wscript

   1 #!/usr/bin/env python3
   2 # encoding: utf-8
   3
   4 from __future__ import print_function
   5
   6 import os.path
   7 import os
   8 import sys
   9 import subprocess
  10 import json
  11 import fnmatch
  12 sys.path.insert(0, 'Tools/ardupilotwaf/')
  13
  14 import ardupilotwaf
  15 import boards
  16 import shutil
  17
  18 from waflib import Build, ConfigSet, Configure, Context, Utils
  19 from waflib.Configure import conf
  20
  21 # Ref: https://stackoverflow.com/questions/40590192/getting-an-error-attributeerror-module-object-has-no-attribute-run-while
  22 try:
  23     from subprocess import CompletedProcess
  24 except ImportError:
  25     # Python 2
  26     class CompletedProcess:
  27
  28         def __init__(self, args, returncode, stdout=None, stderr=None):
  29             self.args = args
  30             self.returncode = returncode
  31             self.stdout = stdout
  32             self.stderr = stderr
  33
  34         def check_returncode(self):
  35             if self.returncode != 0:
  36                 err = subprocess.CalledProcessError(self.returncode, self.args, output=self.stdout)
  37                 raise err
  38             return self.returncode
  39
  40     def sp_run(*popenargs, **kwargs):
  41         input = kwargs.pop("input", None)
  42         check = kwargs.pop("handle", False)
  43         kwargs.pop("capture_output", True)
  44         if input is not None:
  45             if 'stdin' in kwargs:
  46                 raise ValueError('stdin and input arguments may not both be used.')
  47             kwargs['stdin'] = subprocess.PIPE
  48         process = subprocess.Popen(*popenargs, **kwargs)
  49         try:
  50             outs, errs = process.communicate(input)
  51         except:
  52             process.kill()
  53             process.wait()
  54             raise
  55         returncode = process.poll()
  56         if check and returncode:
  57             raise subprocess.CalledProcessError(returncode, popenargs, output=outs)
  58         return CompletedProcess(popenargs, returncode, stdout=outs, stderr=errs)
  59
  60     subprocess.run = sp_run
  61     # ^ This monkey patch allows it work on Python 2 or 3 the same way
  62
  63
  64 # TODO: implement a command 'waf help' that shows the basic tasks a
  65 # developer might want to do: e.g. how to configure a board, compile a
  66 # vehicle, compile all the examples, add a new example. Should fit in
  67 # less than a terminal screen, ideally commands should be copy
  68 # pastable. Add the 'export waf="$PWD/waf"' trick to be copy-pastable
  69 # as well.
  70
  71 # TODO: replace defines with the use of the generated ap_config.h file
  72 # this makes recompilation at least when defines change. which might
  73 # be sufficient.
  74
  75 # Default installation prefix for Linux boards
  76 default_prefix = '/usr/'
  77
  78 # Override Build execute and Configure post_recurse methods for autoconfigure purposes
  79 Build.BuildContext.execute = ardupilotwaf.ap_autoconfigure(Build.BuildContext.execute)
  80 Configure.ConfigurationContext.post_recurse = ardupilotwaf.ap_configure_post_recurse()
  81
  82
  83 def _set_build_context_variant(board):
  84     for c in Context.classes:
  85         if not issubclass(c, Build.BuildContext):
  86             continue
  87         c.variant = board
  88
  89 # Remove all submodules and then sync
  90 @conf
  91 def submodule_force_clean(ctx):
  92     whitelist = {
  93                             'COLCON_IGNORE',
  94                             'esp_idf',
  95                           }
  96
  97     # Get all items in the modules folder
  98     module_list = os.scandir('modules')
  99
 100     # Delete all directories except those in the whitelist
 101     for module in module_list:
 102         if (module.is_dir()) and (module.name not in whitelist):
 103             shutil.rmtree(module)
 104
 105     submodulesync(ctx)
 106
 107 # run Tools/gittools/submodule-sync.sh to sync submodules
 108 @conf
 109 def submodulesync(ctx):
 110     subprocess.call(['Tools/gittools/submodule-sync.sh'])
 111
 112 def init(ctx):
 113     # Generate Task List, so that VS Code extension can keep track
 114     # of changes to possible build targets
 115     generate_tasklist(ctx, False)
 116     env = ConfigSet.ConfigSet()
 117     try:
 118         p = os.path.join(Context.out_dir, Build.CACHE_DIR, Build.CACHE_SUFFIX)
 119         env.load(p)
 120     except EnvironmentError:
 121         return
 122
 123     Configure.autoconfig = 'clobber' if env.AUTOCONFIG else False
 124
 125     board = ctx.options.board or env.BOARD
 126
 127     if not board:
 128         return
 129
 130     # define the variant build commands according to the board
 131     _set_build_context_variant(board)
 132
 133 def options(opt):
 134     opt.load('compiler_cxx compiler_c waf_unit_test python')
 135     opt.load('ardupilotwaf')
 136     opt.load('build_summary')
 137
 138     g = opt.ap_groups['configure']
 139
 140     boards_names = boards.get_boards_names()
 141     removed_names = boards.get_removed_boards()
 142     g.add_option('--board',
 143         action='store',
 144         default=None,
 145         help='Target board to build, choices are %s.' % ', '.join(boards_names))
 146
 147     g.add_option('--debug',
 148         action='store_true',
 149         default=False,
 150         help='Configure as debug variant.')
 151
 152     g.add_option('--debug-symbols', '-g',
 153         action='store_true',
 154         default=False,
 155         help='Add debug symbolds to build.')
 156
 157     g.add_option('--disable-watchdog',
 158         action='store_true',
 159         default=False,
 160         help='Build with watchdog disabled.')
 161
 162     g.add_option('--coverage',
 163                  action='store_true',
 164                  default=False,
 165                  help='Configure coverage flags.')
 166
 167     g.add_option('--Werror',
 168         action='store_true',
 169         default=None,
 170         help='build with -Werror.')
 171
 172     g.add_option('--disable-Werror',
 173         action='store_true',
 174         default=None,
 175         help='Disable -Werror.')
 176
 177     g.add_option('--toolchain',
 178         action='store',
 179         default=None,
 180         help='Override default toolchain used for the board. Use "native" for using the host toolchain.')
 181
 182     g.add_option('--disable-gccdeps',
 183         action='store_true',
 184         default=False,
 185         help='Disable the use of GCC dependencies output method and use waf default method.')
 186
 187     g.add_option('--enable-asserts',
 188         action='store_true',
 189         default=False,
 190         help='enable OS level asserts.')
 191
 192     g.add_option('--save-temps',
 193         action='store_true',
 194         default=False,
 195         help='save compiler temporary files.')
 196
 197     g.add_option('--enable-malloc-guard',
 198         action='store_true',
 199         default=False,
 200         help='enable malloc guard regions.')
 201
 202     g.add_option('--enable-stats',
 203         action='store_true',
 204         default=False,
 205         help='enable OS level thread statistics.')
 206
 207     g.add_option('--enable-ppp',
 208         action='store_true',
 209         default=False,
 210         help='enable PPP networking.')
 211
 212     g.add_option('--bootloader',
 213         action='store_true',
 214         default=False,
 215         help='Configure for building a bootloader.')
 216
 217     g.add_option('--signed-fw',
 218         action='store_true',
 219         default=False,
 220         help='Configure for signed firmware support.')
 221
 222     g.add_option('--private-key',
 223                  action='store',
 224                  default=None,
 225             help='path to private key for signing firmware.')
 226
 227     g.add_option('--no-autoconfig',
 228         dest='autoconfig',
 229         action='store_false',
 230         default=True,
 231         help='''Disable autoconfiguration feature. By default, the build system
 232 triggers a reconfiguration whenever it thinks it's necessary - this
 233 option disables that.
 234 ''')
 235
 236     g.add_option('--no-submodule-update',
 237         dest='submodule_update',
 238         action='store_false',
 239         default=True,
 240         help='''Don't update git submodules. Useful for building with
 241 submodules at specific revisions.
 242 ''')
 243
 244     g.add_option('--enable-header-checks', action='store_true',
 245         default=False,
 246         help="Enable checking of headers")
 247
 248     g.add_option('--default-parameters',
 249         default=None,
 250         help='set default parameters to embed in the firmware')
 251
 252     g.add_option('--enable-math-check-indexes',
 253                  action='store_true',
 254                  default=False,
 255                  help="Enable checking of math indexes")
 256
 257     g.add_option('--disable-scripting', action='store_true',
 258                  default=False,
 259                  help="Disable onboard scripting engine")
 260
 261     g.add_option('--enable-scripting', action='store_true',
 262                  default=False,
 263                  help="Enable onboard scripting engine")
 264
 265     g.add_option('--no-gcs', action='store_true',
 266                  default=False,
 267                  help="Disable GCS code")
 268
 269     g.add_option('--scripting-checks', action='store_true',
 270                  default=True,
 271                  help="Enable runtime scripting sanity checks")
 272
 273     g.add_option('--enable-onvif', action='store_true',
 274                  default=False,
 275                  help="Enables and sets up ONVIF camera control")
 276
 277     g.add_option('--scripting-docs', action='store_true',
 278                  default=False,
 279                  help="enable generation of scripting documentation")
 280
 281     g.add_option('--enable-opendroneid', action='store_true',
 282                  default=False,
 283                  help="Enables OpenDroneID")
 284
 285     g.add_option('--enable-check-firmware', action='store_true',
 286                  default=False,
 287                  help="Enables firmware ID checking on boot")
 288
 289     g.add_option('--enable-custom-controller', action='store_true',
 290                  default=False,
 291                  help="Enables custom controller")
 292
 293     g.add_option('--enable-gps-logging', action='store_true',
 294                  default=False,
 295                  help="Enables GPS logging")
 296
 297     g.add_option('--enable-dds', action='store_true',
 298                  help="Enable the dds client to connect with ROS2/DDS.")
 299
 300     g.add_option('--disable-networking', action='store_true',
 301                  help="Disable the networking API code")
 302
 303     g.add_option('--enable-networking-tests', action='store_true',
 304                  help="Enable the networking test code. Automatically enables networking.")
 305
 306     g.add_option('--enable-dronecan-tests', action='store_true',
 307                  default=False,
 308                  help="Enables DroneCAN tests in sitl")
 309     g = opt.ap_groups['linux']
 310
 311     linux_options = ('--prefix', '--destdir', '--bindir', '--libdir')
 312     for k in linux_options:
 313         option = opt.parser.get_option(k)
 314         if option:
 315             opt.parser.remove_option(k)
 316             g.add_option(option)
 317
 318     g.add_option('--apstatedir',
 319         action='store',
 320         default='',
 321         help='''Where to save data like parameters, log and terrain.
 322 This is the --localstatedir + ArduPilots subdirectory [default:
 323 board-dependent, usually /var/lib/ardupilot]''')
 324
 325     g.add_option('--rsync-dest',
 326         dest='rsync_dest',
 327         action='store',
 328         default='',
 329         help='''Destination for the rsync Waf command. It can be passed during
 330 configuration in order to save typing.
 331 ''')
 332
 333     g.add_option('--enable-benchmarks',
 334         action='store_true',
 335         default=False,
 336         help='Enable benchmarks.')
 337
 338     g.add_option('--enable-lttng', action='store_true',
 339         default=False,
 340         help="Enable lttng integration")
 341
 342     g.add_option('--disable-libiio', action='store_true',
 343         default=False,
 344         help="Don't use libiio even if supported by board and dependencies available")
 345
 346     g.add_option('--disable-tests', action='store_true',
 347         default=False,
 348         help="Disable compilation and test execution")
 349
 350     g.add_option('--enable-sfml', action='store_true',
 351                  default=False,
 352                  help="Enable SFML graphics library")
 353
 354     g.add_option('--enable-sfml-joystick', action='store_true',
 355                  default=False,
 356                  help="Enable SFML joystick input library")
 357
 358     g.add_option('--enable-sfml-audio', action='store_true',
 359                  default=False,
 360                  help="Enable SFML audio library")
 361
 362     g.add_option('--osd', action='store_true',
 363                  default=False,
 364                  help="Enable OSD support")
 365
 366     g.add_option('--osd-fonts', action='store_true',
 367                  default=False,
 368                  help="Enable OSD support with fonts")
 369
 370     g.add_option('--sitl-osd', action='store_true',
 371                  default=False,
 372                  help="Enable SITL OSD")
 373
 374     g.add_option('--sitl-rgbled', action='store_true',
 375                  default=False,
 376                  help="Enable SITL RGBLed")
 377
 378     g.add_option('--force-32bit', action='store_true',
 379                  default=False,
 380                  help="Force 32bit build")
 381
 382     g.add_option('--build-dates', action='store_true',
 383                  default=False,
 384                  help="Include build date in binaries.  Appears in AUTOPILOT_VERSION.os_sw_version")
 385
 386     g.add_option('--sitl-flash-storage',
 387         action='store_true',
 388         default=False,
 389         help='Use flash storage emulation.')
 390
 391     g.add_option('--enable-ekf2',
 392         action='store_true',
 393         default=False,
 394         help='Configure with EKF2.')
 395
 396     g.add_option('--disable-ekf3',
 397         action='store_true',
 398         default=False,
 399         help='Configure without EKF3.')
 400
 401     g.add_option('--ekf-double',
 402         action='store_true',
 403         default=False,
 404         help='Configure EKF as double precision.')
 405
 406     g.add_option('--ekf-single',
 407         action='store_true',
 408         default=False,
 409         help='Configure EKF as single precision.')
 410
 411     g.add_option('--static',
 412         action='store_true',
 413         default=False,
 414         help='Force a static build')
 415
 416     g.add_option('--postype-single',
 417         action='store_true',
 418         default=False,
 419         help='force single precision postype_t')
 420
 421     g.add_option('--consistent-builds',
 422         action='store_true',
 423         default=False,
 424         help='force consistent build outputs for things like __LINE__')
 425
 426     g.add_option('--extra-hwdef',
 427             action='store',
 428             default=None,
 429             help='Extra hwdef.dat file for custom build.')
 430
 431     g.add_option('--assert-cc-version',
 432                  default=None,
 433                  help='fail configure if not using the specified gcc version')
 434
 435     g.add_option('--num-aux-imus',
 436                  type='int',
 437                  default=0,
 438                  help='number of auxiliary IMUs')
 439
 440     g.add_option('--board-start-time',
 441                  type='int',
 442                  default=0,
 443                  help='zero time on boot in microseconds')
 444
 445 def _collect_autoconfig_files(cfg):
 446     for m in sys.modules.values():
 447         paths = []
 448         if hasattr(m, '__file__') and m.__file__ is not None:
 449             paths.append(m.__file__)
 450         elif hasattr(m, '__path__'):
 451             for p in m.__path__:
 452                 if p is not None:
 453                     paths.append(p)
 454
 455         for p in paths:
 456             if p in cfg.files or not os.path.isfile(p):
 457                 continue
 458
 459             with open(p, 'rb') as f:
 460                 cfg.hash = Utils.h_list((cfg.hash, f.read()))
 461                 cfg.files.append(p)
 462
 463 def configure(cfg):
 464         # we need to enable debug mode when building for gconv, and force it to sitl
 465     if cfg.options.board is None:
 466         cfg.options.board = 'sitl'
 467
 468     boards_names = boards.get_boards_names()
 469     if not cfg.options.board in boards_names:
 470         for b in boards_names:
 471             if b.upper() == cfg.options.board.upper():
 472                 cfg.options.board = b
 473                 break
 474
 475     cfg.env.BOARD = cfg.options.board
 476     cfg.env.DEBUG = cfg.options.debug
 477     cfg.env.DEBUG_SYMBOLS = cfg.options.debug_symbols
 478     cfg.env.COVERAGE = cfg.options.coverage
 479     cfg.env.AUTOCONFIG = cfg.options.autoconfig
 480
 481     _set_build_context_variant(cfg.env.BOARD)
 482     cfg.setenv(cfg.env.BOARD)
 483
 484     if cfg.options.signed_fw:
 485         cfg.env.AP_SIGNED_FIRMWARE = True
 486         cfg.options.enable_check_firmware = True
 487
 488     cfg.env.BOARD = cfg.options.board
 489     cfg.env.DEBUG = cfg.options.debug
 490     cfg.env.DEBUG_SYMBOLS = cfg.options.debug_symbols
 491     cfg.env.COVERAGE = cfg.options.coverage
 492     cfg.env.FORCE32BIT = cfg.options.force_32bit
 493     cfg.env.ENABLE_ASSERTS = cfg.options.enable_asserts
 494     cfg.env.BOOTLOADER = cfg.options.bootloader
 495     cfg.env.ENABLE_MALLOC_GUARD = cfg.options.enable_malloc_guard
 496     cfg.env.ENABLE_STATS = cfg.options.enable_stats
 497     cfg.env.SAVE_TEMPS = cfg.options.save_temps
 498
 499     cfg.env.HWDEF_EXTRA = cfg.options.extra_hwdef
 500     if cfg.env.HWDEF_EXTRA:
 501         cfg.env.HWDEF_EXTRA = os.path.abspath(cfg.env.HWDEF_EXTRA)
 502
 503     cfg.env.OPTIONS = cfg.options.__dict__
 504
 505     # Allow to differentiate our build from the make build
 506     cfg.define('WAF_BUILD', 1)
 507
 508     cfg.msg('Autoconfiguration', 'enabled' if cfg.options.autoconfig else 'disabled')
 509
 510     if cfg.options.static:
 511         cfg.msg('Using static linking', 'yes', color='YELLOW')
 512         cfg.env.STATIC_LINKING = True
 513
 514     if cfg.options.num_aux_imus > 0:
 515         cfg.define('INS_AUX_INSTANCES', cfg.options.num_aux_imus)
 516
 517     if cfg.options.board_start_time != 0:
 518         cfg.define('AP_BOARD_START_TIME', cfg.options.board_start_time)
 519         # also in env for hrt.c
 520         cfg.env.AP_BOARD_START_TIME = cfg.options.board_start_time
 521
 522     # require python 3.8.x or later
 523     cfg.load('python')
 524     cfg.check_python_version(minver=(3,6,9))
 525
 526     cfg.load('ap_library')
 527
 528     cfg.msg('Setting board to', cfg.options.board)
 529     cfg.get_board().configure(cfg)
 530
 531     cfg.load('waf_unit_test')
 532     cfg.load('mavgen')
 533     cfg.load('dronecangen')
 534
 535     cfg.env.SUBMODULE_UPDATE = cfg.options.submodule_update
 536
 537     cfg.start_msg('Source is git repository')
 538     if cfg.srcnode.find_node('.git'):
 539         cfg.end_msg('yes')
 540     else:
 541         cfg.end_msg('no')
 542         cfg.env.SUBMODULE_UPDATE = False
 543
 544     cfg.msg('Update submodules', 'yes' if cfg.env.SUBMODULE_UPDATE else 'no')
 545     cfg.load('git_submodule')
 546
 547     if cfg.options.enable_benchmarks:
 548         cfg.load('gbenchmark')
 549     cfg.load('gtest')
 550     cfg.load('static_linking')
 551     cfg.load('build_summary')
 552
 553     cfg.start_msg('Benchmarks')
 554     if cfg.env.HAS_GBENCHMARK:
 555         cfg.end_msg('enabled')
 556     else:
 557         cfg.end_msg('disabled', color='YELLOW')
 558
 559     cfg.start_msg('Unit tests')
 560     if cfg.env.HAS_GTEST:
 561         cfg.end_msg('enabled')
 562     else:
 563         cfg.end_msg('disabled', color='YELLOW')
 564
 565     cfg.start_msg('Scripting')
 566     if cfg.options.disable_scripting:
 567         cfg.end_msg('disabled', color='YELLOW')
 568     elif cfg.options.enable_scripting:
 569         cfg.end_msg('enabled')
 570     else:
 571         cfg.end_msg('maybe')
 572     cfg.recurse('libraries/AP_Scripting')
 573
 574     cfg.recurse('libraries/AP_GPS')
 575     cfg.recurse('libraries/AP_HAL_SITL')
 576     cfg.recurse('libraries/SITL')
 577
 578     cfg.recurse('libraries/AP_Networking')
 579
 580     cfg.start_msg('Scripting runtime checks')
 581     if cfg.options.scripting_checks:
 582         cfg.end_msg('enabled')
 583     else:
 584         cfg.end_msg('disabled', color='YELLOW')
 585
 586     cfg.start_msg('Debug build')
 587     if cfg.env.DEBUG:
 588         cfg.end_msg('enabled')
 589     else:
 590         cfg.end_msg('disabled', color='YELLOW')
 591
 592     cfg.start_msg('Coverage build')
 593     if cfg.env.COVERAGE:
 594         cfg.end_msg('enabled')
 595     else:
 596         cfg.end_msg('disabled', color='YELLOW')
 597
 598     cfg.start_msg('Force 32-bit build')
 599     if cfg.env.FORCE32BIT:
 600         cfg.end_msg('enabled')
 601     else:
 602         cfg.end_msg('disabled', color='YELLOW')
 603
 604     cfg.env.append_value('GIT_SUBMODULES', 'mavlink')
 605
 606     cfg.env.prepend_value('INCLUDES', [
 607         cfg.srcnode.abspath() + '/libraries/',
 608     ])
 609
 610     cfg.find_program('rsync', mandatory=False)
 611     if cfg.options.rsync_dest:
 612         cfg.msg('Setting rsync destination to', cfg.options.rsync_dest)
 613         cfg.env.RSYNC_DEST = cfg.options.rsync_dest
 614
 615     if cfg.options.enable_header_checks:
 616         cfg.msg('Enabling header checks', cfg.options.enable_header_checks)
 617         cfg.env.ENABLE_HEADER_CHECKS = True
 618     else:
 619         cfg.env.ENABLE_HEADER_CHECKS = False
 620
 621     # Always use system extensions
 622     cfg.define('_GNU_SOURCE', 1)
 623
 624     if cfg.options.Werror:
 625         # print(cfg.options.Werror)
 626         if cfg.options.disable_Werror:
 627             cfg.options.Werror = False
 628
 629     cfg.write_config_header(os.path.join(cfg.variant, 'ap_config.h'), guard='_AP_CONFIG_H_')
 630
 631     # add in generated flags
 632     cfg.env.CXXFLAGS += ['-include', 'ap_config.h']
 633
 634     _collect_autoconfig_files(cfg)
 635
 636 def collect_dirs_to_recurse(bld, globs, **kw):
 637     dirs = []
 638     globs = Utils.to_list(globs)
 639
 640     if bld.bldnode.is_child_of(bld.srcnode):
 641         kw['excl'] = Utils.to_list(kw.get('excl', []))
 642         kw['excl'].append(bld.bldnode.path_from(bld.srcnode))
 643
 644     for g in globs:
 645         for d in bld.srcnode.ant_glob(g + '/wscript', **kw):
 646             dirs.append(d.parent.relpath())
 647     return dirs
 648
 649 def list_boards(ctx):
 650     print(*boards.get_boards_names())
 651
 652 def list_ap_periph_boards(ctx):
 653     print(*boards.get_ap_periph_boards())
 654
 655 @conf
 656 def ap_periph_boards(ctx):
 657     return boards.get_ap_periph_boards()
 658
 659 vehicles = ['antennatracker', 'blimp', 'copter', 'heli', 'plane', 'rover', 'sub']
 660
 661 def generate_tasklist(ctx, do_print=True):
 662     boardlist = boards.get_boards_names()
 663     ap_periph_targets = boards.get_ap_periph_boards()
 664     tasks = []
 665     with open(os.path.join(Context.top_dir, "tasklist.json"), "w") as tlist:
 666         for board in boardlist:
 667             task = {}
 668             task['configure'] = board
 669             if board in ap_periph_targets:
 670                 if 'sitl' not in board:
 671                     # we only support AP_Periph and bootloader builds
 672                     task['targets'] = ['AP_Periph', 'bootloader']
 673                 else:
 674                     task['targets'] = ['AP_Periph']
 675             elif 'iofirmware' in board:
 676                 task['targets'] = ['iofirmware', 'bootloader']
 677             else:
 678                 if boards.is_board_based(board, boards.sitl):
 679                     task['targets'] = vehicles + ['replay']
 680                 elif boards.is_board_based(board, boards.linux):
 681                     task['targets'] = vehicles
 682                 else:
 683                     task['targets'] = vehicles + ['bootloader']
 684                     task['buildOptions'] = '--upload'
 685             tasks.append(task)
 686         tlist.write(json.dumps(tasks))
 687         if do_print:
 688             print(json.dumps(tasks))
 689
 690 def board(ctx):
 691     env = ConfigSet.ConfigSet()
 692     try:
 693         p = os.path.join(Context.out_dir, Build.CACHE_DIR, Build.CACHE_SUFFIX)
 694         env.load(p)
 695     except:
 696         print('No board currently configured')
 697         return
 698
 699     print('Board configured to: {}'.format(env.BOARD))
 700
 701 def _build_cmd_tweaks(bld):
 702     if bld.cmd == 'check-all':
 703         bld.options.all_tests = True
 704         bld.cmd = 'check'
 705
 706     if bld.cmd == 'check':
 707         if not bld.env.HAS_GTEST:
 708             bld.fatal('check: gtest library is required')
 709         bld.options.clear_failed_tests = True
 710
 711 def _build_dynamic_sources(bld):
 712     if not bld.env.BOOTLOADER:
 713         bld(
 714             features='mavgen',
 715             source='modules/mavlink/message_definitions/v1.0/all.xml',
 716             output_dir='libraries/GCS_MAVLink/include/mavlink/v2.0/',
 717             name='mavlink',
 718             # this below is not ideal, mavgen tool should set this, but that's not
 719             # currently possible
 720             export_includes=[
 721             bld.bldnode.make_node('libraries').abspath(),
 722             bld.bldnode.make_node('libraries/GCS_MAVLink').abspath(),
 723             ],
 724             )
 725
 726     if (bld.get_board().with_can or bld.env.HAL_NUM_CAN_IFACES) and not bld.env.AP_PERIPH:
 727         bld(
 728             features='dronecangen',
 729             source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/[a-z]* libraries/AP_DroneCAN/dsdl/[a-z]*', dir=True, src=False),
 730             output_dir='modules/DroneCAN/libcanard/dsdlc_generated/',
 731             name='dronecan',
 732             export_includes=[
 733                 bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/include').abspath(),
 734                 bld.srcnode.find_dir('modules/DroneCAN/libcanard/').abspath(),
 735                 bld.srcnode.find_dir('libraries/AP_DroneCAN/canard/').abspath(),
 736                 ]
 737             )
 738     elif bld.env.AP_PERIPH:
 739         bld(
 740             features='dronecangen',
 741             source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_DroneCAN/dsdl/*', dir=True, src=False),
 742             output_dir='modules/DroneCAN/libcanard/dsdlc_generated/',
 743             name='dronecan',
 744             export_includes=[
 745                 bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/include').abspath(),
 746                 bld.srcnode.find_dir('modules/DroneCAN/libcanard/').abspath(),
 747             ]
 748         )
 749
 750     if bld.env.ENABLE_DDS:
 751         bld.recurse("libraries/AP_DDS")
 752
 753     def write_version_header(tsk):
 754         bld = tsk.generator.bld
 755         return bld.write_version_header(tsk.outputs[0].abspath())
 756
 757     bld(
 758         name='ap_version',
 759         target='ap_version.h',
 760         vars=['AP_VERSION_ITEMS'],
 761         rule=write_version_header,
 762     )
 763
 764     bld.env.prepend_value('INCLUDES', [
 765         bld.bldnode.abspath(),
 766     ])
 767
 768 def _build_common_taskgens(bld):
 769     # NOTE: Static library with vehicle set to UNKNOWN, shared by all
 770     # the tools and examples. This is the first step until the
 771     # dependency on the vehicles is reduced. Later we may consider
 772     # split into smaller pieces with well defined boundaries.
 773     bld.ap_stlib(
 774         name='ap',
 775         ap_vehicle='UNKNOWN',
 776         ap_libraries=bld.ap_get_all_libraries(),
 777     )
 778
 779     if bld.env.HAS_GTEST:
 780         bld.libgtest(cxxflags=['-include', 'ap_config.h'])
 781
 782     if bld.env.HAS_GBENCHMARK:
 783         bld.libbenchmark()
 784
 785 def _build_recursion(bld):
 786     common_dirs_patterns = [
 787         # TODO: Currently each vehicle also generate its own copy of the
 788         # libraries. Fix this, or at least reduce the amount of
 789         # vehicle-dependent libraries.
 790         '*',
 791         'Tools/*',
 792         'libraries/*/examples/*',
 793         'libraries/*/tests',
 794         'libraries/*/utility/tests',
 795         'libraries/*/benchmarks',
 796     ]
 797
 798     common_dirs_excl = [
 799         'modules',
 800         'libraries/AP_HAL_*',
 801     ]
 802
 803     hal_dirs_patterns = [
 804         'libraries/%s/tests',
 805         'libraries/%s/*/tests',
 806         'libraries/%s/*/benchmarks',
 807         'libraries/%s/examples/*',
 808     ]
 809
 810     dirs_to_recurse = collect_dirs_to_recurse(
 811         bld,
 812         common_dirs_patterns,
 813         excl=common_dirs_excl,
 814     )
 815     if bld.env.IOMCU_FW is not None:
 816         if bld.env.IOMCU_FW:
 817             dirs_to_recurse.append('libraries/AP_IOMCU/iofirmware')
 818
 819     if bld.env.PERIPH_FW is not None:
 820         if bld.env.PERIPH_FW:
 821             dirs_to_recurse.append('Tools/AP_Periph')
 822
 823     dirs_to_recurse.append('libraries/AP_Scripting')
 824
 825     if bld.env.ENABLE_ONVIF:
 826         dirs_to_recurse.append('libraries/AP_ONVIF')
 827
 828     for p in hal_dirs_patterns:
 829         dirs_to_recurse += collect_dirs_to_recurse(
 830             bld,
 831             [p % l for l in bld.env.AP_LIBRARIES],
 832         )
 833
 834     # NOTE: we need to sort to ensure the repeated sources get the
 835     # same index, and random ordering of the filesystem doesn't cause
 836     # recompilation.
 837     dirs_to_recurse.sort()
 838
 839     for d in dirs_to_recurse:
 840         bld.recurse(d)
 841
 842 def _build_post_funs(bld):
 843     if bld.cmd == 'check':
 844         bld.add_post_fun(ardupilotwaf.test_summary)
 845     else:
 846         bld.build_summary_post_fun()
 847
 848     if bld.env.SUBMODULE_UPDATE:
 849         bld.git_submodule_post_fun()
 850
 851 def _load_pre_build(bld):
 852     '''allow for a pre_build() function in build modules'''
 853     if bld.cmd == 'clean':
 854         return
 855     brd = bld.get_board()
 856     if getattr(brd, 'pre_build', None):
 857         brd.pre_build(bld)
 858
 859 def build(bld):
 860     config_hash = Utils.h_file(bld.bldnode.make_node('ap_config.h').abspath())
 861     bld.env.CCDEPS = config_hash
 862     bld.env.CXXDEPS = config_hash
 863
 864     bld.post_mode = Build.POST_LAZY
 865
 866     bld.load('ardupilotwaf')
 867
 868     bld.env.AP_LIBRARIES_OBJECTS_KW.update(
 869         use=['mavlink'],
 870         cxxflags=['-include', 'ap_config.h'],
 871     )
 872
 873     _load_pre_build(bld)
 874
 875     if bld.get_board().with_can:
 876         bld.env.AP_LIBRARIES_OBJECTS_KW['use'] += ['dronecan']
 877
 878     _build_cmd_tweaks(bld)
 879
 880     if bld.env.SUBMODULE_UPDATE:
 881         bld.add_group('git_submodules')
 882         for name in bld.env.GIT_SUBMODULES:
 883             bld.git_submodule(name)
 884
 885     bld.add_group('dynamic_sources')
 886     _build_dynamic_sources(bld)
 887
 888     bld.add_group('build')
 889     bld.get_board().build(bld)
 890     _build_common_taskgens(bld)
 891
 892     _build_recursion(bld)
 893
 894     _build_post_funs(bld)
 895
 896 ardupilotwaf.build_command('check',
 897     program_group_list='all',
 898     doc='builds all programs and run tests',
 899 )
 900 ardupilotwaf.build_command('check-all',
 901     program_group_list='all',
 902     doc='shortcut for `waf check --alltests`',
 903 )
 904
 905 for name in (vehicles + ['bootloader','iofirmware','AP_Periph','replay']):
 906     ardupilotwaf.build_command(name,
 907         program_group_list=name,
 908         doc='builds %s programs' % name,
 909     )
 910
 911 for program_group in ('all', 'bin', 'tool', 'examples', 'tests', 'benchmarks'):
 912     ardupilotwaf.build_command(program_group,
 913         program_group_list=program_group,
 914         doc='builds all programs of %s group' % program_group,
 915     )
 916
 917 class LocalInstallContext(Build.InstallContext):
 918     """runs install using BLD/install as destdir, where BLD is the build variant directory"""
 919     cmd = 'localinstall'
 920
 921     def __init__(self, **kw):
 922         super(LocalInstallContext, self).__init__(**kw)
 923         self.local_destdir = os.path.join(self.variant_dir, 'install')
 924
 925     def execute(self):
 926         old_destdir = self.options.destdir
 927         self.options.destdir = self.local_destdir
 928         r = super(LocalInstallContext, self).execute()
 929         self.options.destdir = old_destdir
 930         return r
 931
 932 class RsyncContext(LocalInstallContext):
 933     """runs localinstall and then rsyncs BLD/install with the target system"""
 934     cmd = 'rsync'
 935
 936     def __init__(self, **kw):
 937         super(RsyncContext, self).__init__(**kw)
 938         self.add_pre_fun(RsyncContext.create_rsync_taskgen)
 939
 940     def create_rsync_taskgen(self):
 941         if 'RSYNC' not in self.env:
 942             self.fatal('rsync program seems not to be installed, can\'t continue')
 943
 944         self.add_group()
 945
 946         tg = self(
 947             name='rsync',
 948             rule='${RSYNC} -a ${RSYNC_SRC}/ ${RSYNC_DEST}',
 949             always=True,
 950         )
 951
 952         tg.env.RSYNC_SRC = self.local_destdir
 953         if self.options.rsync_dest:
 954             self.env.RSYNC_DEST = self.options.rsync_dest
 955
 956         if 'RSYNC_DEST' not in tg.env:
 957             self.fatal('Destination for rsync not defined. Either pass --rsync-dest here or during configuration.')
 958
 959         tg.post()