ardupilot/Tools/ardupilotwaf/ardupilotwaf.py

216 lines
5.2 KiB
Python

#!/usr/bin/env python
# encoding: utf-8
from __future__ import print_function
from waflib import Logs, Utils
SOURCE_EXTS = [
'*.S',
'*.c',
'*.cpp',
]
UTILITY_SOURCE_EXTS = [ 'utility/' + glob for glob in SOURCE_EXTS ]
# TODO: Once HAL patches get in, need to filter out the HAL based
# on the bld.env.BOARD.
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, **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)
name = bld.path.name
kw['defines'].extend(_get_legacy_defines(name))
target = bld.bldnode.make_node(name + '.' + bld.env.BOARD)
bld.program(
target=target,
name=name,
**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 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)
name = kw['name']
vehicle = kw['vehicle']
bld.stlib(
source=sources,
target=name,
defines=_get_legacy_defines(vehicle),
idx=_get_next_idx(),
)
def find_tests(bld, use=[]):
if not bld.env.HAS_GTEST:
return
features = ''
if bld.cmd == 'check':
features='test'
use = Utils.to_list(use)
use.append('GTEST')
includes = [bld.srcnode.abspath() + '/tests/']
for f in bld.path.ant_glob(incl='*.cpp'):
target = f.change_ext('.' + bld.env.BOARD)
bld.program(
features=features,
target=target,
includes=includes,
source=[f],
use=use,
)
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'):
target = f.change_ext('.' + bld.env.BOARD)
bld.program(
features=['gbenchmark'],
target=target,
includes=includes,
source=[f],
use=use,
)
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)