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waf: readme: update instruction with basic usages 

Add a new "Basic use" section so people don't get overhauled with build
instructions. They can read about the more advanced commands once they
are able to use the basic ones.

While at it, update the instructions to use the waf wrapper.
mission-4.1.18
Lucas De Marchi 9 years ago
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  1. 229
      BUILD.md

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BUILD.md
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@ -1,66 +1,143 @@
# WAF Build # # Building ArduPilot #
Ardupilot is gradually moving from the make-based build system to Ardupilot is gradually moving from the make-based build system to
[Waf](https://waf.io/). [Waf](https://waf.io/). You can read the [Waf Book](https://waf.io/book/) if
you want to learn more about Waf.
To keep access to Waf convenient, use the following alias from the Waf should always be called from the ardupilot's root directory. Differently
root ardupilot directory: from the make-based build, with Waf there's a configure step to choose the
board to be used (default is `sitl`).
```bash ## Basic usage ##
alias waf="$PWD/modules/waf/waf-light"
```
You can also define the alias or create a function in your shell rc file (e.g. There are several commands in the build system for advanced usages, but here we
`~/.bashrc`). list some basic and more used commands as example.
You can read the [Waf Book](https://waf.io/book/) if you want to learn more * **Build ArduCopter**
about Waf.
## Calling waf ## Here we use minlure as an example of Linux board. Other boards can be used
and the next section shows how to get a list of available boards.
Waf should always be called from the ardupilot's root directory. ```sh
./waf configure --board minlure
./waf copter
```
Differently from the make-based build, with Waf there's a configure step The first command should be called only once or when you want to change a
to choose the board to be used (default is `sitl`): configuration option. One configuration often used is the `--board` option to
switch from one board to another one. For example we could switch to
Pixhawk and build again:
```bash ```sh
# Configure the Linux board ./waf configure --board px4-v2
waf configure --board=linux ./waf copter
``` ```
Waf build system is composed of commands. For example, the above command * **List available boards**
(`configure`) is for configuring the build. Consequently, in order to build, a
"build" command is issued, thus `waf build`. That is the default command, so
calling just `waf` is enough:
```bash
# Build programs from bin group
waf
# Waf also accepts '-j' option to parallelize the build. It's possible to get a list of supported boards on ArduPilot with the command
waf -j8 below
```
To clean things up, use the `clean` or `distclean` command: ```sh
./waf list_boards
```bash ```
# Clean the build products, but keep configure information
waf clean
# Clean everything, will need to call configure again * **Clean the build**
waf distclean
``` Commands `clean` and `distclean` can be used to clean the objects produced by
the build. The first keeps the `configure` information, cleaning only the
objects for the current board. The second cleans everything for every board,
including the saved `configure` information.
Cleaning the build is very often not necessary and discouraged. We do
incremental builds reducing the build time by orders of magnitude.
* **Upload or install**
Build commands have a `--upload` option in order to upload the binary built
to a connected board. This option is supported by Pixhawk. The command below
uses the `--targets` option that is explained in the next item.
```sh
./waf --targets bin/arducopter-quad --upload
```
Currently Linux boards don't support the upload option, but there's an
install command, which will install to a certain directory. This can be
used by distributors to create .deb, .rpm or other package types:
```sh
./waf copter
DESTDIR=/my/temporary/location ./waf install
```
* **Use different targets**
The build commands in the items above use `copter` as argument. This
builds all binaries that fall under the "copter" group. See the
section [Advanced usage](#advanced-usage) below for more details regarding
groups.
This shows a list of all possible targets:
```
./waf list
```
For example, to build only a single binary:
```
# Quad frame of ArduCopter
./waf --targets bin/arducopter-quad
Using git to clean the files also work fine. # unit test of our math functions
./waf --targets tests/test_math
```
To list the task generator names that can be used for the option `--targets`, * **Other options**
use the `list`command:
It's possible to see all available commands and options:
```
./waf -h
```
Also, take a look on the [Advanced section](#advanced-usage) below.
## Advanced usage ##
This section contains some explanations on how the Waf build system works
and how you can use more advanced features.
Waf build system is composed of commands. For example, the command below
(`configure`) is for configuring the build with all the options used by this
particular build.
```bash ```bash
waf list # Configure the Linux board
./waf configure --board=linux
```
Consequently, in order to build, a "build" command is issued, thus `waf build`.
That is the default command, so calling just `waf` is enough:
```bash
# Build programs from bin group
./waf
# Waf also accepts '-j' option to parallelize the build.
./waf -j8
``` ```
## Program groups ## By default waf tries to parallelize the build automatically to all processors
so the `-j` option is usually not needed, unless you are using icecc (thus
you want a bigger value) or you don't want to stress your machine with
the build.
### Program groups ###
Program groups are used to represent a class of programs. They can be used to Program groups are used to represent a class of programs. They can be used to
build all programs of a certain class without having to specify each program. build all programs of a certain class without having to specify each program.
@ -70,7 +147,7 @@ to one main group.
There's a special group, called "all", that comprises all programs. There's a special group, called "all", that comprises all programs.
### Main groups ### #### Main groups ####
The main groups form a partition of all programs. Besides separating the The main groups form a partition of all programs. Besides separating the
programs logically, they also define where they are built. programs logically, they also define where they are built.
@ -94,20 +171,20 @@ main group the program belongs to. For example, for a linux build, arduplane,
which belongs to the main group "bin", will be located at which belongs to the main group "bin", will be located at
`build/linux/bin/arduplane`. `build/linux/bin/arduplane`.
### Main products groups ### #### Main product groups ####
Those are groups for ardupilot's main products. They contain programs for the Those are groups for ardupilot's main products. They contain programs for the
product they represent. Currently only the "copter" group has more than one product they represent. Currently only the "copter" group has more than one
program - one for each frame type. program - one for each frame type.
The main products groups are: The main product groups are:
- antennatracker - antennatracker
- copter - copter
- plane - plane
- rover - rover
## Building a program group ## #### Building a program group ####
Ardupilot adds to waf an option called `--program-group`, which receives as Ardupilot adds to waf an option called `--program-group`, which receives as
argument the group you want it to build. For a build command, if you don't pass argument the group you want it to build. For a build command, if you don't pass
@ -118,60 +195,46 @@ Examples:
```bash ```bash
# Group bin is the default one # Group bin is the default one
waf ./waf
# Build all vehicles and Antenna Tracker # Build all vehicles and Antenna Tracker
waf --program-group bin ./waf --program-group bin
# Build all benchmarks and tests # Build all benchmarks and tests
waf --program-group benchmarks --program-group tests ./waf --program-group benchmarks --program-group tests
``` ```
### Shortcut for program groups ### #### Shortcut for program groups ####
For less typing, you can use the group name as the command to waf. Examples: For less typing, you can use the group name as the command to waf. Examples:
```bash ```bash
# Build all vehicles and Antenna Tracker # Build all vehicles and Antenna Tracker
waf bin ./waf bin
# Build all examples # Build all examples
waf examples ./waf examples
# Build arducopter binaries # Build arducopter binaries
waf copter ./waf copter
``` ```
## Building a specific program ## ### Building a specific program ###
In order to build a specific program, you just need to pass its path relative In order to build a specific program, you just need to pass its path relative
to `build/<board>/` to the option `--targets`. Example: to `build/<board>/` to the option `--targets`. Example:
```bash ```bash
# Build arducopter for quad frame # Build arducopter for quad frame
waf --targets bin/arducopter-quad ./waf --targets bin/arducopter-quad
# Build vectors unit test # Build vectors unit test
waf --targets tests/test_vectors ./waf --targets tests/test_vectors
```
## Uploading ##
There's a build option `--upload` that can be used to tell the build that it
must upload the program(s) addressed by `--targets` arguments. The
implementation is board-specific and not all boards may have that implemented.
Example:
```bash
# PX4 supports uploading the program through a USB connection
waf configure --board px4-v2
# Build arducopter-quad and upload it to my board
waf --targets bin/arducopter-quad --upload
``` ```
## Checking ## ### Checking ###
The command `check` builds all programs and then run the relevant tests. In The command `check` builds all programs and then executes the relevant tests.
that context, a relevant test is a program from the group "tests" that makes In that context, a relevant test is a program from the group "tests" that makes
one of the following statements true: one of the following statements true:
- it's the first time the test is built since the last cleanup or when the - it's the first time the test is built since the last cleanup or when the
@ -188,28 +251,38 @@ Examples:
```bash ```bash
# Build everything and run relevant tests # Build everything and run relevant tests
waf check ./waf check
# Build everything and run all tests # Build everything and run all tests
waf check --alltests ./waf check --alltests
# Build everything and run all tests # Build everything and run all tests
waf check-all ./waf check-all
``` ```
## Debugging ## ### Debugging ###
It's possible to pass the option `--debug` to the `configure` command. That It's possible to pass the option `--debug` to the `configure` command. That
will set compiler flags to store debugging information in the binaries so that will set compiler flags to store debugging information in the binaries so that
you can use them with `gdb`, for example. The build directory will be set to you can use them with `gdb`, for example. The build directory will be set to
`build/<board>-debug/`. That option might come handy when using SITL. `build/<board>-debug/`. That option might come handy when using SITL.
## Make wrapper ## ### Build-system wrappers ###
The `waf` binary on root tree is actually a wrapper to the real `waf` that's
maintained in its own submodule. It's possible to call the latter directly via
`./modules/waf/waf-light` or to use an alias if you prefer typing `waf` over
`./waf`.
```sh
alias waf="<ardupilot-directory>/modules/waf/waf-light"
```
There's also a make wrapper called `Makefile.waf`. You can use There's also a make wrapper called `Makefile.waf`. You can use
`make -f Makefile.waf help` for instructions on how to use it. `make -f Makefile.waf help` for instructions on how to use it.
## Command line help ## ### Command line help ###
You can use `waf --help` to see information about commands and options built-in You can use `waf --help` to see information about commands and options built-in
to waf as well as some quick help on those added by ardupilot. to waf as well as some quick help on those added by ardupilot.

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