mirror of https://github.com/ArduPilot/ardupilot
635 lines
18 KiB
Python
635 lines
18 KiB
Python
# encoding: utf-8
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from __future__ import print_function
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from waflib import Build, ConfigSet, Configure, Context, Errors, Logs, Options, Utils
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from waflib.Configure import conf
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from waflib.Scripting import run_command
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from waflib.TaskGen import before_method, feature
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import os.path, os
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from collections import OrderedDict
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import ap_persistent
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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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COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
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'AP_Airspeed',
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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_Camera',
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'AP_CANManager',
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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_KDECAN',
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'AP_Math',
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'AP_Mission',
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'AP_DAL',
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'AP_NavEKF',
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'AP_NavEKF2',
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'AP_NavEKF3',
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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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'AP_InternalError',
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'AP_Logger',
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'Filter',
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'GCS_MAVLink',
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'RC_Channel',
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'SRV_Channel',
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'StorageManager',
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'AP_Tuning',
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'AP_RPM',
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'AP_RSSI',
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'AP_Mount',
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'AP_Module',
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'AP_Button',
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'AP_ICEngine',
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'AP_Networking',
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'AP_Frsky_Telem',
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'AP_FlashStorage',
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'AP_Relay',
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'AP_ServoRelayEvents',
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'AP_Volz_Protocol',
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'AP_SBusOut',
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'AP_IOMCU',
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'AP_Parachute',
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'AP_PiccoloCAN',
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'AP_PiccoloCAN/piccolo_protocol',
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'AP_RAMTRON',
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'AP_RCProtocol',
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'AP_Radio',
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'AP_TempCalibration',
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'AP_VisualOdom',
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'AP_BLHeli',
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'AP_ROMFS',
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'AP_Proximity',
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'AP_Gripper',
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'AP_RTC',
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'AC_Sprayer',
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'AC_Fence',
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'AC_Avoidance',
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'AP_LandingGear',
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'AP_RobotisServo',
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'AP_NMEA_Output',
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'AP_Filesystem',
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'AP_ADSB',
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'AP_ADSB/sagetech-sdk',
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'AC_PID',
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'AP_SerialLED',
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'AP_EFI',
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'AP_Hott_Telem',
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'AP_ESC_Telem',
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'AP_Stats',
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'AP_GyroFFT',
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'AP_RCTelemetry',
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'AP_Generator',
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'AP_MSP',
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'AP_OLC',
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'AP_WheelEncoder',
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'AP_ExternalAHRS',
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'AP_VideoTX',
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'AP_FETtecOneWire',
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'AP_TemperatureSensor',
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'AP_Torqeedo',
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'AP_CustomRotations',
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'AP_AIS',
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'AP_OpenDroneID',
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'AP_CheckFirmware',
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'AP_ExternalControl',
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'AP_JSON',
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]
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def get_legacy_defines(sketch_name, bld):
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# If we are building heli, we adjust the build directory define so that
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# we do not need to actually split heli and copter directories
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if bld.cmd == 'heli' or 'heli' in bld.targets:
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return [
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'APM_BUILD_DIRECTORY=APM_BUILD_Heli',
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'SKETCH="' + sketch_name + '"',
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'SKETCHNAME="' + sketch_name + '"',
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]
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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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'AP_Scripting', # this gets explicitly included when it is needed and should otherwise never be globbed in
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'AP_DDS',
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]
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def ap_autoconfigure(execute_method):
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"""
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Decorator that enables context commands to run *configure* as needed.
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"""
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def execute(self):
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"""
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Wraps :py:func:`waflib.Context.Context.execute` on the context class
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"""
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if 'tools/' in self.targets:
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raise Errors.WafError('\"tools\" name has been replaced with \"tool\" for build please use that!')
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if not Configure.autoconfig:
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return execute_method(self)
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# Disable autoconfig so waf's version doesn't run (and don't end up on loop of bad configure)
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Configure.autoconfig = False
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if self.variant == '':
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raise Errors.WafError('The project is badly configured: run "waf configure" again!')
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env = ConfigSet.ConfigSet()
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do_config = False
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try:
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p = os.path.join(Context.out_dir, Build.CACHE_DIR, self.variant + Build.CACHE_SUFFIX)
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env.load(p)
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except EnvironmentError:
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raise Errors.WafError('The project is not configured for board {0}: run "waf configure --board {0} [...]" first!'.format(self.variant))
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lock_env = ConfigSet.ConfigSet()
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try:
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lock_env.load(os.path.join(Context.top_dir, Options.lockfile))
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except EnvironmentError:
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Logs.warn('Configuring the project')
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do_config = True
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else:
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if lock_env.run_dir != Context.run_dir:
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do_config = True
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else:
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h = 0
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for f in env.CONFIGURE_FILES:
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try:
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h = Utils.h_list((h, Utils.readf(f, 'rb')))
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except EnvironmentError:
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do_config = True
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break
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else:
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do_config = h != env.CONFIGURE_HASH
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if do_config:
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cmd = lock_env.config_cmd or 'configure'
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tmp = Options.options.__dict__
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if env.OPTIONS and sorted(env.OPTIONS.keys()) == sorted(tmp.keys()):
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Options.options.__dict__ = env.OPTIONS
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else:
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raise Errors.WafError('The project configure options have changed: run "waf configure" again!')
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try:
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run_command(cmd)
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finally:
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Options.options.__dict__ = tmp
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run_command(self.cmd)
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else:
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return execute_method(self)
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return execute
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def ap_configure_post_recurse():
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post_recurse_orig = Configure.ConfigurationContext.post_recurse
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def post_recurse(self, node):
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post_recurse_orig(self, node)
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self.all_envs[self.variant].CONFIGURE_FILES = self.files
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self.all_envs[self.variant].CONFIGURE_HASH = self.hash
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return post_recurse
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@conf
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def ap_get_all_libraries(bld):
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if bld.env.BOOTLOADER:
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# we don't need the full set of libraries for the bootloader build
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return ['AP_HAL']
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libraries = []
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for lib_node in bld.srcnode.ant_glob('libraries/*', dir=True, src=False):
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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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if name == 'SITL':
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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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libraries.append('AP_PiccoloCAN/piccolo_protocol')
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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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libraries = COMMON_VEHICLE_DEPENDENT_LIBRARIES
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if bld.env.DEST_BINFMT == 'pe':
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libraries += [
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'AC_Fence',
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'AC_AttitudeControl',
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]
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return libraries
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_grouped_programs = {}
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@conf
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def ap_program(bld,
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program_groups='bin',
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program_dir=None,
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use_legacy_defines=True,
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program_name=None,
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vehicle_binary=True,
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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, bld))
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kw['features'] = kw.get('features', []) + bld.env.AP_PROGRAM_FEATURES
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program_groups = Utils.to_list(program_groups)
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if not program_dir:
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program_dir = program_groups[0]
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name = os.path.join(program_dir, program_name)
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tg_constructor = bld.program
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if bld.env.AP_PROGRAM_AS_STLIB:
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tg_constructor = bld.stlib
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else:
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if bld.env.STATIC_LINKING:
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kw['features'].append('static_linking')
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tg = tg_constructor(
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target='#%s' % name,
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name=name,
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program_name=program_name,
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program_dir=program_dir,
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**kw
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)
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tg.env.vehicle_binary = vehicle_binary
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if 'use' in kw and bld.env.STATIC_LINKING:
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# ensure we link against vehicle library
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tg.env.STLIB += [kw['use']]
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for group in program_groups:
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_grouped_programs.setdefault(group, {}).update({tg.name : tg})
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return tg
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@conf
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def ap_example(bld, **kw):
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kw['program_groups'] = 'examples'
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ap_program(bld, use_legacy_defines=False, vehicle_binary=False, **kw)
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def unique_list(items):
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'''remove duplicate elements from a list while maintaining ordering'''
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return list(OrderedDict.fromkeys(items))
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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 'ap_vehicle' not in kw:
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bld.fatal('Missing ap_vehicle for ap_stlib')
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if 'ap_libraries' not in kw:
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bld.fatal('Missing ap_libraries for ap_stlib')
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kw['ap_libraries'] = unique_list(kw['ap_libraries'] + bld.env.AP_LIBRARIES)
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for l in kw['ap_libraries']:
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bld.ap_library(l, kw['ap_vehicle'])
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if 'dynamic_source' not in kw:
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kw['dynamic_source'] = 'modules/DroneCAN/libcanard/dsdlc_generated/src/**.c'
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kw['features'] = kw.get('features', []) + ['cxx', 'cxxstlib']
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kw['target'] = kw['name']
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kw['source'] = []
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bld.stlib(**kw)
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_created_program_dirs = set()
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@feature('cxxstlib', 'cxxprogram')
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@before_method('process_rule')
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def ap_create_program_dir(self):
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if not hasattr(self, 'program_dir'):
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return
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if self.program_dir in _created_program_dirs:
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return
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self.bld.bldnode.make_node(self.program_dir).mkdir()
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_created_program_dirs.add(self.program_dir)
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@feature('cxxstlib')
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@before_method('process_rule')
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def ap_stlib_target(self):
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if self.target.startswith('#'):
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self.target = self.target[1:]
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self.target = '#%s' % os.path.join('lib', self.target)
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@conf
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def ap_find_tests(bld, use=[], DOUBLE_PRECISION_SOURCES=[]):
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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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t = 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_groups='tests',
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use_legacy_defines=False,
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vehicle_binary=False,
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cxxflags=['-Wno-undef'],
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)
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filename = os.path.basename(f.abspath())
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if filename in DOUBLE_PRECISION_SOURCES:
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t.env.CXXFLAGS = t.env.CXXFLAGS[:]
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single_precision_option='-fsingle-precision-constant'
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if single_precision_option in t.env.CXXFLAGS:
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t.env.CXXFLAGS.remove(single_precision_option)
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single_precision_option='-cl-single-precision-constant'
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if single_precision_option in t.env.CXXFLAGS:
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t.env.CXXFLAGS.remove(single_precision_option)
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t.env.CXXFLAGS.append("-DALLOW_DOUBLE_MATH_FUNCTIONS")
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_versions = []
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@conf
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def ap_version_append_str(ctx, k, v):
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ctx.env['AP_VERSION_ITEMS'] += [(k, '"{}"'.format(os.environ.get(k, v)))]
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@conf
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def ap_version_append_int(ctx, k, v):
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ctx.env['AP_VERSION_ITEMS'] += [(k, '{}'.format(os.environ.get(k, v)))]
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@conf
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def write_version_header(ctx, tgt):
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with open(tgt, 'w') as f:
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print(
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'''// auto-generated header, do not edit
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#pragma once
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#ifndef FORCE_VERSION_H_INCLUDE
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#error ap_version.h should never be included directly. You probably want to include AP_Common/AP_FWVersion.h
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#endif
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''', file=f)
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for k, v in ctx.env['AP_VERSION_ITEMS']:
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print('#define {} {}'.format(k, v), file=f)
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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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to_remove = '-Werror=suggest-override'
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if to_remove in bld.env.CXXFLAGS:
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need_remove = True
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else:
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need_remove = False
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if need_remove:
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while to_remove in bld.env.CXXFLAGS:
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bld.env.CXXFLAGS.remove(to_remove)
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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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vehicle_binary=False,
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program_name=f.change_ext('').name,
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program_groups='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(Build.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:
|
|
groups = []
|
|
else:
|
|
groups = ['bin']
|
|
|
|
if 'all' in groups:
|
|
groups = list(_grouped_programs.keys())
|
|
groups.remove('bin') # Remove `bin` so as not to duplicate all items in bin
|
|
|
|
for group in groups:
|
|
if group not in _grouped_programs:
|
|
bld.fatal('Group %s not found' % group)
|
|
|
|
target_names = _grouped_programs[group].keys()
|
|
|
|
for name in target_names:
|
|
if bld.targets:
|
|
bld.targets += ',' + name
|
|
else:
|
|
bld.targets = name
|
|
|
|
def options(opt):
|
|
opt.ap_groups = {
|
|
'configure': opt.add_option_group('Ardupilot configure options'),
|
|
'linux': opt.add_option_group('Linux boards configure options'),
|
|
'build': opt.add_option_group('Ardupilot build options'),
|
|
'check': opt.add_option_group('Ardupilot check options'),
|
|
'clean': opt.add_option_group('Ardupilot clean options'),
|
|
}
|
|
|
|
g = opt.ap_groups['build']
|
|
|
|
g.add_option('--program-group',
|
|
action='append',
|
|
default=[],
|
|
help='''Select all programs that go in <PROGRAM_GROUP>/ for the build.
|
|
Example: `waf --program-group examples` builds all examples. The
|
|
special group "all" selects all programs.
|
|
''')
|
|
|
|
g.add_option('--upload',
|
|
action='store_true',
|
|
help='''Upload applicable targets to a connected device. Not all
|
|
platforms may support this. Example: `waf copter --upload` means "build
|
|
arducopter and upload it to my board".
|
|
''')
|
|
|
|
g.add_option('--upload-port',
|
|
action='store',
|
|
dest='upload_port',
|
|
default=None,
|
|
help='''Specify the port to be used with the --upload option. For example a port of /dev/ttyS10 indicates that serial port 10 shuld be used.
|
|
''')
|
|
|
|
g.add_option('--upload-force',
|
|
action='store_true',
|
|
help='''Override board type check and continue loading. Same as using uploader.py --force.
|
|
''')
|
|
|
|
g = opt.ap_groups['check']
|
|
|
|
g.add_option('--check-verbose',
|
|
action='store_true',
|
|
help='Output all test programs.')
|
|
|
|
g.add_option('--define',
|
|
action='append',
|
|
help='Add C++ define to build.')
|
|
|
|
g = opt.ap_groups['clean']
|
|
|
|
g.add_option('--clean-all-sigs',
|
|
action='store_true',
|
|
help='''Clean signatures for all tasks. By default, tasks that scan for
|
|
implicit dependencies (like the compilation tasks) keep the dependency
|
|
information across clean commands, so that that information is changed
|
|
only when really necessary. Also, some tasks that don't really produce
|
|
files persist their signature. This option avoids that behavior when
|
|
cleaning the build.
|
|
''')
|
|
|
|
g.add_option('--asan',
|
|
action='store_true',
|
|
help='''Build using the macOS clang Address Sanitizer. In order to run with
|
|
Address Sanitizer support llvm-symbolizer is required to be on the PATH.
|
|
This option is only supported on macOS versions of clang.
|
|
''')
|
|
|
|
g.add_option('--ubsan',
|
|
action='store_true',
|
|
help='''Build using the gcc undefined behaviour sanitizer''')
|
|
|
|
g.add_option('--ubsan-abort',
|
|
action='store_true',
|
|
help='''Build using the gcc undefined behaviour sanitizer and abort on error''')
|
|
|
|
def build(bld):
|
|
bld.add_pre_fun(_process_build_command)
|
|
bld.add_pre_fun(_select_programs_from_group)
|