mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
8655fdfd7f
With this change, there's no need to verify if the submodule is initialized, because the submodules in GIT_SUBMODULES are automatically initialized and updated if necessary before the build tasks are performed. One downside of this change is that Google Benchmark configuration is now done only during build. However that is minor, since now there are easy ways to separately build different targets and program groups, so that a fail in benchmark build doesn't really affect the other targets.
252 lines
7.0 KiB
Python
252 lines
7.0 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 Build, ConfigSet, Context, Utils
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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 Context.classes:
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if not issubclass(c, Build.BuildContext):
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continue
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c.variant = env.BOARD
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def options(opt):
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opt.load('ardupilotwaf')
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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('git_submodule')
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cfg.load('gbenchmark')
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cfg.load('gtest')
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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.start_msg('Unit tests')
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if cfg.env.HAS_GTEST:
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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.append_value('GIT_SUBMODULES', 'mavlink')
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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_cmd_tweaks(bld):
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if bld.cmd == 'check-all':
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bld.options.all_tests = True
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bld.cmd = 'check'
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if bld.cmd == 'check':
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bld.options.clear_failed_tests = True
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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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def _build_dynamic_sources(bld):
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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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def _build_common_taskgens(bld):
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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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bld.ap_stlib(
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name='ap',
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vehicle='UNKNOWN',
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libraries=bld.ap_get_all_libraries(),
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use='mavlink',
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)
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bld.libgtest()
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def _build_recursion(bld):
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common_dirs_patterns = [
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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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'*',
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'Tools/*',
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'libraries/*/examples/*',
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'**/tests',
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'**/benchmarks',
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]
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common_dirs_excl = [
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'modules',
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'libraries/AP_HAL_*',
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'libraries/SITL',
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]
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hal_dirs_patterns = [
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'libraries/%s/**/tests',
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'libraries/%s/**/benchmarks',
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'libraries/%s/examples/*',
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]
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dirs_to_recurse = collect_dirs_to_recurse(
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bld,
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common_dirs_patterns,
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excl=common_dirs_excl,
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)
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for p in hal_dirs_patterns:
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dirs_to_recurse += collect_dirs_to_recurse(
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bld,
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[p % l for l in bld.env.AP_LIBRARIES],
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)
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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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dirs_to_recurse.sort()
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for d in dirs_to_recurse:
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bld.recurse(d)
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def build(bld):
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bld.post_mode = Build.POST_LAZY
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bld.load('ardupilotwaf')
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_build_cmd_tweaks(bld)
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bld.add_group('git_submodules')
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for name in bld.env.GIT_SUBMODULES:
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bld.git_submodule(name)
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bld.add_group('dynamic_sources')
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_build_dynamic_sources(bld)
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bld.add_group('build')
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_build_common_taskgens(bld)
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_build_recursion(bld)
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ardupilotwaf.build_command('check',
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program_group_list='all',
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doc='builds all programs and run tests',
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)
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ardupilotwaf.build_command('check-all',
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program_group_list='all',
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doc='shortcut for `waf check --alltests`',
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)
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ardupilotwaf.build_command('copter',
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targets='bin/arducopter',
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doc='builds arducopter',
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)
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ardupilotwaf.build_command('plane',
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targets='bin/arduplane',
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doc='builds arduplane',
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)
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ardupilotwaf.build_command('rover',
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targets='bin/ardurover',
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doc='builds ardurover',
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)
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for program_group in ('all', 'bin', 'tools', 'examples', 'tests', 'benchmarks'):
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ardupilotwaf.build_command(program_group,
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program_group_list=program_group,
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doc='builds all programs of %s group' % program_group,
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)
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