Due to the way the headers are organized changing a single change in
an AP_Notify driver would trigger a rebuild for most of the files in
the project. Time could be saved by using ccache (since most of the
things didn't change) but we can do better, i.e. re-organize the headers
so we don't have to re-build everything.
Due to the way the headers are organized changing a single change in an
inertial sensor driver would trigger a rebuild for most of the files in
the project. Time could be saved by using ccache (since most of the
things didn't change) but we can do better, i.e. re-organize the headers
so we don't have to re-build everything.
With this patch only AP_InertialSensor/AP_InertialSensor.h is exposed to
most users. There are some corner cases to integrate with some example
code, but most of the places now depend only on this header and this
header doesn't depend on the specific backends.
Now changing a single header, e.g. AP_InertialSensor_L3G4200D.h triggers
a rebuild only of these files:
$ waf copter
'copter' finished successfully (0.000s)
Waf: Entering directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
[ 80/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor.cpp
[ 84/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
[310/370] Linking build/minlure/ArduCopter/libArduCopter_libs.a
[370/370] Linking build/minlure/bin/arducopter
Waf: Leaving directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
This is not used by any board and has a lot of commented out code. For
example, the compass is not enabled. The comment in the beginning of
the driver says it should serve as an example, but we should rather use
a working driver as an example. If this was at least a bit simpler and
that worked in the past we could refactor it to the new I2CDevice API.
This is not the case.
A string name allows to more easily expand the table: the board is
responsible for the name and doesn't have to declare it as a enum or
define. It's also easier to add 2 sensors of the same type.
Rationale:
1. That function creates a separate build context class instead of just
creating a wrapper for calling build (previous approach).
2. The check command isn't a build shortcut since there's no way of calling it
without using 'check' explicitly.
Now that the concept of programs group is used and 'bin' is the default program
group, the command check needed to be adapted so that (i) it is consistent with
the other build command and (ii) it defines 'all' as its target programs group.
Tom Pittenger
Lucas De Marchi
Gustavo Jose de Sousa
Paul Riseborough
Andrew Tridgell
Peter Barker
Randy Mackay