mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-07 00:13:59 -04:00
60abd4ff2f
waf's terminology might be a bit confusing regarding the word 'target'. As an attribute for a task generator, it means the paths of the files supposed to be built. As a command line option (--target), it means the list of names of the task generators to be used in the build. Before this commit, only vehicles programs had their task generators' target parameter value different from the name parameter. Now, there's no distinction between those two parameters for the case of programs.
192 lines
6.4 KiB
Python
192 lines
6.4 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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import os.path
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import sys
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sys.path.insert(0, 'Tools/ardupilotwaf/')
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import ardupilotwaf
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import boards
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from waflib import ConfigSet, Utils
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from waflib.Build import BuildContext, CleanContext, InstallContext, UninstallContext
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# TODO: implement a command 'waf help' that shows the basic tasks a
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# developer might want to do: e.g. how to configure a board, compile a
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# vehicle, compile all the examples, add a new example. Should fit in
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# less than a terminal screen, ideally commands should be copy
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# pastable. Add the 'export waf="$PWD/waf"' trick to be copy-pastable
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# as well.
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# TODO: replace defines with the use of a generated config.h file
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# this makes recompilation at least when defines change. which might
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# be sufficient.
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# TODO: set git version as part of build preparation.
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def init(ctx):
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env = ConfigSet.ConfigSet()
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try:
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env.load('build/c4che/_cache.py')
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except:
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return
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# define the variant build commands according to the board
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for c in (BuildContext, CleanContext, InstallContext, UninstallContext, CheckContext):
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class context(c):
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variant = env.BOARD
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def options(opt):
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boards_names = boards.get_boards_names()
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opt.load('compiler_cxx compiler_c waf_unit_test python')
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opt.add_option('--board',
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action='store',
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choices=boards_names,
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default='sitl',
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help='Target board to build, choices are %s' % boards_names)
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g = opt.add_option_group('Check options')
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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 configure(cfg):
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cfg.env.BOARD = cfg.options.board
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# use a different variant for each board
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cfg.setenv(cfg.env.BOARD)
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cfg.msg('Setting board to', cfg.options.board)
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cfg.env.BOARD = cfg.options.board
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board_dict = boards.BOARDS[cfg.env.BOARD].get_merged_dict()
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# Always prepend so that arguments passed in the command line get
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# the priority.
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for k in board_dict:
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val = board_dict[k]
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# Dictionaries (like 'DEFINES') are converted to lists to
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# conform to waf conventions.
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if isinstance(val, dict):
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for item in val.items():
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cfg.env.prepend_value(k, '%s=%s' % item)
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else:
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cfg.env.prepend_value(k, val)
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cfg.load('toolchain')
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cfg.load('compiler_cxx compiler_c')
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cfg.load('clang_compilation_database')
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cfg.load('waf_unit_test')
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cfg.load('mavgen')
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cfg.load('gbenchmark')
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cfg.load('static_linking')
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cfg.start_msg('Benchmarks')
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if cfg.env.HAS_GBENCHMARK:
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cfg.end_msg('enabled')
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else:
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cfg.end_msg('disabled', color='YELLOW')
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cfg.env.HAS_GTEST = cfg.check_cxx(
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lib='gtest',
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mandatory=False,
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uselib_store='GTEST',
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errmsg='not found, unit tests disabled',
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)
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cfg.env.prepend_value('INCLUDES', [
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cfg.srcnode.abspath() + '/libraries/',
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])
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# TODO: Investigate if code could be changed to not depend on the
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# source absolute path.
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cfg.env.prepend_value('DEFINES', [
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'SKETCHBOOK="' + cfg.srcnode.abspath() + '"',
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])
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def collect_dirs_to_recurse(bld, globs, **kw):
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dirs = []
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globs = Utils.to_list(globs)
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for g in globs:
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for d in bld.srcnode.ant_glob(g + '/wscript', **kw):
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dirs.append(d.parent.relpath())
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return dirs
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def list_boards(ctx):
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print(*boards.get_boards_names())
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def build(bld):
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#generate mavlink headers
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bld(
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features='mavgen',
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source='modules/mavlink/message_definitions/v1.0/ardupilotmega.xml',
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output_dir='libraries/GCS_MAVLink/include/mavlink/v1.0/',
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name='mavlink',
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# this below is not ideal, mavgen tool should set this, but that's not
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# currently possible
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export_includes=[
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bld.bldnode.make_node('libraries').abspath(),
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bld.bldnode.make_node('libraries/GCS_MAVLink').abspath(),
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],
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)
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# NOTE: Static library with vehicle set to UNKNOWN, shared by all
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# the tools and examples. This is the first step until the
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# dependency on the vehicles is reduced. Later we may consider
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# split into smaller pieces with well defined boundaries.
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ardupilotwaf.vehicle_stlib(
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bld,
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name='ap',
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vehicle='UNKNOWN',
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libraries=ardupilotwaf.get_all_libraries(bld),
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use='mavlink',
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)
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# TODO: Currently each vehicle also generate its own copy of the
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# libraries. Fix this, or at least reduce the amount of
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# vehicle-dependent libraries.
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vehicles = collect_dirs_to_recurse(bld, '*')
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# NOTE: we need to sort to ensure the repeated sources get the
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# same index, and random ordering of the filesystem doesn't cause
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# recompilation.
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vehicles.sort()
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tools = collect_dirs_to_recurse(bld, 'Tools/*')
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examples = collect_dirs_to_recurse(bld,
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'libraries/*/examples/*',
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excl='libraries/AP_HAL_* libraries/SITL')
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tests = collect_dirs_to_recurse(bld,
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'**/tests',
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excl='modules Tools libraries/AP_HAL_* libraries/SITL')
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board_tests = ['libraries/%s/**/tests' % l for l in bld.env.AP_LIBRARIES]
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tests.extend(collect_dirs_to_recurse(bld, board_tests))
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benchmarks = collect_dirs_to_recurse(bld,
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'**/benchmarks',
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excl='modules Tools libraries/AP_HAL_* libraries/SITL')
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board_benchmarks = ['libraries/%s/**/benchmarks' % l for l in bld.env.AP_LIBRARIES]
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benchmarks.extend(collect_dirs_to_recurse(bld, board_benchmarks))
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hal_examples = []
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for l in bld.env.AP_LIBRARIES:
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hal_examples.extend(collect_dirs_to_recurse(bld, 'libraries/' + l + '/examples/*'))
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for d in vehicles + tools + examples + hal_examples + tests + benchmarks:
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bld.recurse(d)
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if bld.cmd == 'check':
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if not bld.env.HAS_GTEST:
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bld.fatal('check: gtest library is required')
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bld.add_post_fun(ardupilotwaf.test_summary)
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class CheckContext(BuildContext):
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'''executes tests after build'''
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cmd = 'check'
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copter = ardupilotwaf.build_shortcut(targets='bin/ArduCopter')
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plane = ardupilotwaf.build_shortcut(targets='bin/ArduPlane')
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rover = ardupilotwaf.build_shortcut(targets='bin/APMrover2')
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