That param defines where the binary will be saved in the build directory,
namely `build/<board>/<blddestdir>`. The default is 'bin', for binaries that are
to be shipped for installation.
The configure function was reorganized for:
- removing variables that are not used
- making it more general, i.e., not relying in ardupilotmega.xml, so that this
tool can be used for generating other headers in the future
The option target for the waf task generator is meant for actual files that are
going to be build. Since our target files are dynamic, let's change the code to
use a new parameter output_dir instead.
By setting env.env during configure time makes changes be for the whole build
system scope and persistently, which may cause problems for other tasks and
tools.
Since the output list for mavgen is dynamic, in the sense that we don't have
the information of what files will be generated by the task, that is not
captured by default by waf and post_run can't save the task signature for those
files. Although that doesn't cause build errors, the build time increase
significantly for when tasks that use the generate files are included (for
example, vehicles builds).
This patch search for the headers that were created by the task and set the
task signature for them. Using ant_glob isn't a very good solution, since there
may be stray file in the local build directory, but let's use that for now
until we find a better approach.
There is an issue with gbenchmark and waf on Ubuntu (15.04 and 15.10, ). Waf doesn't link pthread to gbenchmark and linking failed :
````
[1652/1652] Linking build/linux/libraries/AP_Math/benchmarks/benchmark_matrix.linux
/home/khancyr/Workspace/APM/ardupilot/build/linux/gbenchmark/lib/libbenchmark.a(benchmark.cc.o): dans la fonction « benchmark::RunSpecifiedBenchmarks(benchmark::BenchmarkReporter*) »:
benchmark.cc:(.text+0x2e21): référence indéfinie vers « pthread_create »
/usr/bin/ld generated: référence indéfinie vers « pthread_create »
collect2: error: ld returned 1 exit status
Waf: Leaving directory `/home/khancyr/Workspace/APM/ardupilot/build/linux'
Build failed
-> task in 'benchmark_matrix.linux' failed (exit status 1):
{task 139784788162576: cxxprogram benchmark_matrix.cpp.1.o -> benchmark_matrix.linux}
['/usr/lib/ccache/g++', '-Wl,--gc-sections', 'libraries/AP_Math/benchmarks/benchmark_matrix.cpp.1.o', '-o', '/home/khancyr/Workspace/APM/ardupilot/build/linux/libraries/AP_Math/benchmarks/benchmark_matrix.linux', '-Wl,-Bstatic', '-L.', '-lap', '-Wl,-Bdynamic', '-L/home/khancyr/Workspace/APM/ardupilot/build/linux/gbenchmark/lib', '-lm', '-lpthread', '-lrt', '-lbenchmark']
`````
Adding 'pthread' to env.LIB_GBENCHMARK solve the issue
see https://github.com/diydrones/ardupilot/pull/3460 and https://github.com/diydrones/ardupilot/issues/3461
Some platforms (e.g. bebop) might need to create fully statically linked
binaries. This serves to force a program to be statically linked. It has only
been tested on GNU compilers, other compilers may have unexpected behavior.
The cmake checks for gbenchmark need to run some code. Calling
_configure_cmake() only during build can potentially fail build. That would
happen in some cross-compilations for example.
Those environment variables are set by default by Travis. That fails cross
compilation with waf. There is a GitHub issue open related to that behavior at
https://github.com/travis-ci/travis-ci/issues/4682 . This change can be
reverted if eventually that is fixed.
The TODOs removed with this patch were already fixed. Below is the explanation
for each.
- TODO: add support for unit tests.
- Supported already added.
- TODO: Check if we should simply use the signed 'waf' "binary" (after
verifying it) instead of generating it ourselves from the sources.
- We're using a submodule for waf.
- TODO: evaluate if we need shortcut commands for the common targets
(vehicles). currently using waf --targets=NAME the target name must contain
the board extension so make it less convenient, maybe hook to support
automatic filling this extension?
- There's no need of adding the extension anymore.
- TODO: Once HAL patches get in, need to filter out the HAL based on the
bld.env.BOARD.
- The board-specific HAL library folders is indicated in
bld.env.AP_LIBRARIES.
If there's no variant configuration, then cfg.variant will be '', which will
make bldnode be cfg.bldnode. Thus, this patch prepare gbenchmark build for
variant builds and doesn't break the current build.
Gustavo Jose de Sousa
Andrew Tridgell
pkancir
Siddharth Bharat Purohit
Julien BERAUD
khancyr
Linus
Peter Barker
Jonathan Challinger