mirror of https://github.com/ArduPilot/ardupilot
194 lines
6.5 KiB
Python
194 lines
6.5 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('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.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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bld.load('ardupilotwaf')
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bld.load('gtest')
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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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bld.ap_stlib(
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name='ap',
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vehicle='UNKNOWN',
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libraries=bld.get_all_libraries(),
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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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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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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/ardurover')
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