mirror of https://github.com/ArduPilot/ardupilot
328 lines
8.2 KiB
Python
328 lines
8.2 KiB
Python
#!/usr/bin/env python
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# encoding: utf-8
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from __future__ import print_function
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from waflib import Logs, Options, Utils
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from waflib.Build import BuildContext
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from waflib.Configure import conf
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import os.path
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SOURCE_EXTS = [
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'*.S',
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'*.c',
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'*.cpp',
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]
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UTILITY_SOURCE_EXTS = [ 'utility/' + glob for glob in SOURCE_EXTS ]
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COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
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'AP_AccelCal',
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'AP_ADC',
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'AP_AHRS',
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'AP_Airspeed',
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'AP_Baro',
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'AP_BattMonitor',
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'AP_BoardConfig',
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'AP_Buffer',
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'AP_Common',
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'AP_Compass',
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'AP_Declination',
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'AP_GPS',
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'AP_HAL',
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'AP_HAL_Empty',
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'AP_InertialSensor',
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'AP_Math',
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'AP_Mission',
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'AP_NavEKF',
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'AP_NavEKF2',
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'AP_Notify',
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'AP_OpticalFlow',
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'AP_Param',
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'AP_Rally',
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'AP_RangeFinder',
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'AP_Scheduler',
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'AP_SerialManager',
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'AP_Terrain',
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'AP_Vehicle',
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'DataFlash',
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'Filter',
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'GCS_MAVLink',
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'RC_Channel',
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'SITL',
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'StorageManager',
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]
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def _get_legacy_defines(sketch_name):
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return [
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'APM_BUILD_DIRECTORY=APM_BUILD_' + sketch_name,
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'SKETCH="' + sketch_name + '"',
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'SKETCHNAME="' + sketch_name + '"',
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]
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IGNORED_AP_LIBRARIES = [
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'doc',
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'GCS_Console',
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]
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@conf
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def ap_get_all_libraries(bld):
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libraries = []
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for lib_node in bld.srcnode.ant_glob('libraries/*', dir=True):
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name = lib_node.name
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if name in IGNORED_AP_LIBRARIES:
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continue
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if name.startswith('AP_HAL'):
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continue
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libraries.append(name)
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libraries.extend(['AP_HAL', 'AP_HAL_Empty'])
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return libraries
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@conf
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def ap_common_vehicle_libraries(bld):
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return COMMON_VEHICLE_DEPENDENT_LIBRARIES
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_grouped_programs = {}
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@conf
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def ap_program(bld, program_group='bin',
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use_legacy_defines=True,
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program_name=None,
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**kw):
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if 'target' in kw:
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bld.fatal('Do not pass target for program')
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if 'defines' not in kw:
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kw['defines'] = []
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if 'source' not in kw:
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kw['source'] = bld.path.ant_glob(SOURCE_EXTS)
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if not program_name:
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program_name = bld.path.name
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if use_legacy_defines:
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kw['defines'].extend(_get_legacy_defines(bld.path.name))
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kw['features'] = kw.get('features', [])
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if bld.env.STATIC_LINKING:
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kw['features'].append('static_linking')
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name = os.path.join(program_group, program_name)
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tg = bld.program(
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target='#%s' % name,
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name=name,
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**kw
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)
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_grouped_programs.setdefault(program_group, []).append(tg)
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@conf
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def ap_example(bld, **kw):
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kw['program_group'] = 'examples'
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ap_program(bld, **kw)
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# NOTE: Code in libraries/ is compiled multiple times. So ensure each
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# compilation is independent by providing different index for each.
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# The need for this should disappear when libraries change to be
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# independent of vehicle type.
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LAST_IDX = 0
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def _get_next_idx():
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global LAST_IDX
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LAST_IDX += 1
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return LAST_IDX
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@conf
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def ap_stlib(bld, **kw):
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if 'name' not in kw:
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bld.fatal('Missing name for ap_stlib')
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if 'vehicle' not in kw:
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bld.fatal('Missing vehicle for ap_stlib')
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if 'libraries' not in kw:
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bld.fatal('Missing libraries for ap_stlib')
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sources = []
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libraries = kw['libraries'] + bld.env.AP_LIBRARIES
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for lib_name in libraries:
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lib_node = bld.srcnode.find_dir('libraries/' + lib_name)
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if lib_node is None:
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bld.fatal('Could not find library ' + lib_name)
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lib_sources = lib_node.ant_glob(SOURCE_EXTS + UTILITY_SOURCE_EXTS)
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sources.extend(lib_sources)
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kw['source'] = sources
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kw['target'] = kw['name']
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kw['defines'] = _get_legacy_defines(kw['vehicle'])
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kw['idx'] = _get_next_idx()
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bld.stlib(**kw)
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@conf
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def ap_find_tests(bld, use=[]):
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if not bld.env.HAS_GTEST:
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return
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features = []
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if bld.cmd == 'check':
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features.append('test')
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use = Utils.to_list(use)
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use.append('GTEST')
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includes = [bld.srcnode.abspath() + '/tests/']
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for f in bld.path.ant_glob(incl='*.cpp'):
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ap_program(
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bld,
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features=features,
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includes=includes,
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source=[f],
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use=use,
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program_name=f.change_ext('').name,
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program_group='tests',
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use_legacy_defines=False,
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cxxflags=['-Wno-undef'],
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)
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@conf
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def ap_find_benchmarks(bld, use=[]):
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if not bld.env.HAS_GBENCHMARK:
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return
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includes = [bld.srcnode.abspath() + '/benchmarks/']
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for f in bld.path.ant_glob(incl='*.cpp'):
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ap_program(
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bld,
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features=['gbenchmark'],
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includes=includes,
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source=[f],
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use=use,
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program_name=f.change_ext('').name,
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program_group='benchmarks',
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use_legacy_defines=False,
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)
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def test_summary(bld):
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from io import BytesIO
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import sys
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if not hasattr(bld, 'utest_results'):
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Logs.info('check: no test run')
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return
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fails = []
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for filename, exit_code, out, err in bld.utest_results:
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Logs.pprint('GREEN' if exit_code == 0 else 'YELLOW',
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' %s' % filename,
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'returned %d' % exit_code)
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if exit_code != 0:
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fails.append(filename)
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elif not bld.options.check_verbose:
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continue
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if len(out):
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buf = BytesIO(out)
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for line in buf:
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print(" OUT: %s" % line.decode(), end='', file=sys.stderr)
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print()
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if len(err):
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buf = BytesIO(err)
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for line in buf:
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print(" ERR: %s" % line.decode(), end='', file=sys.stderr)
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print()
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if not fails:
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Logs.info('check: All %u tests passed!' % len(bld.utest_results))
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return
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Logs.error('check: %u of %u tests failed' %
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(len(fails), len(bld.utest_results)))
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for filename in fails:
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Logs.error(' %s' % filename)
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bld.fatal('check: some tests failed')
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_build_commands = {}
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def _process_build_command(bld):
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if bld.cmd not in _build_commands:
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return
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params = _build_commands[bld.cmd]
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targets = params['targets']
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if targets:
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if bld.targets:
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bld.targets += ',' + targets
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else:
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bld.targets = targets
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program_group_list = Utils.to_list(params['program_group_list'])
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bld.options.program_group.extend(program_group_list)
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def build_command(name,
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targets=None,
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program_group_list=[],
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doc='build shortcut'):
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_build_commands[name] = dict(
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targets=targets,
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program_group_list=program_group_list,
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)
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class context_class(BuildContext):
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cmd = name
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context_class.__doc__ = doc
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def _select_programs_from_group(bld):
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groups = bld.options.program_group
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if not groups:
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if bld.targets:
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groups = []
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else:
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groups = ['bin']
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if 'all' in groups:
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groups = _grouped_programs.keys()
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for group in groups:
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if group not in _grouped_programs:
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bld.fatal('Group %s not found' % group)
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tg = _grouped_programs[group][0]
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if bld.targets:
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bld.targets += ',' + tg.name
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else:
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bld.targets = tg.name
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for tg in _grouped_programs[group][1:]:
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bld.targets += ',' + tg.name
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def options(opt):
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g = opt.ap_groups['build']
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g.add_option('--program-group',
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action='append',
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default=[],
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help='Select all programs that go in <PROGRAM_GROUP>/ for the ' +
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'build. Example: `waf --program-group examples` builds all ' +
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'examples. The special group "all" selects all programs.',
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)
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g = opt.ap_groups['check']
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g.add_option('--check-verbose',
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action='store_true',
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help='Output all test programs')
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def build(bld):
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global LAST_IDX
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# FIXME: This is done to prevent same task generators being created with
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# different idx when build() is called multiple times (e.g. waf bin tests).
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# Ideally, task generators should be created just once.
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LAST_IDX = 0
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bld.add_pre_fun(_process_build_command)
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bld.add_pre_fun(_select_programs_from_group)
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