#!/usr/bin/env python # encoding: utf-8 from __future__ import print_function import os.path import os import sys import subprocess import json import fnmatch sys.path.insert(0, 'Tools/ardupilotwaf/') import ardupilotwaf import boards from waflib import Build, ConfigSet, Configure, Context, Utils from waflib.Configure import conf # Ref: https://stackoverflow.com/questions/40590192/getting-an-error-attributeerror-module-object-has-no-attribute-run-while try: from subprocess import CompletedProcess except ImportError: # Python 2 class CompletedProcess: def __init__(self, args, returncode, stdout=None, stderr=None): self.args = args self.returncode = returncode self.stdout = stdout self.stderr = stderr def check_returncode(self): if self.returncode != 0: err = subprocess.CalledProcessError(self.returncode, self.args, output=self.stdout) raise err return self.returncode def sp_run(*popenargs, **kwargs): input = kwargs.pop("input", None) check = kwargs.pop("handle", False) kwargs.pop("capture_output", True) if input is not None: if 'stdin' in kwargs: raise ValueError('stdin and input arguments may not both be used.') kwargs['stdin'] = subprocess.PIPE process = subprocess.Popen(*popenargs, **kwargs) try: outs, errs = process.communicate(input) except: process.kill() process.wait() raise returncode = process.poll() if check and returncode: raise subprocess.CalledProcessError(returncode, popenargs, output=outs) return CompletedProcess(popenargs, returncode, stdout=outs, stderr=errs) subprocess.run = sp_run # ^ This monkey patch allows it work on Python 2 or 3 the same way # 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: replace defines with the use of the generated ap_config.h file # this makes recompilation at least when defines change. which might # be sufficient. # Default installation prefix for Linux boards default_prefix = '/usr/' # Override Build execute and Configure post_recurse methods for autoconfigure purposes Build.BuildContext.execute = ardupilotwaf.ap_autoconfigure(Build.BuildContext.execute) Configure.ConfigurationContext.post_recurse = ardupilotwaf.ap_configure_post_recurse() def _set_build_context_variant(board): for c in Context.classes: if not issubclass(c, Build.BuildContext): continue c.variant = board def init(ctx): # Generate Task List, so that VS Code extension can keep track # of changes to possible build targets generate_tasklist(ctx, False) env = ConfigSet.ConfigSet() try: p = os.path.join(Context.out_dir, Build.CACHE_DIR, Build.CACHE_SUFFIX) env.load(p) except EnvironmentError: return Configure.autoconfig = 'clobber' if env.AUTOCONFIG else False board = ctx.options.board or env.BOARD if not board: return # define the variant build commands according to the board _set_build_context_variant(board) def options(opt): opt.load('compiler_cxx compiler_c waf_unit_test python') opt.load('ardupilotwaf') opt.load('build_summary') g = opt.ap_groups['configure'] boards_names = boards.get_boards_names() removed_names = boards.get_removed_boards() g.add_option('--board', action='store', default=None, help='Target board to build, choices are %s.' % ', '.join(boards_names)) g.add_option('--debug', action='store_true', default=False, help='Configure as debug variant.') g.add_option('--disable-watchdog', action='store_true', default=False, help='Build with watchdog disabled.') g.add_option('--coverage', action='store_true', default=False, help='Configure coverage flags.') g.add_option('--Werror', action='store_true', default=False, help='build with -Werror.') g.add_option('--toolchain', action='store', default=None, help='Override default toolchain used for the board. Use "native" for using the host toolchain.') g.add_option('--disable-gccdeps', action='store_true', default=False, help='Disable the use of GCC dependencies output method and use waf default method.') g.add_option('--enable-asserts', action='store_true', default=False, help='enable OS level asserts.') g.add_option('--save-temps', action='store_true', default=False, help='save compiler temporary files.') g.add_option('--enable-malloc-guard', action='store_true', default=False, help='enable malloc guard regions.') g.add_option('--enable-stats', action='store_true', default=False, help='enable OS level thread statistics.') g.add_option('--bootloader', action='store_true', default=False, help='Configure for building a bootloader.') g.add_option('--signed-fw', action='store_true', default=False, help='Configure for signed firmware support.') g.add_option('--private-key', action='store', default=None, help='path to private key for signing firmware.') g.add_option('--no-autoconfig', dest='autoconfig', action='store_false', default=True, help='''Disable autoconfiguration feature. By default, the build system triggers a reconfiguration whenever it thinks it's necessary - this option disables that. ''') g.add_option('--no-submodule-update', dest='submodule_update', action='store_false', default=True, help='''Don't update git submodules. Useful for building with submodules at specific revisions. ''') g.add_option('--enable-header-checks', action='store_true', default=False, help="Enable checking of headers") g.add_option('--default-parameters', default=None, help='set default parameters to embed in the firmware') g.add_option('--enable-math-check-indexes', action='store_true', default=False, help="Enable checking of math indexes") g.add_option('--disable-scripting', action='store_true', default=False, help="Disable onboard scripting engine") g.add_option('--no-gcs', action='store_true', default=False, help="Disable GCS code") g.add_option('--scripting-checks', action='store_true', default=True, help="Enable runtime scripting sanity checks") g.add_option('--enable-onvif', action='store_true', default=False, help="Enables and sets up ONVIF camera control") g.add_option('--scripting-docs', action='store_true', default=False, help="enable generation of scripting documentation") g.add_option('--enable-opendroneid', action='store_true', default=False, help="Enables OpenDroneID") g.add_option('--enable-check-firmware', action='store_true', default=False, help="Enables firmware ID checking on boot") g.add_option('--enable-custom-controller', action='store_true', default=False, help="Enables custom controller") g.add_option('--enable-gps-logging', action='store_true', default=False, help="Enables GPS logging") g.add_option('--enable-dds', action='store_true', help="Enable the dds client to connect with ROS2/DDS" ) g = opt.ap_groups['linux'] linux_options = ('--prefix', '--destdir', '--bindir', '--libdir') for k in linux_options: option = opt.parser.get_option(k) if option: opt.parser.remove_option(k) g.add_option(option) g.add_option('--apstatedir', action='store', default='', help='''Where to save data like parameters, log and terrain. This is the --localstatedir + ArduPilots subdirectory [default: board-dependent, usually /var/lib/ardupilot]''') g.add_option('--rsync-dest', dest='rsync_dest', action='store', default='', help='''Destination for the rsync Waf command. It can be passed during configuration in order to save typing. ''') g.add_option('--enable-benchmarks', action='store_true', default=False, help='Enable benchmarks.') g.add_option('--enable-lttng', action='store_true', default=False, help="Enable lttng integration") g.add_option('--disable-libiio', action='store_true', default=False, help="Don't use libiio even if supported by board and dependencies available") g.add_option('--disable-tests', action='store_true', default=False, help="Disable compilation and test execution") g.add_option('--enable-sfml', action='store_true', default=False, help="Enable SFML graphics library") g.add_option('--enable-sfml-joystick', action='store_true', default=False, help="Enable SFML joystick input library") g.add_option('--enable-sfml-audio', action='store_true', default=False, help="Enable SFML audio library") g.add_option('--osd', action='store_true', default=False, help="Enable OSD support") g.add_option('--osd-fonts', action='store_true', default=False, help="Enable OSD support with fonts") g.add_option('--sitl-osd', action='store_true', default=False, help="Enable SITL OSD") g.add_option('--sitl-rgbled', action='store_true', default=False, help="Enable SITL RGBLed") g.add_option('--sitl-32bit', action='store_true', default=False, help="Enable SITL 32bit") g.add_option('--build-dates', action='store_true', default=False, help="Include build date in binaries. Appears in AUTOPILOT_VERSION.os_sw_version") g.add_option('--sitl-flash-storage', action='store_true', default=False, help='Use flash storage emulation.') g.add_option('--disable-ekf2', action='store_true', default=False, help='Configure without EKF2.') g.add_option('--disable-ekf3', action='store_true', default=False, help='Configure without EKF3.') g.add_option('--ekf-double', action='store_true', default=False, help='Configure EKF as double precision.') g.add_option('--ekf-single', action='store_true', default=False, help='Configure EKF as single precision.') g.add_option('--static', action='store_true', default=False, help='Force a static build') g.add_option('--postype-single', action='store_true', default=False, help='force single precision postype_t') g.add_option('--consistent-builds', action='store_true', default=False, help='force consistent build outputs for things like __LINE__') g.add_option('--extra-hwdef', action='store', default=None, help='Extra hwdef.dat file for custom build.') g.add_option('--assert-cc-version', default=None, help='fail configure if not using the specified gcc version') g.add_option('--num-aux-imus', type='int', default=0, help='number of auxiliary IMUs') g.add_option('--board-start-time', type='int', default=0, help='zero time on boot in microseconds') def _collect_autoconfig_files(cfg): for m in sys.modules.values(): paths = [] if hasattr(m, '__file__') and m.__file__ is not None: paths.append(m.__file__) elif hasattr(m, '__path__'): for p in m.__path__: if p is not None: paths.append(p) for p in paths: if p in cfg.files or not os.path.isfile(p): continue with open(p, 'rb') as f: cfg.hash = Utils.h_list((cfg.hash, f.read())) cfg.files.append(p) def configure(cfg): # we need to enable debug mode when building for gconv, and force it to sitl if cfg.options.board is None: cfg.options.board = 'sitl' boards_names = boards.get_boards_names() if not cfg.options.board in boards_names: for b in boards_names: if b.upper() == cfg.options.board.upper(): cfg.options.board = b break cfg.env.BOARD = cfg.options.board cfg.env.DEBUG = cfg.options.debug cfg.env.COVERAGE = cfg.options.coverage cfg.env.AUTOCONFIG = cfg.options.autoconfig _set_build_context_variant(cfg.env.BOARD) cfg.setenv(cfg.env.BOARD) if cfg.options.signed_fw: cfg.env.AP_SIGNED_FIRMWARE = True cfg.options.enable_check_firmware = True cfg.env.BOARD = cfg.options.board cfg.env.DEBUG = cfg.options.debug cfg.env.COVERAGE = cfg.options.coverage cfg.env.SITL32BIT = cfg.options.sitl_32bit cfg.env.ENABLE_ASSERTS = cfg.options.enable_asserts cfg.env.BOOTLOADER = cfg.options.bootloader cfg.env.ENABLE_MALLOC_GUARD = cfg.options.enable_malloc_guard cfg.env.ENABLE_STATS = cfg.options.enable_stats cfg.env.SAVE_TEMPS = cfg.options.save_temps cfg.env.HWDEF_EXTRA = cfg.options.extra_hwdef if cfg.env.HWDEF_EXTRA: cfg.env.HWDEF_EXTRA = os.path.abspath(cfg.env.HWDEF_EXTRA) cfg.env.OPTIONS = cfg.options.__dict__ # Allow to differentiate our build from the make build cfg.define('WAF_BUILD', 1) cfg.msg('Autoconfiguration', 'enabled' if cfg.options.autoconfig else 'disabled') if cfg.options.static: cfg.msg('Using static linking', 'yes', color='YELLOW') cfg.env.STATIC_LINKING = True if cfg.options.num_aux_imus > 0: cfg.define('INS_AUX_INSTANCES', cfg.options.num_aux_imus) if cfg.options.board_start_time != 0: cfg.define('AP_BOARD_START_TIME', cfg.options.board_start_time) # also in env for hrt.c cfg.env.AP_BOARD_START_TIME = cfg.options.board_start_time cfg.load('ap_library') cfg.msg('Setting board to', cfg.options.board) cfg.get_board().configure(cfg) cfg.load('clang_compilation_database') cfg.load('waf_unit_test') cfg.load('mavgen') if cfg.options.board in cfg.ap_periph_boards(): cfg.load('dronecangen') else: cfg.load('uavcangen') cfg.env.SUBMODULE_UPDATE = cfg.options.submodule_update cfg.start_msg('Source is git repository') if cfg.srcnode.find_node('.git'): cfg.end_msg('yes') else: cfg.end_msg('no') cfg.env.SUBMODULE_UPDATE = False cfg.msg('Update submodules', 'yes' if cfg.env.SUBMODULE_UPDATE else 'no') cfg.load('git_submodule') if cfg.options.enable_benchmarks: cfg.load('gbenchmark') cfg.load('gtest') cfg.load('static_linking') cfg.load('build_summary') cfg.start_msg('Benchmarks') if cfg.env.HAS_GBENCHMARK: cfg.end_msg('enabled') else: cfg.end_msg('disabled', color='YELLOW') cfg.start_msg('Unit tests') if cfg.env.HAS_GTEST: cfg.end_msg('enabled') else: cfg.end_msg('disabled', color='YELLOW') cfg.start_msg('Scripting') if cfg.options.disable_scripting: cfg.end_msg('disabled', color='YELLOW') else: cfg.end_msg('enabled') cfg.recurse('libraries/AP_Scripting') cfg.recurse('libraries/AP_GPS') cfg.start_msg('Scripting runtime checks') if cfg.options.scripting_checks: cfg.end_msg('enabled') else: cfg.end_msg('disabled', color='YELLOW') cfg.start_msg('Debug build') if cfg.env.DEBUG: cfg.end_msg('enabled') else: cfg.end_msg('disabled', color='YELLOW') cfg.start_msg('Coverage build') if cfg.env.COVERAGE: cfg.end_msg('enabled') else: cfg.end_msg('disabled', color='YELLOW') cfg.start_msg('SITL 32-bit build') if cfg.env.SITL32BIT: cfg.end_msg('enabled') else: cfg.end_msg('disabled', color='YELLOW') cfg.env.append_value('GIT_SUBMODULES', 'mavlink') cfg.env.prepend_value('INCLUDES', [ cfg.srcnode.abspath() + '/libraries/', ]) cfg.find_program('rsync', mandatory=False) if cfg.options.rsync_dest: cfg.msg('Setting rsync destination to', cfg.options.rsync_dest) cfg.env.RSYNC_DEST = cfg.options.rsync_dest if cfg.options.enable_header_checks: cfg.msg('Enabling header checks', cfg.options.enable_header_checks) cfg.env.ENABLE_HEADER_CHECKS = True else: cfg.env.ENABLE_HEADER_CHECKS = False # TODO: Investigate if code could be changed to not depend on the # source absolute path. cfg.env.prepend_value('DEFINES', [ 'SKETCHBOOK="' + cfg.srcnode.abspath() + '"', ]) # Always use system extensions cfg.define('_GNU_SOURCE', 1) cfg.write_config_header(os.path.join(cfg.variant, 'ap_config.h'), guard='_AP_CONFIG_H_') # add in generated flags cfg.env.CXXFLAGS += ['-include', 'ap_config.h'] _collect_autoconfig_files(cfg) def collect_dirs_to_recurse(bld, globs, **kw): dirs = [] globs = Utils.to_list(globs) if bld.bldnode.is_child_of(bld.srcnode): kw['excl'] = Utils.to_list(kw.get('excl', [])) kw['excl'].append(bld.bldnode.path_from(bld.srcnode)) for g in globs: for d in bld.srcnode.ant_glob(g + '/wscript', **kw): dirs.append(d.parent.relpath()) return dirs def list_boards(ctx): print(*boards.get_boards_names()) def list_ap_periph_boards(ctx): print(*boards.get_ap_periph_boards()) @conf def ap_periph_boards(ctx): return boards.get_ap_periph_boards() def generate_tasklist(ctx, do_print=True): boardlist = boards.get_boards_names() ap_periph_targets = boards.get_ap_periph_boards() tasks = [] with open(os.path.join(Context.top_dir, "tasklist.json"), "w") as tlist: for board in boardlist: task = {} task['configure'] = board if board in ap_periph_targets: if 'sitl' not in board: # we only support AP_Periph and bootloader builds task['targets'] = ['AP_Periph', 'bootloader'] else: task['targets'] = ['AP_Periph'] elif 'iofirmware' in board: task['targets'] = ['iofirmware', 'bootloader'] else: if 'sitl' in board or 'SITL' in board: task['targets'] = ['antennatracker', 'copter', 'heli', 'plane', 'rover', 'sub', 'replay'] elif 'linux' in board: task['targets'] = ['antennatracker', 'copter', 'heli', 'plane', 'rover', 'sub'] else: task['targets'] = ['antennatracker', 'copter', 'heli', 'plane', 'rover', 'sub', 'bootloader'] task['buildOptions'] = '--upload' tasks.append(task) tlist.write(json.dumps(tasks)) if do_print: print(json.dumps(tasks)) def board(ctx): env = ConfigSet.ConfigSet() try: p = os.path.join(Context.out_dir, Build.CACHE_DIR, Build.CACHE_SUFFIX) env.load(p) except: print('No board currently configured') return print('Board configured to: {}'.format(env.BOARD)) def _build_cmd_tweaks(bld): if bld.cmd == 'check-all': bld.options.all_tests = True bld.cmd = 'check' if bld.cmd == 'check': if not bld.env.HAS_GTEST: bld.fatal('check: gtest library is required') bld.options.clear_failed_tests = True def _build_dynamic_sources(bld): if not bld.env.BOOTLOADER: bld( features='mavgen', source='modules/mavlink/message_definitions/v1.0/all.xml', output_dir='libraries/GCS_MAVLink/include/mavlink/v2.0/', name='mavlink', # this below is not ideal, mavgen tool should set this, but that's not # currently possible export_includes=[ bld.bldnode.make_node('libraries').abspath(), bld.bldnode.make_node('libraries/GCS_MAVLink').abspath(), ], ) if (bld.get_board().with_can or bld.env.HAL_NUM_CAN_IFACES) and not bld.env.AP_PERIPH: bld( features='uavcangen', source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_UAVCAN/dsdl/*', dir=True, src=False), output_dir='modules/uavcan/libuavcan/include/dsdlc_generated', name='uavcan', export_includes=[ bld.bldnode.make_node('modules/uavcan/libuavcan/include/dsdlc_generated').abspath(), bld.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath() ] ) elif bld.env.AP_PERIPH: bld( features='dronecangen', source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_UAVCAN/dsdl/*', dir=True, src=False), output_dir='modules/DroneCAN/libcanard/dsdlc_generated/', name='dronecan', export_includes=[ bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/include').abspath(), bld.srcnode.find_dir('modules/DroneCAN/libcanard/').abspath(), ] ) if bld.env.ENABLE_DDS: bld.recurse("libraries/AP_DDS") def write_version_header(tsk): bld = tsk.generator.bld return bld.write_version_header(tsk.outputs[0].abspath()) bld( name='ap_version', target='ap_version.h', vars=['AP_VERSION_ITEMS'], rule=write_version_header, ) bld.env.prepend_value('INCLUDES', [ bld.bldnode.abspath(), ]) def _build_common_taskgens(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. bld.ap_stlib( name='ap', ap_vehicle='UNKNOWN', ap_libraries=bld.ap_get_all_libraries(), ) if bld.env.HAS_GTEST: bld.libgtest(cxxflags=['-include', 'ap_config.h']) if bld.env.HAS_GBENCHMARK: bld.libbenchmark() def _build_recursion(bld): common_dirs_patterns = [ # TODO: Currently each vehicle also generate its own copy of the # libraries. Fix this, or at least reduce the amount of # vehicle-dependent libraries. '*', 'Tools/*', 'libraries/*/examples/*', 'libraries/*/tests', 'libraries/*/utility/tests', 'libraries/*/benchmarks', ] common_dirs_excl = [ 'modules', 'libraries/AP_HAL_*', ] hal_dirs_patterns = [ 'libraries/%s/tests', 'libraries/%s/*/tests', 'libraries/%s/*/benchmarks', 'libraries/%s/examples/*', ] dirs_to_recurse = collect_dirs_to_recurse( bld, common_dirs_patterns, excl=common_dirs_excl, ) if bld.env.IOMCU_FW is not None: if bld.env.IOMCU_FW: dirs_to_recurse.append('libraries/AP_IOMCU/iofirmware') if bld.env.PERIPH_FW is not None: if bld.env.PERIPH_FW: dirs_to_recurse.append('Tools/AP_Periph') dirs_to_recurse.append('libraries/AP_Scripting') if bld.env.ENABLE_ONVIF: dirs_to_recurse.append('libraries/AP_ONVIF') for p in hal_dirs_patterns: dirs_to_recurse += collect_dirs_to_recurse( bld, [p % l for l in bld.env.AP_LIBRARIES], ) # NOTE: we need to sort to ensure the repeated sources get the # same index, and random ordering of the filesystem doesn't cause # recompilation. dirs_to_recurse.sort() for d in dirs_to_recurse: bld.recurse(d) def _build_post_funs(bld): if bld.cmd == 'check': bld.add_post_fun(ardupilotwaf.test_summary) else: bld.build_summary_post_fun() if bld.env.SUBMODULE_UPDATE: bld.git_submodule_post_fun() def _load_pre_build(bld): '''allow for a pre_build() function in build modules''' if bld.cmd == 'clean': return brd = bld.get_board() if getattr(brd, 'pre_build', None): brd.pre_build(bld) def build(bld): config_hash = Utils.h_file(bld.bldnode.make_node('ap_config.h').abspath()) bld.env.CCDEPS = config_hash bld.env.CXXDEPS = config_hash bld.post_mode = Build.POST_LAZY bld.load('ardupilotwaf') bld.env.AP_LIBRARIES_OBJECTS_KW.update( use=['mavlink'], cxxflags=['-include', 'ap_config.h'], ) _load_pre_build(bld) if bld.get_board().with_can: bld.env.AP_LIBRARIES_OBJECTS_KW['use'] += ['uavcan'] if bld.env.AP_PERIPH: bld.env.AP_LIBRARIES_OBJECTS_KW['use'] += ['dronecan'] _build_cmd_tweaks(bld) if bld.env.SUBMODULE_UPDATE: bld.add_group('git_submodules') for name in bld.env.GIT_SUBMODULES: bld.git_submodule(name) bld.add_group('dynamic_sources') _build_dynamic_sources(bld) bld.add_group('build') bld.get_board().build(bld) _build_common_taskgens(bld) _build_recursion(bld) _build_post_funs(bld) ardupilotwaf.build_command('check', program_group_list='all', doc='builds all programs and run tests', ) ardupilotwaf.build_command('check-all', program_group_list='all', doc='shortcut for `waf check --alltests`', ) for name in ('antennatracker', 'copter', 'heli', 'plane', 'rover', 'sub', 'blimp', 'bootloader','iofirmware','AP_Periph','replay'): ardupilotwaf.build_command(name, program_group_list=name, doc='builds %s programs' % name, ) for program_group in ('all', 'bin', 'tool', 'examples', 'tests', 'benchmarks'): ardupilotwaf.build_command(program_group, program_group_list=program_group, doc='builds all programs of %s group' % program_group, ) class LocalInstallContext(Build.InstallContext): """runs install using BLD/install as destdir, where BLD is the build variant directory""" cmd = 'localinstall' def __init__(self, **kw): super(LocalInstallContext, self).__init__(**kw) self.local_destdir = os.path.join(self.variant_dir, 'install') def execute(self): old_destdir = self.options.destdir self.options.destdir = self.local_destdir r = super(LocalInstallContext, self).execute() self.options.destdir = old_destdir return r class RsyncContext(LocalInstallContext): """runs localinstall and then rsyncs BLD/install with the target system""" cmd = 'rsync' def __init__(self, **kw): super(RsyncContext, self).__init__(**kw) self.add_pre_fun(RsyncContext.create_rsync_taskgen) def create_rsync_taskgen(self): if 'RSYNC' not in self.env: self.fatal('rsync program seems not to be installed, can\'t continue') self.add_group() tg = self( name='rsync', rule='${RSYNC} -a ${RSYNC_SRC}/ ${RSYNC_DEST}', always=True, ) tg.env.RSYNC_SRC = self.local_destdir if self.options.rsync_dest: self.env.RSYNC_DEST = self.options.rsync_dest if 'RSYNC_DEST' not in tg.env: self.fatal('Destination for rsync not defined. Either pass --rsync-dest here or during configuration.') tg.post()