mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 00:48:30 -04:00
afcabda21c
Setting the "help" keyword argument may not fit in one line sometimes. This
patch adds the following convention to calls to add_option() in order to
address that issue in a better way:
1) The "help" keyword must always be the last argument to be passed.
2) If the help string is a literal string or a literal string with some
operation (e.g. "%" operator) and setting the "help" keyword in the code
doesn't fit a line (considering the limit of characters in a line), then
the help string must be a triple-quoted string. That has the advantage of
not having to have several "+" operations for long help strings. In that
case, the help message must start on the next line and the closing
triple-quotes must be on a separate line together with the closing
parenthesis.
The requirement (1) makes it easier to make the style exception in (2)
acceptable.
402 lines
10 KiB
Python
402 lines
10 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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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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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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'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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]
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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, 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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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,
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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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**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['cxxflags'] = kw.get('cxxflags', []) + ['-include', 'ap_config.h']
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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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for group in program_groups:
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_grouped_programs.setdefault(group, []).append(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, **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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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 '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 = unique_list(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['cxxflags'] = kw.get('cxxflags', []) + ['-include', 'ap_config.h']
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kw['features'] = kw.get('features', []) + bld.env.AP_STLIB_FEATURES
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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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_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=[]):
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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_groups='tests',
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use_legacy_defines=False,
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cxxflags=['-Wno-undef'],
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)
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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 write_version_header(ctx, tgt):
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with open(tgt, 'w') as f:
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print('#pragma once\n', 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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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_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(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='''
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Select all programs that go in <PROGRAM_GROUP>/ for the build. Example: `waf
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--program-group examples` builds all examples. The special group "all" selects
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all programs.
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''')
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g.add_option('--upload',
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action='store_true',
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help='''
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Upload applicable targets to a connected device. Not all platforms may support
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this. Example: `waf copter --upload` means "build arducopter and upload it to
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my board".
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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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