ardupilot/Tools/ardupilotwaf/ardupilotwaf.py

#!/usr/bin/env python
# encoding: utf-8

from __future__ import print_function
from waflib import Logs, Options, Utils

SOURCE_EXTS = [
    '*.S',
    '*.c',
    '*.cpp',
]

UTILITY_SOURCE_EXTS = [ 'utility/' + glob for glob in SOURCE_EXTS ]

COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
    'AP_AccelCal',
    'AP_ADC',
    'AP_AHRS',
    'AP_Airspeed',
    'AP_Baro',
    'AP_BattMonitor',
    'AP_BoardConfig',
    'AP_Buffer',
    'AP_Common',
    'AP_Compass',
    'AP_Declination',
    'AP_GPS',
    'AP_HAL',
    'AP_HAL_Empty',
    'AP_InertialSensor',
    'AP_Math',
    'AP_Mission',
    'AP_NavEKF',
    'AP_NavEKF2',
    'AP_Notify',
    'AP_OpticalFlow',
    'AP_Param',
    'AP_Rally',
    'AP_RangeFinder',
    'AP_Scheduler',
    'AP_SerialManager',
    'AP_Terrain',
    'AP_Vehicle',
    'DataFlash',
    'Filter',
    'GCS_MAVLink',
    'RC_Channel',
    'SITL',
    'StorageManager',
]

def _get_legacy_defines(name):
    return [
        'APM_BUILD_DIRECTORY=' + name,
        'SKETCH="' + name + '"',
        'SKETCHNAME="' + name + '"',
    ]

IGNORED_AP_LIBRARIES = [
    'doc',
    'AP_Limits',
    'GCS_Console',
]

def get_all_libraries(bld):
    libraries = []
    for lib_node in bld.srcnode.ant_glob('libraries/*', dir=True):
        name = lib_node.name
        if name in IGNORED_AP_LIBRARIES:
            continue
        if name.startswith('AP_HAL'):
            continue
        libraries.append(name)
    libraries.extend(['AP_HAL', 'AP_HAL_Empty'])
    return libraries

def program(bld, blddestdir='bin',
            use_legacy_defines=True,
            program_name=None,
            **kw):
    if 'target' in kw:
        bld.fatal('Do not pass target for program')
    if 'defines' not in kw:
        kw['defines'] = []
    if 'source' not in kw:
        kw['source'] = bld.path.ant_glob(SOURCE_EXTS)

    if not program_name:
        program_name = bld.path.name

    if use_legacy_defines:
        kw['defines'].extend(_get_legacy_defines(program_name))

    kw['features'] = common_features(bld) + kw.get('features', [])

    target = blddestdir + '/' + program_name

    bld.program(
        target=target,
        name=target,
        **kw
    )

def example(bld, **kw):
    kw['blddestdir'] = 'examples'
    program(bld, **kw)

# NOTE: Code in libraries/ is compiled multiple times. So ensure each
# compilation is independent by providing different index for each.
# The need for this should disappear when libraries change to be
# independent of vehicle type.
LAST_IDX = 0

def _get_next_idx():
    global LAST_IDX
    LAST_IDX += 1
    return LAST_IDX

def common_features(bld):
    features = []
    if bld.env.STATIC_LINKING:
        features.append('static_linking')
    return features

def vehicle_stlib(bld, **kw):
    if 'name' not in kw:
        bld.fatal('Missing name for vehicle_stlib')
    if 'vehicle' not in kw:
        bld.fatal('Missing vehicle for vehicle_stlib')
    if 'libraries' not in kw:
        bld.fatal('Missing libraries for vehicle_stlib')

    sources = []
    libraries = kw['libraries'] + bld.env.AP_LIBRARIES

    for lib_name in libraries:
        lib_node = bld.srcnode.find_dir('libraries/' + lib_name)
        if lib_node is None:
            bld.fatal('Could not find library ' + lib_name)
        lib_sources = lib_node.ant_glob(SOURCE_EXTS + UTILITY_SOURCE_EXTS)
        sources.extend(lib_sources)

    kw['source'] = sources
    kw['target'] = kw['name']
    kw['defines'] = _get_legacy_defines(kw['vehicle'])
    kw['idx'] = _get_next_idx()

    bld.stlib(**kw)

def find_tests(bld, use=[]):
    if not bld.env.HAS_GTEST:
        return

    features = common_features(bld)
    if bld.cmd == 'check':
        features.append('test')

    use = Utils.to_list(use)
    use.append('GTEST')

    includes = [bld.srcnode.abspath() + '/tests/']

    for f in bld.path.ant_glob(incl='*.cpp'):
        program(
            bld,
            features=features,
            includes=includes,
            source=[f],
            use=use,
            program_name=f.change_ext('').name,
            blddestdir='tests',
            use_legacy_defines=False,
        )

def find_benchmarks(bld, use=[]):
    if not bld.env.HAS_GBENCHMARK:
        return

    includes = [bld.srcnode.abspath() + '/benchmarks/']

    for f in bld.path.ant_glob(incl='*.cpp'):
        program(
            bld,
            features=common_features(bld) + ['gbenchmark'],
            includes=includes,
            source=[f],
            use=use,
            program_name=f.change_ext('').name,
            blddestdir='benchmarks',
            use_legacy_defines=False,
        )

def test_summary(bld):
    from io import BytesIO
    import sys

    if not hasattr(bld, 'utest_results'):
        Logs.info('check: no test run')
        return

    fails = []

    for filename, exit_code, out, err in bld.utest_results:
        Logs.pprint('GREEN' if exit_code == 0 else 'YELLOW',
                    '    %s' % filename,
                    'returned %d' % exit_code)

        if exit_code != 0:
            fails.append(filename)
        elif not bld.options.check_verbose:
            continue

        if len(out):
            buf = BytesIO(out)
            for line in buf:
                print("    OUT: %s" % line.decode(), end='', file=sys.stderr)
            print()

        if len(err):
            buf = BytesIO(err)
            for line in buf:
                print("    ERR: %s" % line.decode(), end='', file=sys.stderr)
            print()

    if not fails:
        Logs.info('check: All %u tests passed!' % len(bld.utest_results))
        return

    Logs.error('check: %u of %u tests failed' %
               (len(fails), len(bld.utest_results)))

    for filename in fails:
        Logs.error('    %s' % filename)

def build_shortcut(targets=None):
    def build_fn(bld):
        if targets:
            if Options.options.targets:
                Options.options.targets += ',' + targets
            else:
                Options.options.targets = targets

        Options.commands = ['build'] + Options.commands

    return build_fn