You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
389 lines
11 KiB
389 lines
11 KiB
#!/usr/bin/env python |
|
# encoding: utf-8 |
|
|
|
from __future__ import print_function |
|
|
|
import os.path |
|
import sys |
|
sys.path.insert(0, 'Tools/ardupilotwaf/') |
|
|
|
import ardupilotwaf |
|
import boards |
|
|
|
from waflib import Build, ConfigSet, Configure, Context, Utils |
|
|
|
# TODO: implement a command 'waf help' that shows the basic tasks a |
|
# developer might want to do: e.g. how to configure a board, compile a |
|
# vehicle, compile all the examples, add a new example. Should fit in |
|
# less than a terminal screen, ideally commands should be copy |
|
# pastable. Add the 'export waf="$PWD/waf"' trick to be copy-pastable |
|
# as well. |
|
|
|
# TODO: replace defines with the use of the generated ap_config.h file |
|
# this makes recompilation at least when defines change. which might |
|
# be sufficient. |
|
|
|
def _set_build_context_variant(variant): |
|
for c in Context.classes: |
|
if not issubclass(c, Build.BuildContext): |
|
continue |
|
c.variant = variant |
|
|
|
def init(ctx): |
|
env = ConfigSet.ConfigSet() |
|
try: |
|
p = os.path.join(Context.out_dir, Build.CACHE_DIR, Build.CACHE_SUFFIX) |
|
env.load(p) |
|
except: |
|
return |
|
|
|
Configure.autoconfig = 'clobber' if env.AUTOCONFIG else False |
|
|
|
if 'VARIANT' not in env: |
|
return |
|
|
|
# define the variant build commands according to the board |
|
_set_build_context_variant(env.VARIANT) |
|
|
|
def options(opt): |
|
opt.load('compiler_cxx compiler_c waf_unit_test python') |
|
|
|
opt.ap_groups = { |
|
'configure': opt.add_option_group('Ardupilot configure options'), |
|
'build': opt.add_option_group('Ardupilot build options'), |
|
'check': opt.add_option_group('Ardupilot check options'), |
|
} |
|
|
|
opt.load('ardupilotwaf') |
|
opt.load('build_summary') |
|
|
|
g = opt.ap_groups['configure'] |
|
|
|
boards_names = boards.get_boards_names() |
|
g.add_option('--board', |
|
action='store', |
|
choices=boards_names, |
|
default='sitl', |
|
help='Target board to build, choices are %s.' % boards_names) |
|
|
|
g.add_option('--debug', |
|
action='store_true', |
|
default=False, |
|
help='Configure as debug variant.') |
|
|
|
g.add_option('--no-autoconfig', |
|
dest='autoconfig', |
|
action='store_false', |
|
default=True, |
|
help=''' |
|
Disable autoconfiguration feature. By default, the build system triggers a |
|
reconfiguration whenever it thinks it's necessary - this option disables that. |
|
''') |
|
|
|
g.add_option('--no-submodule-update', |
|
dest='submodule_update', |
|
action='store_false', |
|
default=True, |
|
help=''' |
|
Don't update git submodules. Useful for building with submodules at specific |
|
revisions. |
|
''') |
|
|
|
g.add_option('--enable-benchmarks', |
|
action='store_true', |
|
default=False, |
|
help='Enable benchmarks.') |
|
|
|
g.add_option('--disable-lttng', action='store_true', |
|
default=False, |
|
help="Don't use lttng even if supported by board and dependencies available") |
|
|
|
g.add_option('--disable-libiio', action='store_true', |
|
default=False, |
|
help="Don't use libiio even if supported by board and dependencies available") |
|
|
|
g.add_option('--disable-tests', action='store_true', |
|
default=False, |
|
help="Disable compilation and test execution") |
|
|
|
g.add_option('--static', |
|
action='store_true', |
|
default=False, |
|
help='Force a static build') |
|
|
|
def _collect_autoconfig_files(cfg): |
|
for m in sys.modules.values(): |
|
paths = [] |
|
if hasattr(m, '__file__'): |
|
paths.append(m.__file__) |
|
elif hasattr(m, '__path__'): |
|
for p in m.__path__: |
|
paths.append(p) |
|
|
|
for p in paths: |
|
if p in cfg.files or not os.path.isfile(p): |
|
continue |
|
|
|
with open(p, 'rb') as f: |
|
cfg.hash = Utils.h_list((cfg.hash, f.read())) |
|
cfg.files.append(p) |
|
|
|
def configure(cfg): |
|
cfg.env.BOARD = cfg.options.board |
|
cfg.env.DEBUG = cfg.options.debug |
|
cfg.env.AUTOCONFIG = cfg.options.autoconfig |
|
|
|
cfg.env.VARIANT = cfg.env.BOARD |
|
if cfg.env.DEBUG: |
|
cfg.env.VARIANT += '-debug' |
|
|
|
_set_build_context_variant(cfg.env.VARIANT) |
|
cfg.setenv(cfg.env.VARIANT) |
|
|
|
cfg.env.BOARD = cfg.options.board |
|
cfg.env.DEBUG = cfg.options.debug |
|
|
|
# Allow to differentiate our build from the make build |
|
cfg.define('WAF_BUILD', 1) |
|
|
|
cfg.msg('Autoconfiguration', 'enabled' if cfg.options.autoconfig else 'disabled') |
|
|
|
if cfg.options.static: |
|
cfg.msg('Using static linking', 'yes', color='YELLOW') |
|
cfg.env.STATIC_LINKING = True |
|
|
|
cfg.msg('Setting board to', cfg.options.board) |
|
cfg.get_board().configure(cfg) |
|
|
|
cfg.load('clang_compilation_database') |
|
cfg.load('waf_unit_test') |
|
cfg.load('mavgen') |
|
|
|
cfg.env.SUBMODULE_UPDATE = cfg.options.submodule_update |
|
|
|
cfg.start_msg('Source is git repository') |
|
if cfg.srcnode.find_node('.git'): |
|
cfg.end_msg('yes') |
|
else: |
|
cfg.end_msg('no') |
|
cfg.env.SUBMODULE_UPDATE = False |
|
|
|
cfg.start_msg('Update submodules') |
|
if cfg.env.SUBMODULE_UPDATE: |
|
cfg.end_msg('yes') |
|
cfg.load('git_submodule') |
|
else: |
|
cfg.end_msg('no') |
|
|
|
if cfg.options.enable_benchmarks: |
|
cfg.load('gbenchmark') |
|
cfg.load('gtest') |
|
cfg.load('static_linking') |
|
cfg.load('build_summary') |
|
|
|
cfg.start_msg('Benchmarks') |
|
if cfg.env.HAS_GBENCHMARK: |
|
cfg.end_msg('enabled') |
|
else: |
|
cfg.end_msg('disabled', color='YELLOW') |
|
|
|
cfg.start_msg('Unit tests') |
|
if cfg.env.HAS_GTEST: |
|
cfg.end_msg('enabled') |
|
else: |
|
cfg.end_msg('disabled', color='YELLOW') |
|
|
|
cfg.env.append_value('GIT_SUBMODULES', 'mavlink') |
|
|
|
cfg.env.prepend_value('INCLUDES', [ |
|
cfg.srcnode.abspath() + '/libraries/', |
|
]) |
|
|
|
# TODO: Investigate if code could be changed to not depend on the |
|
# source absolute path. |
|
cfg.env.prepend_value('DEFINES', [ |
|
'SKETCHBOOK="' + cfg.srcnode.abspath() + '"', |
|
]) |
|
|
|
# Always use system extensions |
|
cfg.define('_GNU_SOURCE', 1) |
|
|
|
cfg.write_config_header(os.path.join(cfg.variant, 'ap_config.h')) |
|
|
|
_collect_autoconfig_files(cfg) |
|
|
|
def collect_dirs_to_recurse(bld, globs, **kw): |
|
dirs = [] |
|
globs = Utils.to_list(globs) |
|
|
|
if bld.bldnode.is_child_of(bld.srcnode): |
|
kw['excl'] = Utils.to_list(kw.get('excl', [])) |
|
kw['excl'].append(bld.bldnode.path_from(bld.srcnode)) |
|
|
|
for g in globs: |
|
for d in bld.srcnode.ant_glob(g + '/wscript', **kw): |
|
dirs.append(d.parent.relpath()) |
|
return dirs |
|
|
|
def list_boards(ctx): |
|
print(*boards.get_boards_names()) |
|
|
|
def _build_cmd_tweaks(bld): |
|
if bld.cmd == 'check-all': |
|
bld.options.all_tests = True |
|
bld.cmd = 'check' |
|
|
|
if bld.cmd == 'check': |
|
if not bld.env.HAS_GTEST: |
|
bld.fatal('check: gtest library is required') |
|
bld.options.clear_failed_tests = True |
|
|
|
def _build_dynamic_sources(bld): |
|
bld( |
|
features='mavgen', |
|
source='modules/mavlink/message_definitions/v1.0/ardupilotmega.xml', |
|
output_dir='libraries/GCS_MAVLink/include/mavlink/v2.0/', |
|
name='mavlink', |
|
# this below is not ideal, mavgen tool should set this, but that's not |
|
# currently possible |
|
export_includes=[ |
|
bld.bldnode.make_node('libraries').abspath(), |
|
bld.bldnode.make_node('libraries/GCS_MAVLink').abspath(), |
|
], |
|
) |
|
|
|
bld.env.prepend_value('INCLUDES', [ |
|
bld.bldnode.abspath(), |
|
]) |
|
|
|
def _build_common_taskgens(bld): |
|
# NOTE: Static library with vehicle set to UNKNOWN, shared by all |
|
# the tools and examples. This is the first step until the |
|
# dependency on the vehicles is reduced. Later we may consider |
|
# split into smaller pieces with well defined boundaries. |
|
bld.ap_stlib( |
|
name='ap', |
|
ap_vehicle='UNKNOWN', |
|
ap_libraries=bld.ap_get_all_libraries(), |
|
use='mavlink', |
|
) |
|
|
|
if bld.env.HAS_GTEST: |
|
bld.libgtest(cxxflags=['-include', 'ap_config.h']) |
|
|
|
if bld.env.HAS_GBENCHMARK: |
|
bld.libbenchmark() |
|
|
|
def _build_recursion(bld): |
|
common_dirs_patterns = [ |
|
# TODO: Currently each vehicle also generate its own copy of the |
|
# libraries. Fix this, or at least reduce the amount of |
|
# vehicle-dependent libraries. |
|
'*', |
|
'Tools/*', |
|
'libraries/*/examples/*', |
|
'libraries/*/tests', |
|
'libraries/*/utility/tests', |
|
'libraries/*/benchmarks', |
|
] |
|
|
|
common_dirs_excl = [ |
|
'modules', |
|
'libraries/AP_HAL_*', |
|
'libraries/SITL', |
|
] |
|
|
|
hal_dirs_patterns = [ |
|
'libraries/%s/*/tests', |
|
'libraries/%s/*/benchmarks', |
|
'libraries/%s/examples/*', |
|
] |
|
|
|
dirs_to_recurse = collect_dirs_to_recurse( |
|
bld, |
|
common_dirs_patterns, |
|
excl=common_dirs_excl, |
|
) |
|
|
|
for p in hal_dirs_patterns: |
|
dirs_to_recurse += collect_dirs_to_recurse( |
|
bld, |
|
[p % l for l in bld.env.AP_LIBRARIES], |
|
) |
|
|
|
# NOTE: we need to sort to ensure the repeated sources get the |
|
# same index, and random ordering of the filesystem doesn't cause |
|
# recompilation. |
|
dirs_to_recurse.sort() |
|
|
|
for d in dirs_to_recurse: |
|
bld.recurse(d) |
|
|
|
def _write_version_header(tsk): |
|
bld = tsk.generator.bld |
|
return bld.write_version_header(tsk.outputs[0].abspath()) |
|
|
|
def _build_post_funs(bld): |
|
if bld.cmd == 'check': |
|
bld.add_post_fun(ardupilotwaf.test_summary) |
|
else: |
|
bld.build_summary_post_fun() |
|
|
|
if bld.env.SUBMODULE_UPDATE: |
|
bld.git_submodule_post_fun() |
|
|
|
def build(bld): |
|
config_hash = Utils.h_file(bld.bldnode.make_node('ap_config.h').abspath()) |
|
bld.env.CCDEPS = config_hash |
|
bld.env.CXXDEPS = config_hash |
|
|
|
bld.post_mode = Build.POST_LAZY |
|
|
|
bld.load('ardupilotwaf') |
|
|
|
_build_cmd_tweaks(bld) |
|
|
|
if bld.env.SUBMODULE_UPDATE: |
|
bld.add_group('git_submodules') |
|
for name in bld.env.GIT_SUBMODULES: |
|
bld.git_submodule(name) |
|
|
|
bld.add_group('dynamic_sources') |
|
_build_dynamic_sources(bld) |
|
|
|
bld.add_group('build') |
|
bld.get_board().build(bld) |
|
_build_common_taskgens(bld) |
|
|
|
_build_recursion(bld) |
|
|
|
bld( |
|
name='ap_version', |
|
target='ap_version.h', |
|
vars=['AP_VERSION_ITEMS'], |
|
rule=_write_version_header, |
|
group='dynamic_sources', |
|
) |
|
|
|
_build_post_funs(bld) |
|
|
|
ardupilotwaf.build_command('check', |
|
program_group_list='all', |
|
doc='builds all programs and run tests', |
|
) |
|
ardupilotwaf.build_command('check-all', |
|
program_group_list='all', |
|
doc='shortcut for `waf check --alltests`', |
|
) |
|
|
|
for name in ('antennatracker', 'copter', 'plane', 'rover'): |
|
ardupilotwaf.build_command(name, |
|
program_group_list=name, |
|
doc='builds %s programs' % name, |
|
) |
|
|
|
for program_group in ('all', 'bin', 'tools', 'examples', 'tests', 'benchmarks'): |
|
ardupilotwaf.build_command(program_group, |
|
program_group_list=program_group, |
|
doc='builds all programs of %s group' % program_group, |
|
)
|
|
|