wscript

   1 #!/usr/bin/env python
   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
  17 from waflib import Build, ConfigSet, Configure, Context, Utils
  18 from waflib.Configure import conf
  19
  20 # Ref: https://stackoverflow.com/questions/40590192/getting-an-error-attributeerror-module-object-has-no-attribute-run-while
  21 try:
  22     from subprocess import CompletedProcess
  23 except ImportError:
  24     # Python 2
  25     class CompletedProcess:
  26
  27         def __init__(self, args, returncode, stdout=None, stderr=None):
  28             self.args = args
  29             self.returncode = returncode
  30             self.stdout = stdout
  31             self.stderr = stderr
  32
  33         def check_returncode(self):
  34             if self.returncode != 0:
  35                 err = subprocess.CalledProcessError(self.returncode, self.args, output=self.stdout)
  36                 raise err
  37             return self.returncode
  38
  39     def sp_run(*popenargs, **kwargs):
  40         input = kwargs.pop("input", None)
  41         check = kwargs.pop("handle", False)
  42         kwargs.pop("capture_output", True)
  43         if input is not None:
  44             if 'stdin' in kwargs:
  45                 raise ValueError('stdin and input arguments may not both be used.')
  46             kwargs['stdin'] = subprocess.PIPE
  47         process = subprocess.Popen(*popenargs, **kwargs)
  48         try:
  49             outs, errs = process.communicate(input)
  50         except:
  51             process.kill()
  52             process.wait()
  53             raise
  54         returncode = process.poll()
  55         if check and returncode:
  56             raise subprocess.CalledProcessError(returncode, popenargs, output=outs)
  57         return CompletedProcess(popenargs, returncode, stdout=outs, stderr=errs)
  58
  59     subprocess.run = sp_run
  60     # ^ This monkey patch allows it work on Python 2 or 3 the same way
  61
  62
  63 # TODO: implement a command 'waf help' that shows the basic tasks a
  64 # developer might want to do: e.g. how to configure a board, compile a
  65 # vehicle, compile all the examples, add a new example. Should fit in
  66 # less than a terminal screen, ideally commands should be copy
  67 # pastable. Add the 'export waf="$PWD/waf"' trick to be copy-pastable
  68 # as well.
  69
  70 # TODO: replace defines with the use of the generated ap_config.h file
  71 # this makes recompilation at least when defines change. which might
  72 # be sufficient.
  73
  74 # Default installation prefix for Linux boards
  75 default_prefix = '/usr/'
  76
  77 # Override Build execute and Configure post_recurse methods for autoconfigure purposes
  78 Build.BuildContext.execute = ardupilotwaf.ap_autoconfigure(Build.BuildContext.execute)
  79 Configure.ConfigurationContext.post_recurse = ardupilotwaf.ap_configure_post_recurse()
  80
  81
  82 def _set_build_context_variant(board):
  83     for c in Context.classes:
  84         if not issubclass(c, Build.BuildContext):
  85             continue
  86         c.variant = board
  87
  88 def init(ctx):
  89     # Generate Task List, so that VS Code extension can keep track
  90     # of changes to possible build targets
  91     generate_tasklist(ctx, False)
  92     env = ConfigSet.ConfigSet()
  93     try:
  94         p = os.path.join(Context.out_dir, Build.CACHE_DIR, Build.CACHE_SUFFIX)
  95         env.load(p)
  96     except EnvironmentError:
  97         return
  98
  99     Configure.autoconfig = 'clobber' if env.AUTOCONFIG else False
 100
 101     board = ctx.options.board or env.BOARD
 102
 103     if not board:
 104         return
 105
 106     # define the variant build commands according to the board
 107     _set_build_context_variant(board)
 108
 109 def options(opt):
 110     opt.load('compiler_cxx compiler_c waf_unit_test python')
 111     opt.load('ardupilotwaf')
 112     opt.load('build_summary')
 113
 114     g = opt.ap_groups['configure']
 115
 116     boards_names = boards.get_boards_names()
 117     removed_names = boards.get_removed_boards()
 118     g.add_option('--board',
 119         action='store',
 120         default=None,
 121         help='Target board to build, choices are %s.' % ', '.join(boards_names))
 122
 123     g.add_option('--debug',
 124         action='store_true',
 125         default=False,
 126         help='Configure as debug variant.')
 127
 128     g.add_option('--disable-watchdog',
 129         action='store_true',
 130         default=False,
 131         help='Build with watchdog disabled.')
 132
 133     g.add_option('--coverage',
 134                  action='store_true',
 135                  default=False,
 136                  help='Configure coverage flags.')
 137
 138     g.add_option('--Werror',
 139         action='store_true',
 140         default=False,
 141         help='build with -Werror.')
 142
 143     g.add_option('--toolchain',
 144         action='store',
 145         default=None,
 146         help='Override default toolchain used for the board. Use "native" for using the host toolchain.')
 147
 148     g.add_option('--disable-gccdeps',
 149         action='store_true',
 150         default=False,
 151         help='Disable the use of GCC dependencies output method and use waf default method.')
 152
 153     g.add_option('--enable-asserts',
 154         action='store_true',
 155         default=False,
 156         help='enable OS level asserts.')
 157
 158     g.add_option('--save-temps',
 159         action='store_true',
 160         default=False,
 161         help='save compiler temporary files.')
 162
 163     g.add_option('--enable-malloc-guard',
 164         action='store_true',
 165         default=False,
 166         help='enable malloc guard regions.')
 167
 168     g.add_option('--enable-stats',
 169         action='store_true',
 170         default=False,
 171         help='enable OS level thread statistics.')
 172
 173     g.add_option('--bootloader',
 174         action='store_true',
 175         default=False,
 176         help='Configure for building a bootloader.')
 177
 178     g.add_option('--signed-fw',
 179         action='store_true',
 180         default=False,
 181         help='Configure for signed firmware support.')
 182
 183     g.add_option('--private-key',
 184                  action='store',
 185                  default=None,
 186             help='path to private key for signing firmware.')
 187
 188     g.add_option('--no-autoconfig',
 189         dest='autoconfig',
 190         action='store_false',
 191         default=True,
 192         help='''Disable autoconfiguration feature. By default, the build system
 193 triggers a reconfiguration whenever it thinks it's necessary - this
 194 option disables that.
 195 ''')
 196
 197     g.add_option('--no-submodule-update',
 198         dest='submodule_update',
 199         action='store_false',
 200         default=True,
 201         help='''Don't update git submodules. Useful for building with
 202 submodules at specific revisions.
 203 ''')
 204
 205     g.add_option('--enable-header-checks', action='store_true',
 206         default=False,
 207         help="Enable checking of headers")
 208
 209     g.add_option('--default-parameters',
 210         default=None,
 211         help='set default parameters to embed in the firmware')
 212
 213     g.add_option('--enable-math-check-indexes',
 214                  action='store_true',
 215                  default=False,
 216                  help="Enable checking of math indexes")
 217
 218     g.add_option('--disable-scripting', action='store_true',
 219                  default=False,
 220                  help="Disable onboard scripting engine")
 221
 222     g.add_option('--no-gcs', action='store_true',
 223                  default=False,
 224                  help="Disable GCS code")
 225
 226     g.add_option('--scripting-checks', action='store_true',
 227                  default=True,
 228                  help="Enable runtime scripting sanity checks")
 229
 230     g.add_option('--enable-onvif', action='store_true',
 231                  default=False,
 232                  help="Enables and sets up ONVIF camera control")
 233
 234     g.add_option('--scripting-docs', action='store_true',
 235                  default=False,
 236                  help="enable generation of scripting documentation")
 237
 238     g.add_option('--enable-opendroneid', action='store_true',
 239                  default=False,
 240                  help="Enables OpenDroneID")
 241
 242     g.add_option('--enable-check-firmware', action='store_true',
 243                  default=False,
 244                  help="Enables firmware ID checking on boot")
 245
 246     g.add_option('--enable-custom-controller', action='store_true',
 247                  default=False,
 248                  help="Enables custom controller")
 249
 250     g.add_option('--enable-gps-logging', action='store_true',
 251                  default=False,
 252                  help="Enables GPS logging")
 253
 254     g = opt.ap_groups['linux']
 255
 256     linux_options = ('--prefix', '--destdir', '--bindir', '--libdir')
 257     for k in linux_options:
 258         option = opt.parser.get_option(k)
 259         if option:
 260             opt.parser.remove_option(k)
 261             g.add_option(option)
 262
 263     g.add_option('--apstatedir',
 264         action='store',
 265         default='',
 266         help='''Where to save data like parameters, log and terrain.
 267 This is the --localstatedir + ArduPilots subdirectory [default:
 268 board-dependent, usually /var/lib/ardupilot]''')
 269
 270     g.add_option('--rsync-dest',
 271         dest='rsync_dest',
 272         action='store',
 273         default='',
 274         help='''Destination for the rsync Waf command. It can be passed during
 275 configuration in order to save typing.
 276 ''')
 277
 278     g.add_option('--enable-benchmarks',
 279         action='store_true',
 280         default=False,
 281         help='Enable benchmarks.')
 282
 283     g.add_option('--enable-lttng', action='store_true',
 284         default=False,
 285         help="Enable lttng integration")
 286
 287     g.add_option('--disable-libiio', action='store_true',
 288         default=False,
 289         help="Don't use libiio even if supported by board and dependencies available")
 290
 291     g.add_option('--disable-tests', action='store_true',
 292         default=False,
 293         help="Disable compilation and test execution")
 294
 295     g.add_option('--enable-sfml', action='store_true',
 296                  default=False,
 297                  help="Enable SFML graphics library")
 298
 299     g.add_option('--enable-sfml-joystick', action='store_true',
 300                  default=False,
 301                  help="Enable SFML joystick input library")
 302
 303     g.add_option('--enable-sfml-audio', action='store_true',
 304                  default=False,
 305                  help="Enable SFML audio library")
 306
 307     g.add_option('--osd', action='store_true',
 308                  default=False,
 309                  help="Enable OSD support")
 310
 311     g.add_option('--osd-fonts', action='store_true',
 312                  default=False,
 313                  help="Enable OSD support with fonts")
 314
 315     g.add_option('--sitl-osd', action='store_true',
 316                  default=False,
 317                  help="Enable SITL OSD")
 318
 319     g.add_option('--sitl-rgbled', action='store_true',
 320                  default=False,
 321                  help="Enable SITL RGBLed")
 322
 323     g.add_option('--sitl-32bit', action='store_true',
 324                  default=False,
 325                  help="Enable SITL 32bit")
 326
 327     g.add_option('--build-dates', action='store_true',
 328                  default=False,
 329                  help="Include build date in binaries.  Appears in AUTOPILOT_VERSION.os_sw_version")
 330
 331     g.add_option('--sitl-flash-storage',
 332         action='store_true',
 333         default=False,
 334         help='Use flash storage emulation.')
 335
 336     g.add_option('--disable-ekf2',
 337         action='store_true',
 338         default=False,
 339         help='Configure without EKF2.')
 340
 341     g.add_option('--disable-ekf3',
 342         action='store_true',
 343         default=False,
 344         help='Configure without EKF3.')
 345
 346     g.add_option('--ekf-double',
 347         action='store_true',
 348         default=False,
 349         help='Configure EKF as double precision.')
 350
 351     g.add_option('--ekf-single',
 352         action='store_true',
 353         default=False,
 354         help='Configure EKF as single precision.')
 355
 356     g.add_option('--static',
 357         action='store_true',
 358         default=False,
 359         help='Force a static build')
 360
 361     g.add_option('--postype-single',
 362         action='store_true',
 363         default=False,
 364         help='force single precision postype_t')
 365
 366     g.add_option('--extra-hwdef',
 367             action='store',
 368             default=None,
 369             help='Extra hwdef.dat file for custom build.')
 370
 371     g.add_option('--assert-cc-version',
 372                  default=None,
 373                  help='fail configure if not using the specified gcc version')
 374
 375 def _collect_autoconfig_files(cfg):
 376     for m in sys.modules.values():
 377         paths = []
 378         if hasattr(m, '__file__') and m.__file__ is not None:
 379             paths.append(m.__file__)
 380         elif hasattr(m, '__path__'):
 381             for p in m.__path__:
 382                 if p is not None:
 383                     paths.append(p)
 384
 385         for p in paths:
 386             if p in cfg.files or not os.path.isfile(p):
 387                 continue
 388
 389             with open(p, 'rb') as f:
 390                 cfg.hash = Utils.h_list((cfg.hash, f.read()))
 391                 cfg.files.append(p)
 392
 393 def configure(cfg):
 394         # we need to enable debug mode when building for gconv, and force it to sitl
 395     if cfg.options.board is None:
 396         cfg.options.board = 'sitl'
 397
 398     boards_names = boards.get_boards_names()
 399     if not cfg.options.board in boards_names:
 400         for b in boards_names:
 401             if b.upper() == cfg.options.board.upper():
 402                 cfg.options.board = b
 403                 break
 404
 405     cfg.env.BOARD = cfg.options.board
 406     cfg.env.DEBUG = cfg.options.debug
 407     cfg.env.COVERAGE = cfg.options.coverage
 408     cfg.env.AUTOCONFIG = cfg.options.autoconfig
 409
 410     _set_build_context_variant(cfg.env.BOARD)
 411     cfg.setenv(cfg.env.BOARD)
 412
 413     if cfg.options.signed_fw:
 414         cfg.env.AP_SIGNED_FIRMWARE = True
 415         cfg.options.enable_check_firmware = True
 416
 417     cfg.env.BOARD = cfg.options.board
 418     cfg.env.DEBUG = cfg.options.debug
 419     cfg.env.COVERAGE = cfg.options.coverage
 420     cfg.env.SITL32BIT = cfg.options.sitl_32bit
 421     cfg.env.ENABLE_ASSERTS = cfg.options.enable_asserts
 422     cfg.env.BOOTLOADER = cfg.options.bootloader
 423     cfg.env.ENABLE_MALLOC_GUARD = cfg.options.enable_malloc_guard
 424     cfg.env.ENABLE_STATS = cfg.options.enable_stats
 425     cfg.env.SAVE_TEMPS = cfg.options.save_temps
 426
 427     cfg.env.HWDEF_EXTRA = cfg.options.extra_hwdef
 428     if cfg.env.HWDEF_EXTRA:
 429         cfg.env.HWDEF_EXTRA = os.path.abspath(cfg.env.HWDEF_EXTRA)
 430
 431     cfg.env.OPTIONS = cfg.options.__dict__
 432
 433     # Allow to differentiate our build from the make build
 434     cfg.define('WAF_BUILD', 1)
 435
 436     cfg.msg('Autoconfiguration', 'enabled' if cfg.options.autoconfig else 'disabled')
 437
 438     if cfg.options.static:
 439         cfg.msg('Using static linking', 'yes', color='YELLOW')
 440         cfg.env.STATIC_LINKING = True
 441
 442     cfg.load('ap_library')
 443
 444     cfg.msg('Setting board to', cfg.options.board)
 445     cfg.get_board().configure(cfg)
 446
 447     cfg.load('clang_compilation_database')
 448     cfg.load('waf_unit_test')
 449     cfg.load('mavgen')
 450     if cfg.options.board in cfg.ap_periph_boards():
 451         cfg.load('dronecangen')
 452     else:
 453         cfg.load('uavcangen')
 454
 455     cfg.env.SUBMODULE_UPDATE = cfg.options.submodule_update
 456
 457     cfg.start_msg('Source is git repository')
 458     if cfg.srcnode.find_node('.git'):
 459         cfg.end_msg('yes')
 460     else:
 461         cfg.end_msg('no')
 462         cfg.env.SUBMODULE_UPDATE = False
 463
 464     cfg.msg('Update submodules', 'yes' if cfg.env.SUBMODULE_UPDATE else 'no')
 465     cfg.load('git_submodule')
 466
 467     if cfg.options.enable_benchmarks:
 468         cfg.load('gbenchmark')
 469     cfg.load('gtest')
 470     cfg.load('static_linking')
 471     cfg.load('build_summary')
 472
 473     cfg.start_msg('Benchmarks')
 474     if cfg.env.HAS_GBENCHMARK:
 475         cfg.end_msg('enabled')
 476     else:
 477         cfg.end_msg('disabled', color='YELLOW')
 478
 479     cfg.start_msg('Unit tests')
 480     if cfg.env.HAS_GTEST:
 481         cfg.end_msg('enabled')
 482     else:
 483         cfg.end_msg('disabled', color='YELLOW')
 484
 485     cfg.start_msg('Scripting')
 486     if cfg.options.disable_scripting:
 487         cfg.end_msg('disabled', color='YELLOW')
 488     else:
 489         cfg.end_msg('enabled')
 490         cfg.recurse('libraries/AP_Scripting')
 491
 492     cfg.recurse('libraries/AP_GPS')
 493
 494     cfg.start_msg('Scripting runtime checks')
 495     if cfg.options.scripting_checks:
 496         cfg.end_msg('enabled')
 497     else:
 498         cfg.end_msg('disabled', color='YELLOW')
 499
 500     cfg.start_msg('Debug build')
 501     if cfg.env.DEBUG:
 502         cfg.end_msg('enabled')
 503     else:
 504         cfg.end_msg('disabled', color='YELLOW')
 505
 506     cfg.start_msg('Coverage build')
 507     if cfg.env.COVERAGE:
 508         cfg.end_msg('enabled')
 509     else:
 510         cfg.end_msg('disabled', color='YELLOW')
 511
 512     cfg.start_msg('SITL 32-bit build')
 513     if cfg.env.SITL32BIT:
 514         cfg.end_msg('enabled')
 515     else:
 516         cfg.end_msg('disabled', color='YELLOW')
 517
 518     cfg.env.append_value('GIT_SUBMODULES', 'mavlink')
 519
 520     cfg.env.prepend_value('INCLUDES', [
 521         cfg.srcnode.abspath() + '/libraries/',
 522     ])
 523
 524     cfg.find_program('rsync', mandatory=False)
 525     if cfg.options.rsync_dest:
 526         cfg.msg('Setting rsync destination to', cfg.options.rsync_dest)
 527         cfg.env.RSYNC_DEST = cfg.options.rsync_dest
 528
 529     if cfg.options.enable_header_checks:
 530         cfg.msg('Enabling header checks', cfg.options.enable_header_checks)
 531         cfg.env.ENABLE_HEADER_CHECKS = True
 532     else:
 533         cfg.env.ENABLE_HEADER_CHECKS = False
 534
 535     # TODO: Investigate if code could be changed to not depend on the
 536     # source absolute path.
 537     cfg.env.prepend_value('DEFINES', [
 538         'SKETCHBOOK="' + cfg.srcnode.abspath() + '"',
 539     ])
 540
 541     # Always use system extensions
 542     cfg.define('_GNU_SOURCE', 1)
 543
 544     cfg.write_config_header(os.path.join(cfg.variant, 'ap_config.h'), guard='_AP_CONFIG_H_')
 545
 546     # add in generated flags
 547     cfg.env.CXXFLAGS += ['-include', 'ap_config.h']
 548
 549     _collect_autoconfig_files(cfg)
 550
 551 def collect_dirs_to_recurse(bld, globs, **kw):
 552     dirs = []
 553     globs = Utils.to_list(globs)
 554
 555     if bld.bldnode.is_child_of(bld.srcnode):
 556         kw['excl'] = Utils.to_list(kw.get('excl', []))
 557         kw['excl'].append(bld.bldnode.path_from(bld.srcnode))
 558
 559     for g in globs:
 560         for d in bld.srcnode.ant_glob(g + '/wscript', **kw):
 561             dirs.append(d.parent.relpath())
 562     return dirs
 563
 564 def list_boards(ctx):
 565     print(*boards.get_boards_names())
 566
 567 def list_ap_periph_boards(ctx):
 568     print(*boards.get_ap_periph_boards())
 569
 570 @conf
 571 def ap_periph_boards(ctx):
 572     return boards.get_ap_periph_boards()
 573
 574 def generate_tasklist(ctx, do_print=True):
 575     boardlist = boards.get_boards_names()
 576     ap_periph_targets = boards.get_ap_periph_boards()
 577     tasks = []
 578     with open(os.path.join(Context.top_dir, "tasklist.json"), "w") as tlist:
 579         for board in boardlist:
 580             task = {}
 581             task['configure'] = board
 582             if board in ap_periph_targets:
 583                 if 'sitl' not in board:
 584                     # we only support AP_Periph and bootloader builds
 585                     task['targets'] = ['AP_Periph', 'bootloader']
 586                 else:
 587                     task['targets'] = ['AP_Periph']
 588             elif 'iofirmware' in board:
 589                 task['targets'] = ['iofirmware', 'bootloader']
 590             else:
 591                 if 'sitl' in board or 'SITL' in board:
 592                     task['targets'] = ['antennatracker', 'copter', 'heli', 'plane', 'rover', 'sub', 'replay']
 593                 elif 'linux' in board:
 594                     task['targets'] = ['antennatracker', 'copter', 'heli', 'plane', 'rover', 'sub']
 595                 else:
 596                     task['targets'] = ['antennatracker', 'copter', 'heli', 'plane', 'rover', 'sub', 'bootloader']
 597                     task['buildOptions'] = '--upload'
 598             tasks.append(task)
 599         tlist.write(json.dumps(tasks))
 600         if do_print:
 601             print(json.dumps(tasks))
 602
 603 def board(ctx):
 604     env = ConfigSet.ConfigSet()
 605     try:
 606         p = os.path.join(Context.out_dir, Build.CACHE_DIR, Build.CACHE_SUFFIX)
 607         env.load(p)
 608     except:
 609         print('No board currently configured')
 610         return
 611
 612     print('Board configured to: {}'.format(env.BOARD))
 613
 614 def _build_cmd_tweaks(bld):
 615     if bld.cmd == 'check-all':
 616         bld.options.all_tests = True
 617         bld.cmd = 'check'
 618
 619     if bld.cmd == 'check':
 620         if not bld.env.HAS_GTEST:
 621             bld.fatal('check: gtest library is required')
 622         bld.options.clear_failed_tests = True
 623
 624 def _build_dynamic_sources(bld):
 625     if not bld.env.BOOTLOADER:
 626         bld(
 627             features='mavgen',
 628             source='modules/mavlink/message_definitions/v1.0/all.xml',
 629             output_dir='libraries/GCS_MAVLink/include/mavlink/v2.0/',
 630             name='mavlink',
 631             # this below is not ideal, mavgen tool should set this, but that's not
 632             # currently possible
 633             export_includes=[
 634             bld.bldnode.make_node('libraries').abspath(),
 635             bld.bldnode.make_node('libraries/GCS_MAVLink').abspath(),
 636             ],
 637             )
 638
 639     if (bld.get_board().with_can or bld.env.HAL_NUM_CAN_IFACES) and not bld.env.AP_PERIPH:
 640         bld(
 641             features='uavcangen',
 642             source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_UAVCAN/dsdl/*', dir=True, src=False),
 643             output_dir='modules/uavcan/libuavcan/include/dsdlc_generated',
 644             name='uavcan',
 645             export_includes=[
 646                 bld.bldnode.make_node('modules/uavcan/libuavcan/include/dsdlc_generated').abspath(),
 647                 bld.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath()
 648             ]
 649         )
 650     elif bld.env.AP_PERIPH:
 651         bld(
 652             features='dronecangen',
 653             source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_UAVCAN/dsdl/*', dir=True, src=False),
 654             output_dir='modules/DroneCAN/libcanard/dsdlc_generated/',
 655             name='dronecan',
 656             export_includes=[
 657                 bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/include').abspath(),
 658                 bld.srcnode.find_dir('modules/DroneCAN/libcanard/').abspath(),
 659             ]
 660         )
 661
 662     def write_version_header(tsk):
 663         bld = tsk.generator.bld
 664         return bld.write_version_header(tsk.outputs[0].abspath())
 665
 666     bld(
 667         name='ap_version',
 668         target='ap_version.h',
 669         vars=['AP_VERSION_ITEMS'],
 670         rule=write_version_header,
 671     )
 672
 673     bld.env.prepend_value('INCLUDES', [
 674         bld.bldnode.abspath(),
 675     ])
 676
 677 def _build_common_taskgens(bld):
 678     # NOTE: Static library with vehicle set to UNKNOWN, shared by all
 679     # the tools and examples. This is the first step until the
 680     # dependency on the vehicles is reduced. Later we may consider
 681     # split into smaller pieces with well defined boundaries.
 682     bld.ap_stlib(
 683         name='ap',
 684         ap_vehicle='UNKNOWN',
 685         ap_libraries=bld.ap_get_all_libraries(),
 686     )
 687
 688     if bld.env.HAS_GTEST:
 689         bld.libgtest(cxxflags=['-include', 'ap_config.h'])
 690
 691     if bld.env.HAS_GBENCHMARK:
 692         bld.libbenchmark()
 693
 694 def _build_recursion(bld):
 695     common_dirs_patterns = [
 696         # TODO: Currently each vehicle also generate its own copy of the
 697         # libraries. Fix this, or at least reduce the amount of
 698         # vehicle-dependent libraries.
 699         '*',
 700         'Tools/*',
 701         'libraries/*/examples/*',
 702         'libraries/*/tests',
 703         'libraries/*/utility/tests',
 704         'libraries/*/benchmarks',
 705     ]
 706
 707     common_dirs_excl = [
 708         'modules',
 709         'libraries/AP_HAL_*',
 710     ]
 711
 712     hal_dirs_patterns = [
 713         'libraries/%s/tests',
 714         'libraries/%s/*/tests',
 715         'libraries/%s/*/benchmarks',
 716         'libraries/%s/examples/*',
 717     ]
 718
 719     dirs_to_recurse = collect_dirs_to_recurse(
 720         bld,
 721         common_dirs_patterns,
 722         excl=common_dirs_excl,
 723     )
 724     if bld.env.IOMCU_FW is not None:
 725         if bld.env.IOMCU_FW:
 726             dirs_to_recurse.append('libraries/AP_IOMCU/iofirmware')
 727
 728     if bld.env.PERIPH_FW is not None:
 729         if bld.env.PERIPH_FW:
 730             dirs_to_recurse.append('Tools/AP_Periph')
 731
 732     dirs_to_recurse.append('libraries/AP_Scripting')
 733
 734     if bld.env.ENABLE_ONVIF:
 735         dirs_to_recurse.append('libraries/AP_ONVIF')
 736
 737     for p in hal_dirs_patterns:
 738         dirs_to_recurse += collect_dirs_to_recurse(
 739             bld,
 740             [p % l for l in bld.env.AP_LIBRARIES],
 741         )
 742
 743     # NOTE: we need to sort to ensure the repeated sources get the
 744     # same index, and random ordering of the filesystem doesn't cause
 745     # recompilation.
 746     dirs_to_recurse.sort()
 747
 748     for d in dirs_to_recurse:
 749         bld.recurse(d)
 750
 751 def _build_post_funs(bld):
 752     if bld.cmd == 'check':
 753         bld.add_post_fun(ardupilotwaf.test_summary)
 754     else:
 755         bld.build_summary_post_fun()
 756
 757     if bld.env.SUBMODULE_UPDATE:
 758         bld.git_submodule_post_fun()
 759
 760 def _load_pre_build(bld):
 761     '''allow for a pre_build() function in build modules'''
 762     if bld.cmd == 'clean':
 763         return
 764     brd = bld.get_board()
 765     if getattr(brd, 'pre_build', None):
 766         brd.pre_build(bld)
 767
 768 def build(bld):
 769     config_hash = Utils.h_file(bld.bldnode.make_node('ap_config.h').abspath())
 770     bld.env.CCDEPS = config_hash
 771     bld.env.CXXDEPS = config_hash
 772
 773     bld.post_mode = Build.POST_LAZY
 774
 775     bld.load('ardupilotwaf')
 776
 777     bld.env.AP_LIBRARIES_OBJECTS_KW.update(
 778         use=['mavlink'],
 779         cxxflags=['-include', 'ap_config.h'],
 780     )
 781
 782     _load_pre_build(bld)
 783
 784     if bld.get_board().with_can:
 785         bld.env.AP_LIBRARIES_OBJECTS_KW['use'] += ['uavcan']
 786     if bld.env.AP_PERIPH:
 787         bld.env.AP_LIBRARIES_OBJECTS_KW['use'] += ['dronecan']
 788
 789     _build_cmd_tweaks(bld)
 790
 791     if bld.env.SUBMODULE_UPDATE:
 792         bld.add_group('git_submodules')
 793         for name in bld.env.GIT_SUBMODULES:
 794             bld.git_submodule(name)
 795
 796     bld.add_group('dynamic_sources')
 797     _build_dynamic_sources(bld)
 798
 799     bld.add_group('build')
 800     bld.get_board().build(bld)
 801     _build_common_taskgens(bld)
 802
 803     _build_recursion(bld)
 804
 805     _build_post_funs(bld)
 806
 807 ardupilotwaf.build_command('check',
 808     program_group_list='all',
 809     doc='builds all programs and run tests',
 810 )
 811 ardupilotwaf.build_command('check-all',
 812     program_group_list='all',
 813     doc='shortcut for `waf check --alltests`',
 814 )
 815
 816 for name in ('antennatracker', 'copter', 'heli', 'plane', 'rover', 'sub', 'blimp', 'bootloader','iofirmware','AP_Periph','replay'):
 817     ardupilotwaf.build_command(name,
 818         program_group_list=name,
 819         doc='builds %s programs' % name,
 820     )
 821
 822 for program_group in ('all', 'bin', 'tool', 'examples', 'tests', 'benchmarks'):
 823     ardupilotwaf.build_command(program_group,
 824         program_group_list=program_group,
 825         doc='builds all programs of %s group' % program_group,
 826     )
 827
 828 class LocalInstallContext(Build.InstallContext):
 829     """runs install using BLD/install as destdir, where BLD is the build variant directory"""
 830     cmd = 'localinstall'
 831
 832     def __init__(self, **kw):
 833         super(LocalInstallContext, self).__init__(**kw)
 834         self.local_destdir = os.path.join(self.variant_dir, 'install')
 835
 836     def execute(self):
 837         old_destdir = self.options.destdir
 838         self.options.destdir = self.local_destdir
 839         r = super(LocalInstallContext, self).execute()
 840         self.options.destdir = old_destdir
 841         return r
 842
 843 class RsyncContext(LocalInstallContext):
 844     """runs localinstall and then rsyncs BLD/install with the target system"""
 845     cmd = 'rsync'
 846
 847     def __init__(self, **kw):
 848         super(RsyncContext, self).__init__(**kw)
 849         self.add_pre_fun(RsyncContext.create_rsync_taskgen)
 850
 851     def create_rsync_taskgen(self):
 852         if 'RSYNC' not in self.env:
 853             self.fatal('rsync program seems not to be installed, can\'t continue')
 854
 855         self.add_group()
 856
 857         tg = self(
 858             name='rsync',
 859             rule='${RSYNC} -a ${RSYNC_SRC}/ ${RSYNC_DEST}',
 860             always=True,
 861         )
 862
 863         tg.env.RSYNC_SRC = self.local_destdir
 864         if self.options.rsync_dest:
 865             self.env.RSYNC_DEST = self.options.rsync_dest
 866
 867         if 'RSYNC_DEST' not in tg.env:
 868             self.fatal('Destination for rsync not defined. Either pass --rsync-dest here or during configuration.')
 869
 870         tg.post()