:15 -02:00
Lucas De Marchi d663a748f2 waf: fix blddestdir
The destination directory for binaries should be
<build_dir>/<board>/bin/ and not
<build_dir>/<board>/<where-wscript-file-is>/bin

The same reasoning can be applied for others: tools, examples, etc
should follow the same rule.

Before this patch, compiling for example ArduPlane for navio we would
have:

    [339/339] Linking build/navio/ArduPlane/bin/ArduPlane

And now we have:

    [339/339] Linking build/navio/bin/ArduPlane
2016-01-18 16:56:08 -02:00
Lucas De Marchi eb6c89d09c waf: use os.path.join() for joining paths
Use platform-neutral way in python to join path components to improve
readability. Both will work when passing down to waf's Node object, even
on Windows.
2016-01-18 16:56:08 -02:00
Gustavo Jose de Sousa 60abd4ff2f waf: don't differentiate taskgen names from targets for programs
waf's terminology might be a bit confusing regarding the word 'target'. As an
attribute for a task generator, it means the paths of the files supposed to be
built. As a command line option (--target), it means the list of names of the
task generators to be used in the build.

Before this commit, only vehicles programs had their task generators' target
parameter value different from the name parameter. Now, there's no distinction
between those two parameters for the case of programs.
2016-01-15 16:46:41 -02:00
Gustavo Jose de Sousa 2448ea1611 waf: ardupilotwaf: add function build_shortcut
That enable the easy creation of custom build commands with the purpose of
creating "shortcuts" for execution from command line.

For example, consider the following code fragment from a wscript:
```
copter = ardupilotwaf.build_shortcut(targets='ArduCopter')
```

With that, one can just issue `waf copter` instead of
`waf --target ArduCopter`.

The parameter target is made optional because more parameters might be added to
this function in the future.
2016-01-15 16:46:41 -02:00
Gustavo Jose de Sousa 0b8eff79af waf: remove extension from programs' names
Each platform has its own build directory, no extension is necessary.
2016-01-15 16:46:41 -02:00
Gustavo Jose de Sousa f4a6d13cef waf: make benchmarks and tests be placed in common directories
Benchmarks now go to `build/<board>/benchmarks/` and tests to
`build/<board>/tests/`. That's done by using ardupilotwaf.program() and passing
blddestdir and program_name.
2016-01-15 16:46:41 -02:00
Gustavo Jose de Sousa 59562ad693 waf: add option program_name to ardupilotwaf.program()
That allows one to set explictly the program name instead of getting it from
the current directory.
2016-01-15 16:46:41 -02:00
Gustavo Jose de Sousa 2ad91dc1bc waf: add option use_legacy_defines to ardupilotwaf.program()
This is to allow to use ardupilotwaf.program() for programs that don't need the
legacy defines.
2016-01-15 16:46:41 -02:00
Gustavo Jose de Sousa c933b94f4d waf: add shortcut function for examples build
The function example() calls program() passing blddestdir as 'examples'.
2016-01-15 16:46:41 -02:00
Gustavo Jose de Sousa e549d0a3eb waf: use blddestdir to define task generator name
The only exception is for binaries that go in 'bin', like vehicles.
That way, partial builds follow the rule:
 - If building a vehicle or some helper that goes into 'bin', just use the
   binary name as the argument for --target. Example: `waf --target
   ArduCopter`.
 - For other binaries, the name of the directory they are placed in must be
   used. Example: `waf --target tests/test_vectors`.
2016-01-15 16:46:41 -02:00
Gustavo Jose de Sousa a55d803638 waf: make program() use blddestdir param
That param defines where the binary will be saved in the build directory,
namely `build/<board>/<blddestdir>`. The default is 'bin', for binaries that are
to be shipped for installation.
2016-01-15 16:46:40 -02:00
pkancir 85f0ef9265 waf : use LINKFLAGS for pthread
-pthread is the one supposed to be used because it defines pre-defined
macros as -lpthread doesn't, like was done in
2016-01-14 18:59:04 -02:00
Gustavo Jose de Sousa ff02adf57e waf: mavgen: reorganize configure
The configure function was reorganized for:
 - removing variables that are not used
 - making it more general, i.e., not relying in ardupilotmega.xml, so that this
   tool can be used for generating other headers in the future
2016-01-15 07:28:49 +11:00
Gustavo Jose de Sousa 46449ee032 waf: mavgen: use output_dir instead of target
The option target for the waf task generator is meant for actual files that are
going to be build. Since our target files are dynamic, let's change the code to
use a new parameter output_dir instead.
2016-01-15 07:28:48 +11:00
Gustavo Jose de Sousa ce294e841c waf: ardupilotwaf: make vehicle_stlib pass **kw to bld.stlib
That allows users to pass more parameters to bld.stlib.
2016-01-15 07:28:48 +11:00
Gustavo Jose de Sousa 5816dcba03 waf: mavgen: set system env during build instead of configure
By setting env.env during configure time makes changes be for the whole build
system scope and persistently, which may cause problems for other tasks and
tools.
2016-01-15 07:28:48 +11:00
Gustavo Jose de Sousa e5c66de554 waf: mavgen: ensure order without bld.add_group()
This is a better approach, because there's no need of calling add_group() for
each time a mavgen task generator is created.
2016-01-15 07:28:48 +11:00
Gustavo Jose de Sousa c9ca75e2cb waf: mavgen: set task signature for dynamic output
Since the output list for mavgen is dynamic, in the sense that we don't have
the information of what files will be generated by the task, that is not
captured by default by waf and post_run can't save the task signature for those
files. Although that doesn't cause build errors, the build time increase
significantly for when tasks that use the generate files are included (for
example, vehicles builds).

This patch search for the headers that were created by the task and set the
task signature for them. Using ant_glob isn't a very good solution, since there
may be stray file in the local build directory, but let's use that for now
until we find a better approach.
2016-01-15 07:28:48 +11:00
Gustavo Jose de Sousa b3c1c2efd9 waf: mavgen: expand tabs to spaces
Although waf's coding style uses tabs instead of spaces, scripts created for
this repository have been using spaces from the beginning.
2016-01-15 07:28:48 +11:00
Siddharth Bharat Purohit 11b82474de waf: generate mavlink headers for waf build 2016-01-15 07:28:47 +11:00
khancyr 360d9fafb6 waf: force linking of phtread with gbenchmark
There is an issue with gbenchmark and waf on Ubuntu (15.04 and 15.10, ). Waf doesn't link pthread to gbenchmark and linking failed : 

````
[1652/1652] Linking build/linux/libraries/AP_Math/benchmarks/benchmark_matrix.linux
/home/khancyr/Workspace/APM/ardupilot/build/linux/gbenchmark/lib/libbenchmark.a(benchmark.cc.o): dans la fonction « benchmark::RunSpecifiedBenchmarks(benchmark::BenchmarkReporter*) »:
benchmark.cc:(.text+0x2e21): référence indéfinie vers « pthread_create »
/usr/bin/ld generated: référence indéfinie vers « pthread_create »
collect2: error: ld returned 1 exit status

Waf: Leaving directory `/home/khancyr/Workspace/APM/ardupilot/build/linux'
Build failed
 -> task in 'benchmark_matrix.linux' failed (exit status 1): 
    {task 139784788162576: cxxprogram benchmark_matrix.cpp.1.o -> benchmark_matrix.linux}
['/usr/lib/ccache/g++', '-Wl,--gc-sections', 'libraries/AP_Math/benchmarks/benchmark_matrix.cpp.1.o', '-o', '/home/khancyr/Workspace/APM/ardupilot/build/linux/libraries/AP_Math/benchmarks/benchmark_matrix.linux', '-Wl,-Bstatic', '-L.', '-lap', '-Wl,-Bdynamic', '-L/home/khancyr/Workspace/APM/ardupilot/build/linux/gbenchmark/lib', '-lm', '-lpthread', '-lrt', '-lbenchmark']
`````

Adding 'pthread' to env.LIB_GBENCHMARK solve the issue

see https://github.com/diydrones/ardupilot/pull/3460 and https://github.com/diydrones/ardupilot/issues/3461
2016-01-12 18:05:46 -02:00
Gustavo Jose de Sousa d5e7b321f6 waf: add most linux boards 2016-01-11 16:31:59 -02:00
Gustavo Jose de Sousa e21d41afe3 waf: enable fully static linking
Some boards (e.g. bebop) require fully statically linked binaries.
2016-01-11 16:31:59 -02:00
Gustavo Jose de Sousa c90b0e8659 waf: add static_linking tool
Some platforms (e.g. bebop) might need to create fully statically linked
binaries. This serves to force a program to be statically linked. It has only
been tested on GNU compilers, other compilers may have unexpected behavior.
2016-01-11 16:31:59 -02:00
Gustavo Jose de Sousa 41e2a8cf1e waf: gbenchmark: disable cross-compilation
That's a temporary solution to allow cross compilation for the common binaries.
We can enable cross compilation of benchmark later.
2016-01-11 16:31:59 -02:00
Gustavo Jose de Sousa e7312a1f81 waf: add toolchain tool for cross-compiling 2016-01-11 16:31:59 -02:00
Gustavo Jose de Sousa 82a33399ef waf: gbenchmark: call _configure_cmake() in waf configuration
The cmake checks for gbenchmark need to run some code. Calling
_configure_cmake() only during build can potentially fail build. That would
happen in some cross-compilations for example.
2016-01-11 16:31:59 -02:00
Gustavo Jose de Sousa a31816c039 waf: gbenchmark: move cmake configuration to a separate function 2016-01-11 16:31:59 -02:00
Gustavo Jose de Sousa 7e8d25a56a waf: gbenchmark: use dict for cmake variables
That makes it easy to add new variables for the build system generation
command.
2016-01-11 16:31:59 -02:00
Gustavo Jose de Sousa d6b4e98a88 waf: remove already fixed TODOs
The TODOs removed with this patch were already fixed. Below is the explanation
for each.

 - TODO: add support for unit tests.
    - Supported already added.

 - TODO: Check if we should simply use the signed 'waf' "binary" (after
   verifying it) instead of generating it ourselves from the sources.
    - We're using a submodule for waf.

 - 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?
    - There's no need of adding the extension anymore.

 - TODO: Once HAL patches get in, need to filter out the HAL based on the
   bld.env.BOARD.
    - The board-specific HAL library folders is indicated in
      bld.env.AP_LIBRARIES.
2016-01-09 14:08:07 -02:00
Gustavo Jose de Sousa f338b917d0 waf: gbenchmark: get build node from variant
If there's no variant configuration, then cfg.variant will be '', which will
make bldnode be cfg.bldnode. Thus, this patch prepare gbenchmark build for
variant builds and doesn't break the current build.
2016-01-05 10:21:42 -02:00
Gustavo Jose de Sousa f577c1702c waf: gbenchmark: catch WafError instead of Exception
Also, change the output.
2016-01-05 10:21:42 -02:00
Lucas De Marchi 09ebbac7ab waf: fix unsorted library
The list of libraries is maintained sorted to ease maintenance, avoid
repeating libraries, etc.
2015-12-30 10:42:20 -02:00
bugobliterator 57d2594bd7 Tools: add AP_AccelCal lib to waf library list 2015-12-29 10:46:35 -08:00
Lucas De Marchi a096703b06 Global: don't link with AP_Progmem
AP_Progmem is not used anymore.
2015-12-27 15:58:12 -02:00
Lucas De Marchi e9f4d4f1ed waf: use better and simpler syntax to find program
We can pass a list of possible binaries to find_program. This gives us a
better output while configuring:

	Checking for program 'ninja, ninja-build' : /usr/bin/ninja-build

instead of:

	Checking for program 'ninja'             : not found
	Checking for program 'ninja-build'       : /usr/bin/ninja-build
2015-12-23 10:20:17 -02:00
Gustavo Jose de Sousa c4c9ce6a2a waf: ardupilotwaf: use name without board extention
If the attribute name is passed, then it is the one used to process the option
--target[s] of waf build. The board name should be used only in configuration
time. The build targets should be board/platform agnostic.

Now, instead of using `waf --target ArduCopter.sitl`, we use `waf --target
ArduCopter` and the binary continues named as "ArduCopter.sitl".
2015-12-10 10:40:37 +09:00
Gustavo Jose de Sousa 1e119c2182 waf: remove AP_ADC_AnalogSource from common libraries
That library was removed in a recent pull request. That PR was raised before
waf build system was integrated in the tree, that's why the fix just now.
2015-12-07 15:42:02 +09:00
Caio Marcelo de Oliveira Filho 6856950bd3 waf: use ConfigSet for board environments
Instead of a dictionary of dictionaries, have a dictionary of
ConfigSets. Using ConfigSet have two benefits: (1) allow easily copying
values from other, (2) have syntax for specifying the keys directly as
attributes.

With this change now it's easier to specify minlure without
repetition. New boards can override a value, append or prepend depending
on the need.

DEFINES attribute is treated as a dictionary instead of a list, so
that's easier to override values (at expense of ordering). When reading
the board environment, the code converts back to a list.

The board configuration is now stored in a separate file, there's also a
function to get the boards names.
2015-12-03 07:54:32 +11:00
Gustavo Jose de Sousa 2828f66a6a waf: enable writing and building benchmarks 2015-12-03 07:54:31 +11:00
Gustavo Jose de Sousa 119948f263 waf: add gbenchmark Waf tool 2015-12-03 07:54:31 +11:00
Gustavo Jose de Sousa 6b4a6f5389 waf: use gtest for tests
It was implemented in such a way that gtest is required only if the user wants
to build and run tests. Initially we're considering all tests should be gtests.
We can change that assumption in the future if necessary.
2015-12-03 07:54:31 +11:00
Gustavo Jose de Sousa 8556b5dfb8 waf: add support to run (unit) tests
We're currently using the tests standard error for reporting tests. We can add
TAP later to integrate with other tools.

Additionally, this patch simplifies the exclude patterns passed to
collect_dirs_to_recurse.
2015-12-03 07:54:31 +11:00
Caio Marcelo de Oliveira Filho 6e7b73610d waf: add waf support 2015-12-03 07:54:30 +11:00