ardupilot/wscript

194 lines
6.5 KiB
Python

#!/usr/bin/env python
# encoding: utf-8
from __future__ import print_function
import os.path
import sys
sys.path.insert(0, 'Tools/ardupilotwaf/')
import ardupilotwaf
import boards
from waflib import ConfigSet, Utils
from waflib.Build import BuildContext, CleanContext, InstallContext, UninstallContext
# 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 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.
def init(ctx):
env = ConfigSet.ConfigSet()
try:
env.load('build/c4che/_cache.py')
except:
return
# define the variant build commands according to the board
for c in (BuildContext, CleanContext, InstallContext, UninstallContext, CheckContext):
class context(c):
variant = env.BOARD
def options(opt):
boards_names = boards.get_boards_names()
opt.load('compiler_cxx compiler_c waf_unit_test python')
opt.add_option('--board',
action='store',
choices=boards_names,
default='sitl',
help='Target board to build, choices are %s' % boards_names)
g = opt.add_option_group('Check options')
g.add_option('--check-verbose',
action='store_true',
help='Output all test programs')
def configure(cfg):
cfg.env.BOARD = cfg.options.board
# use a different variant for each board
cfg.setenv(cfg.env.BOARD)
cfg.msg('Setting board to', cfg.options.board)
cfg.env.BOARD = cfg.options.board
board_dict = boards.BOARDS[cfg.env.BOARD].get_merged_dict()
# Always prepend so that arguments passed in the command line get
# the priority.
for k in board_dict:
val = board_dict[k]
# Dictionaries (like 'DEFINES') are converted to lists to
# conform to waf conventions.
if isinstance(val, dict):
for item in val.items():
cfg.env.prepend_value(k, '%s=%s' % item)
else:
cfg.env.prepend_value(k, val)
cfg.load('toolchain')
cfg.load('compiler_cxx compiler_c')
cfg.load('clang_compilation_database')
cfg.load('waf_unit_test')
cfg.load('mavgen')
cfg.load('gbenchmark')
cfg.load('gtest')
cfg.load('static_linking')
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.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, globs, **kw):
dirs = []
globs = Utils.to_list(globs)
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 build(bld):
bld.load('ardupilotwaf')
bld.load('gtest')
#generate mavlink headers
bld(
features='mavgen',
source='modules/mavlink/message_definitions/v1.0/ardupilotmega.xml',
output_dir='libraries/GCS_MAVLink/include/mavlink/v1.0/',
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(),
],
)
# 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',
vehicle='UNKNOWN',
libraries=bld.ap_get_all_libraries(),
use='mavlink',
)
# 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='libraries/AP_HAL_* libraries/SITL')
tests = collect_dirs_to_recurse(bld,
'**/tests',
excl='modules Tools libraries/AP_HAL_* libraries/SITL')
board_tests = ['libraries/%s/**/tests' % l for l in bld.env.AP_LIBRARIES]
tests.extend(collect_dirs_to_recurse(bld, board_tests))
benchmarks = collect_dirs_to_recurse(bld,
'**/benchmarks',
excl='modules Tools libraries/AP_HAL_* libraries/SITL')
board_benchmarks = ['libraries/%s/**/benchmarks' % l for l in bld.env.AP_LIBRARIES]
benchmarks.extend(collect_dirs_to_recurse(bld, board_benchmarks))
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 + tests + benchmarks:
bld.recurse(d)
if bld.cmd == 'check':
bld.options.clear_failed_tests = True
if not bld.env.HAS_GTEST:
bld.fatal('check: gtest library is required')
bld.add_post_fun(ardupilotwaf.test_summary)
class CheckContext(BuildContext):
'''executes tests after build'''
cmd = 'check'
copter = ardupilotwaf.build_shortcut(targets='bin/arducopter')
plane = ardupilotwaf.build_shortcut(targets='bin/arduplane')
rover = ardupilotwaf.build_shortcut(targets='bin/ardurover')