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 sys.path.insert(0, 'Tools/scripts/')
  14
  15 import ardupilotwaf
  16 import boards
  17 import shutil
  18 import build_options
  19
  20 from waflib import Build, ConfigSet, Configure, Context, Utils
  21 from waflib.Configure import conf
  22
  23 # Ref: https://stackoverflow.com/questions/40590192/getting-an-error-attributeerror-module-object-has-no-attribute-run-while
  24 try:
  25     from subprocess import CompletedProcess
  26 except ImportError:
  27     # Python 2
  28     class CompletedProcess:
  29
  30         def __init__(self, args, returncode, stdout=None, stderr=None):
  31             self.args = args
  32             self.returncode = returncode
  33             self.stdout = stdout
  34             self.stderr = stderr
  35
  36         def check_returncode(self):
  37             if self.returncode != 0:
  38                 err = subprocess.CalledProcessError(self.returncode, self.args, output=self.stdout)
  39                 raise err
  40             return self.returncode
  41
  42     def sp_run(*popenargs, **kwargs):
  43         input = kwargs.pop("input", None)
  44         check = kwargs.pop("handle", False)
  45         kwargs.pop("capture_output", True)
  46         if input is not None:
  47             if 'stdin' in kwargs:
  48                 raise ValueError('stdin and input arguments may not both be used.')
  49             kwargs['stdin'] = subprocess.PIPE
  50         process = subprocess.Popen(*popenargs, **kwargs)
  51         try:
  52             outs, errs = process.communicate(input)
  53         except:
  54             process.kill()
  55             process.wait()
  56             raise
  57         returncode = process.poll()
  58         if check and returncode:
  59             raise subprocess.CalledProcessError(returncode, popenargs, output=outs)
  60         return CompletedProcess(popenargs, returncode, stdout=outs, stderr=errs)
  61
  62     subprocess.run = sp_run
  63     # ^ This monkey patch allows it work on Python 2 or 3 the same way
  64
  65
  66 # TODO: implement a command 'waf help' that shows the basic tasks a
  67 # developer might want to do: e.g. how to configure a board, compile a
  68 # vehicle, compile all the examples, add a new example. Should fit in
  69 # less than a terminal screen, ideally commands should be copy
  70 # pastable. Add the 'export waf="$PWD/waf"' trick to be copy-pastable
  71 # as well.
  72
  73 # TODO: replace defines with the use of the generated ap_config.h file
  74 # this makes recompilation at least when defines change. which might
  75 # be sufficient.
  76
  77 # Default installation prefix for Linux boards
  78 default_prefix = '/usr/'
  79
  80 # Override Build execute and Configure post_recurse methods for autoconfigure purposes
  81 Build.BuildContext.execute = ardupilotwaf.ap_autoconfigure(Build.BuildContext.execute)
  82 Configure.ConfigurationContext.post_recurse = ardupilotwaf.ap_configure_post_recurse()
  83
  84
  85 def _set_build_context_variant(board):
  86     for c in Context.classes:
  87         if not issubclass(c, Build.BuildContext):
  88             continue
  89         c.variant = board
  90
  91 # Remove all submodules and then sync
  92 @conf
  93 def submodule_force_clean(ctx):
  94     whitelist = {
  95                             'COLCON_IGNORE',
  96                             'esp_idf',
  97                           }
  98
  99     # Get all items in the modules folder
 100     module_list = os.scandir('modules')
 101
 102     # Delete all directories except those in the whitelist
 103     for module in module_list:
 104         if (module.is_dir()) and (module.name not in whitelist):
 105             shutil.rmtree(module)
 106
 107     submodulesync(ctx)
 108
 109 # run Tools/gittools/submodule-sync.sh to sync submodules
 110 @conf
 111 def submodulesync(ctx):
 112     subprocess.call(['Tools/gittools/submodule-sync.sh'])
 113
 114 def init(ctx):
 115     # Generate Task List, so that VS Code extension can keep track
 116     # of changes to possible build targets
 117     generate_tasklist(ctx, False)
 118     env = ConfigSet.ConfigSet()
 119     try:
 120         p = os.path.join(Context.out_dir, Build.CACHE_DIR, Build.CACHE_SUFFIX)
 121         env.load(p)
 122     except EnvironmentError:
 123         return
 124
 125     Configure.autoconfig = 'clobber' if env.AUTOCONFIG else False
 126
 127     board = ctx.options.board or env.BOARD
 128
 129     if not board:
 130         return
 131
 132     # define the variant build commands according to the board
 133     _set_build_context_variant(board)
 134
 135 def options(opt):
 136     opt.load('compiler_cxx compiler_c waf_unit_test python')
 137     opt.load('ardupilotwaf')
 138     opt.load('build_summary')
 139
 140     g = opt.ap_groups['configure']
 141
 142     boards_names = boards.get_boards_names()
 143     removed_names = boards.get_removed_boards()
 144     g.add_option('--board',
 145         action='store',
 146         default=None,
 147         help='Target board to build, choices are %s.' % ', '.join(boards_names))
 148
 149     g.add_option('--debug',
 150         action='store_true',
 151         default=False,
 152         help='Configure as debug variant.')
 153
 154     g.add_option('--debug-symbols', '-g',
 155         action='store_true',
 156         default=False,
 157         help='Add debug symbolds to build.')
 158
 159     g.add_option('--vs-launch',
 160         action='store_true',
 161         default=False,
 162         help='Generate wscript environment variable to .vscode/setting.json for Visual Studio Code')
 163
 164     g.add_option('--disable-watchdog',
 165         action='store_true',
 166         default=False,
 167         help='Build with watchdog disabled.')
 168
 169     g.add_option('--coverage',
 170                  action='store_true',
 171                  default=False,
 172                  help='Configure coverage flags.')
 173
 174     g.add_option('--Werror',
 175         action='store_true',
 176         default=None,
 177         help='build with -Werror.')
 178
 179     g.add_option('--disable-Werror',
 180         action='store_true',
 181         default=None,
 182         help='Disable -Werror.')
 183
 184     g.add_option('--toolchain',
 185         action='store',
 186         default=None,
 187         help='Override default toolchain used for the board. Use "native" for using the host toolchain.')
 188
 189     g.add_option('--disable-gccdeps',
 190         action='store_true',
 191         default=False,
 192         help='Disable the use of GCC dependencies output method and use waf default method.')
 193
 194     g.add_option('--enable-asserts',
 195         action='store_true',
 196         default=False,
 197         help='enable OS level asserts.')
 198
 199     g.add_option('--save-temps',
 200         action='store_true',
 201         default=False,
 202         help='save compiler temporary files.')
 203
 204     g.add_option('--enable-malloc-guard',
 205         action='store_true',
 206         default=False,
 207         help='enable malloc guard regions.')
 208
 209     g.add_option('--enable-stats',
 210         action='store_true',
 211         default=False,
 212         help='enable OS level thread statistics.')
 213
 214     g.add_option('--bootloader',
 215         action='store_true',
 216         default=False,
 217         help='Configure for building a bootloader.')
 218
 219     g.add_option('--signed-fw',
 220         action='store_true',
 221         default=False,
 222         help='Configure for signed firmware support.')
 223
 224     g.add_option('--private-key',
 225                  action='store',
 226                  default=None,
 227             help='path to private key for signing firmware.')
 228
 229     g.add_option('--no-autoconfig',
 230         dest='autoconfig',
 231         action='store_false',
 232         default=True,
 233         help='''Disable autoconfiguration feature. By default, the build system
 234 triggers a reconfiguration whenever it thinks it's necessary - this
 235 option disables that.
 236 ''')
 237
 238     g.add_option('--no-submodule-update',
 239         dest='submodule_update',
 240         action='store_false',
 241         default=True,
 242         help='''Don't update git submodules. Useful for building with
 243 submodules at specific revisions.
 244 ''')
 245
 246     g.add_option('--enable-header-checks', action='store_true',
 247         default=False,
 248         help="Enable checking of headers")
 249
 250     g.add_option('--default-parameters',
 251         default=None,
 252         help='set default parameters to embed in the firmware')
 253
 254     g.add_option('--enable-math-check-indexes',
 255                  action='store_true',
 256                  default=False,
 257                  help="Enable checking of math indexes")
 258
 259     g.add_option('--disable-scripting', action='store_true',
 260                  default=False,
 261                  help="Disable onboard scripting engine")
 262
 263     g.add_option('--enable-scripting', action='store_true',
 264                  default=False,
 265                  help="Enable onboard scripting engine")
 266
 267     g.add_option('--no-gcs', action='store_true',
 268                  default=False,
 269                  help="Disable GCS code")
 270
 271     g.add_option('--scripting-checks', action='store_true',
 272                  default=True,
 273                  help="Enable runtime scripting sanity checks")
 274
 275     g.add_option('--enable-onvif', action='store_true',
 276                  default=False,
 277                  help="Enables and sets up ONVIF camera control")
 278
 279     g.add_option('--scripting-docs', action='store_true',
 280                  default=False,
 281                  help="enable generation of scripting documentation")
 282
 283     g.add_option('--enable-opendroneid', action='store_true',
 284                  default=False,
 285                  help="Enables OpenDroneID")
 286
 287     g.add_option('--enable-check-firmware', action='store_true',
 288                  default=False,
 289                  help="Enables firmware ID checking on boot")
 290
 291     g.add_option('--enable-custom-controller', action='store_true',
 292                  default=False,
 293                  help="Enables custom controller")
 294
 295     g.add_option('--enable-gps-logging', action='store_true',
 296                  default=False,
 297                  help="Enables GPS logging")
 298
 299     g.add_option('--enable-dds', action='store_true',
 300                  help="Enable the dds client to connect with ROS2/DDS.")
 301
 302     g.add_option('--disable-networking', action='store_true',
 303                  help="Disable the networking API code")
 304
 305     g.add_option('--enable-networking-tests', action='store_true',
 306                  help="Enable the networking test code. Automatically enables networking.")
 307
 308     g.add_option('--enable-dronecan-tests', action='store_true',
 309                  default=False,
 310                  help="Enables DroneCAN tests in sitl")
 311
 312     g.add_option('--sitl-littlefs', action='store_true',
 313                  default=False,
 314                  help="Enable littlefs for filesystem access on SITL (under construction)")
 315
 316     g = opt.ap_groups['linux']
 317
 318     linux_options = ('--prefix', '--destdir', '--bindir', '--libdir')
 319     for k in linux_options:
 320         option = opt.parser.get_option(k)
 321         if option:
 322             opt.parser.remove_option(k)
 323             g.add_option(option)
 324
 325     g.add_option('--apstatedir',
 326         action='store',
 327         default='',
 328         help='''Where to save data like parameters, log and terrain.
 329 This is the --localstatedir + ArduPilots subdirectory [default:
 330 board-dependent, usually /var/lib/ardupilot]''')
 331
 332     g.add_option('--rsync-dest',
 333         dest='rsync_dest',
 334         action='store',
 335         default='',
 336         help='''Destination for the rsync Waf command. It can be passed during
 337 configuration in order to save typing.
 338 ''')
 339
 340     g.add_option('--enable-benchmarks',
 341         action='store_true',
 342         default=False,
 343         help='Enable benchmarks.')
 344
 345     g.add_option('--enable-lttng', action='store_true',
 346         default=False,
 347         help="Enable lttng integration")
 348
 349     g.add_option('--disable-libiio', action='store_true',
 350         default=False,
 351         help="Don't use libiio even if supported by board and dependencies available")
 352
 353     g.add_option('--disable-tests', action='store_true',
 354         default=False,
 355         help="Disable compilation and test execution")
 356
 357     g.add_option('--enable-sfml', action='store_true',
 358                  default=False,
 359                  help="Enable SFML graphics library")
 360
 361     g.add_option('--enable-sfml-joystick', action='store_true',
 362                  default=False,
 363                  help="Enable SFML joystick input library")
 364
 365     g.add_option('--enable-sfml-audio', action='store_true',
 366                  default=False,
 367                  help="Enable SFML audio library")
 368
 369     g.add_option('--osd', action='store_true',
 370                  default=False,
 371                  help="Enable OSD support")
 372
 373     g.add_option('--osd-fonts', action='store_true',
 374                  default=False,
 375                  help="Enable OSD support with fonts")
 376
 377     g.add_option('--sitl-osd', action='store_true',
 378                  default=False,
 379                  help="Enable SITL OSD")
 380
 381     g.add_option('--sitl-rgbled', action='store_true',
 382                  default=False,
 383                  help="Enable SITL RGBLed")
 384
 385     g.add_option('--force-32bit', action='store_true',
 386                  default=False,
 387                  help="Force 32bit build")
 388
 389     g.add_option('--build-dates', action='store_true',
 390                  default=False,
 391                  help="Include build date in binaries.  Appears in AUTOPILOT_VERSION.os_sw_version")
 392
 393     g.add_option('--sitl-flash-storage',
 394         action='store_true',
 395         default=False,
 396         help='Use flash storage emulation.')
 397
 398     g.add_option('--ekf-double',
 399         action='store_true',
 400         default=False,
 401         help='Configure EKF as double precision.')
 402
 403     g.add_option('--ekf-single',
 404         action='store_true',
 405         default=False,
 406         help='Configure EKF as single precision.')
 407
 408     g.add_option('--static',
 409         action='store_true',
 410         default=False,
 411         help='Force a static build')
 412
 413     g.add_option('--postype-single',
 414         action='store_true',
 415         default=False,
 416         help='force single precision postype_t')
 417
 418     g.add_option('--consistent-builds',
 419         action='store_true',
 420         default=False,
 421         help='force consistent build outputs for things like __LINE__')
 422
 423     g.add_option('--extra-hwdef',
 424             action='store',
 425             default=None,
 426             help='Extra hwdef.dat file for custom build.')
 427
 428     g.add_option('--assert-cc-version',
 429                  default=None,
 430                  help='fail configure if not using the specified gcc version')
 431
 432     g.add_option('--num-aux-imus',
 433                  type='int',
 434                  default=0,
 435                  help='number of auxiliary IMUs')
 436
 437     g.add_option('--board-start-time',
 438                  type='int',
 439                  default=0,
 440                  help='zero time on boot in microseconds')
 441
 442     g.add_option('--enable-iomcu-profiled-support',
 443                     action='store_true',
 444                     default=False,
 445                     help='enable iomcu profiled support')
 446
 447     g.add_option('--enable-new-checking',
 448         action='store_true',
 449         default=False,
 450         help='enables checking of new to ensure NEW_NOTHROW is used')
 451
 452     # support enabling any option in build_options.py
 453     for opt in build_options.BUILD_OPTIONS:
 454         enable_option = "--" + opt.config_option()
 455         disable_option = enable_option.replace("--enable", "--disable")
 456         enable_description = opt.description
 457         if not enable_description.lower().startswith("enable"):
 458             enable_description = "Enable " + enable_description
 459         disable_description = "Disable " + enable_description[len("Enable "):]
 460         g.add_option(enable_option,
 461                      action='store_true',
 462                      default=False,
 463                      help=enable_description)
 464         g.add_option(disable_option,
 465                      action='store_true',
 466                      default=False,
 467                      help=disable_description)
 468
 469
 470 def _collect_autoconfig_files(cfg):
 471     for m in sys.modules.values():
 472         paths = []
 473         if hasattr(m, '__file__') and m.__file__ is not None:
 474             paths.append(m.__file__)
 475         elif hasattr(m, '__path__'):
 476             for p in m.__path__:
 477                 if p is not None:
 478                     paths.append(p)
 479
 480         for p in paths:
 481             if p in cfg.files or not os.path.isfile(p):
 482                 continue
 483
 484             with open(p, 'rb') as f:
 485                 cfg.hash = Utils.h_list((cfg.hash, f.read()))
 486                 cfg.files.append(p)
 487
 488 def configure(cfg):
 489         # we need to enable debug mode when building for gconv, and force it to sitl
 490     if cfg.options.board is None:
 491         cfg.options.board = 'sitl'
 492
 493     boards_names = boards.get_boards_names()
 494     if not cfg.options.board in boards_names:
 495         for b in boards_names:
 496             if b.upper() == cfg.options.board.upper():
 497                 cfg.options.board = b
 498                 break
 499
 500     cfg.env.BOARD = cfg.options.board
 501     cfg.env.DEBUG = cfg.options.debug
 502     cfg.env.DEBUG_SYMBOLS = cfg.options.debug_symbols
 503     cfg.env.COVERAGE = cfg.options.coverage
 504     cfg.env.AUTOCONFIG = cfg.options.autoconfig
 505
 506     _set_build_context_variant(cfg.env.BOARD)
 507     cfg.setenv(cfg.env.BOARD)
 508
 509     if cfg.options.signed_fw:
 510         cfg.env.AP_SIGNED_FIRMWARE = True
 511         cfg.options.enable_check_firmware = True
 512
 513     cfg.env.BOARD = cfg.options.board
 514     cfg.env.DEBUG = cfg.options.debug
 515     cfg.env.VS_LAUNCH = cfg.options.vs_launch
 516     cfg.env.DEBUG_SYMBOLS = cfg.options.debug_symbols
 517     cfg.env.COVERAGE = cfg.options.coverage
 518     cfg.env.FORCE32BIT = cfg.options.force_32bit
 519     cfg.env.ENABLE_ASSERTS = cfg.options.enable_asserts
 520     cfg.env.BOOTLOADER = cfg.options.bootloader
 521     cfg.env.ENABLE_MALLOC_GUARD = cfg.options.enable_malloc_guard
 522     cfg.env.ENABLE_STATS = cfg.options.enable_stats
 523     cfg.env.SAVE_TEMPS = cfg.options.save_temps
 524
 525     extra_hwdef = cfg.options.extra_hwdef
 526     if extra_hwdef is not None and not os.path.exists(extra_hwdef):
 527         raise FileNotFoundError(f"extra-hwdef file NOT found: '{cfg.options.extra_hwdef}'")
 528     cfg.env.HWDEF_EXTRA = cfg.options.extra_hwdef
 529     if cfg.env.HWDEF_EXTRA:
 530         cfg.env.HWDEF_EXTRA = os.path.abspath(cfg.env.HWDEF_EXTRA)
 531
 532     cfg.env.OPTIONS = cfg.options.__dict__
 533
 534     # Allow to differentiate our build from the make build
 535     cfg.define('WAF_BUILD', 1)
 536
 537     cfg.msg('Autoconfiguration', 'enabled' if cfg.options.autoconfig else 'disabled')
 538
 539     if cfg.options.static:
 540         cfg.msg('Using static linking', 'yes', color='YELLOW')
 541         cfg.env.STATIC_LINKING = True
 542
 543     if cfg.options.num_aux_imus > 0:
 544         cfg.define('INS_AUX_INSTANCES', cfg.options.num_aux_imus)
 545
 546     if cfg.options.board_start_time != 0:
 547         cfg.define('AP_BOARD_START_TIME', cfg.options.board_start_time)
 548         # also in env for hrt.c
 549         cfg.env.AP_BOARD_START_TIME = cfg.options.board_start_time
 550
 551     # require python 3.8.x or later
 552     cfg.load('python')
 553     cfg.check_python_version(minver=(3,6,9))
 554
 555     cfg.load('ap_library')
 556
 557     cfg.msg('Setting board to', cfg.options.board)
 558     cfg.get_board().configure(cfg)
 559
 560     cfg.load('waf_unit_test')
 561     cfg.load('mavgen')
 562     cfg.load('dronecangen')
 563
 564     cfg.env.SUBMODULE_UPDATE = cfg.options.submodule_update
 565
 566     cfg.start_msg('Source is git repository')
 567     if cfg.srcnode.find_node('.git'):
 568         cfg.end_msg('yes')
 569     else:
 570         cfg.end_msg('no')
 571         cfg.env.SUBMODULE_UPDATE = False
 572
 573     cfg.msg('Update submodules', 'yes' if cfg.env.SUBMODULE_UPDATE else 'no')
 574     cfg.load('git_submodule')
 575
 576     if cfg.options.enable_benchmarks:
 577         cfg.load('gbenchmark')
 578     cfg.load('gtest')
 579
 580     if cfg.env.BOARD == "sitl":
 581         cfg.start_msg('Littlefs')
 582
 583         if cfg.options.sitl_littlefs:
 584             cfg.end_msg('enabled')
 585         else:
 586             cfg.end_msg('disabled', color='YELLOW')
 587
 588     cfg.load('littlefs')
 589     cfg.load('static_linking')
 590     cfg.load('build_summary')
 591
 592     cfg.start_msg('Benchmarks')
 593     if cfg.env.HAS_GBENCHMARK:
 594         cfg.end_msg('enabled')
 595     else:
 596         cfg.end_msg('disabled', color='YELLOW')
 597
 598     cfg.start_msg('Unit tests')
 599     if cfg.env.HAS_GTEST:
 600         cfg.end_msg('enabled')
 601     else:
 602         cfg.end_msg('disabled', color='YELLOW')
 603
 604     cfg.start_msg('Scripting')
 605     if cfg.options.disable_scripting:
 606         cfg.end_msg('disabled', color='YELLOW')
 607     elif cfg.options.enable_scripting:
 608         cfg.end_msg('enabled')
 609     else:
 610         cfg.end_msg('maybe')
 611     cfg.recurse('libraries/AP_Scripting')
 612
 613     cfg.recurse('libraries/AP_GPS')
 614     cfg.recurse('libraries/AP_HAL_SITL')
 615     cfg.recurse('libraries/SITL')
 616
 617     cfg.recurse('libraries/AP_Networking')
 618
 619     cfg.start_msg('Scripting runtime checks')
 620     if cfg.options.scripting_checks:
 621         cfg.end_msg('enabled')
 622     else:
 623         cfg.end_msg('disabled', color='YELLOW')
 624
 625     cfg.start_msg('Debug build')
 626     if cfg.env.DEBUG:
 627         cfg.end_msg('enabled')
 628     else:
 629         cfg.end_msg('disabled', color='YELLOW')
 630
 631     if cfg.env.DEBUG:
 632         cfg.start_msg('VS Code launch')
 633         if cfg.env.VS_LAUNCH:
 634             cfg.end_msg('enabled')
 635         else:
 636             cfg.end_msg('disabled', color='YELLOW')
 637
 638     cfg.start_msg('Coverage build')
 639     if cfg.env.COVERAGE:
 640         cfg.end_msg('enabled')
 641     else:
 642         cfg.end_msg('disabled', color='YELLOW')
 643
 644     cfg.start_msg('Force 32-bit build')
 645     if cfg.env.FORCE32BIT:
 646         cfg.end_msg('enabled')
 647     else:
 648         cfg.end_msg('disabled', color='YELLOW')
 649
 650     cfg.env.append_value('GIT_SUBMODULES', 'mavlink')
 651
 652     cfg.env.prepend_value('INCLUDES', [
 653         cfg.srcnode.abspath() + '/libraries/',
 654     ])
 655
 656     cfg.find_program('rsync', mandatory=False)
 657     if cfg.options.rsync_dest:
 658         cfg.msg('Setting rsync destination to', cfg.options.rsync_dest)
 659         cfg.env.RSYNC_DEST = cfg.options.rsync_dest
 660
 661     if cfg.options.enable_header_checks:
 662         cfg.msg('Enabling header checks', cfg.options.enable_header_checks)
 663         cfg.env.ENABLE_HEADER_CHECKS = True
 664     else:
 665         cfg.env.ENABLE_HEADER_CHECKS = False
 666
 667     # Always use system extensions
 668     cfg.define('_GNU_SOURCE', 1)
 669
 670     if cfg.options.Werror:
 671         # print(cfg.options.Werror)
 672         if cfg.options.disable_Werror:
 673             cfg.options.Werror = False
 674
 675     cfg.write_config_header(os.path.join(cfg.variant, 'ap_config.h'), guard='_AP_CONFIG_H_')
 676
 677     # add in generated flags
 678     cfg.env.CXXFLAGS += ['-include', 'ap_config.h']
 679
 680     cfg.remove_target_list()
 681     _collect_autoconfig_files(cfg)
 682
 683     if cfg.env.DEBUG and cfg.env.VS_LAUNCH:
 684         import vscode_helper
 685         vscode_helper.init_launch_json_if_not_exist(cfg)
 686         vscode_helper.update_openocd_cfg(cfg)
 687
 688 def collect_dirs_to_recurse(bld, globs, **kw):
 689     dirs = []
 690     globs = Utils.to_list(globs)
 691
 692     if bld.bldnode.is_child_of(bld.srcnode):
 693         kw['excl'] = Utils.to_list(kw.get('excl', []))
 694         kw['excl'].append(bld.bldnode.path_from(bld.srcnode))
 695
 696     for g in globs:
 697         for d in bld.srcnode.ant_glob(g + '/wscript', **kw):
 698             dirs.append(d.parent.relpath())
 699     return dirs
 700
 701 def list_boards(ctx):
 702     print(*boards.get_boards_names())
 703
 704 def list_ap_periph_boards(ctx):
 705     print(*boards.get_ap_periph_boards())
 706
 707 @conf
 708 def ap_periph_boards(ctx):
 709     return boards.get_ap_periph_boards()
 710
 711 vehicles = ['antennatracker', 'blimp', 'copter', 'heli', 'plane', 'rover', 'sub']
 712
 713 def generate_tasklist(ctx, do_print=True):
 714     boardlist = boards.get_boards_names()
 715     ap_periph_targets = boards.get_ap_periph_boards()
 716     tasks = []
 717     with open(os.path.join(Context.top_dir, "tasklist.json"), "w") as tlist:
 718         for board in boardlist:
 719             task = {}
 720             task['configure'] = board
 721             if board in ap_periph_targets:
 722                 if 'sitl' not in board:
 723                     # we only support AP_Periph and bootloader builds
 724                     task['targets'] = ['AP_Periph', 'bootloader']
 725                 else:
 726                     task['targets'] = ['AP_Periph']
 727             elif 'iofirmware' in board:
 728                 task['targets'] = ['iofirmware', 'bootloader']
 729             else:
 730                 if boards.is_board_based(board, boards.sitl):
 731                     task['targets'] = vehicles + ['replay']
 732                 elif boards.is_board_based(board, boards.linux):
 733                     task['targets'] = vehicles
 734                 else:
 735                     task['targets'] = vehicles + ['bootloader']
 736                     task['buildOptions'] = '--upload'
 737             tasks.append(task)
 738         tlist.write(json.dumps(tasks))
 739         if do_print:
 740             print(json.dumps(tasks))
 741
 742 def board(ctx):
 743     env = ConfigSet.ConfigSet()
 744     try:
 745         p = os.path.join(Context.out_dir, Build.CACHE_DIR, Build.CACHE_SUFFIX)
 746         env.load(p)
 747     except:
 748         print('No board currently configured')
 749         return
 750
 751     print('Board configured to: {}'.format(env.BOARD))
 752
 753 def _build_cmd_tweaks(bld):
 754     if bld.cmd == 'check-all':
 755         bld.options.all_tests = True
 756         bld.cmd = 'check'
 757
 758     if bld.cmd == 'check':
 759         if not bld.env.HAS_GTEST:
 760             bld.fatal('check: gtest library is required')
 761         bld.options.clear_failed_tests = True
 762
 763 def _build_dynamic_sources(bld):
 764     if not bld.env.BOOTLOADER:
 765         bld(
 766             features='mavgen',
 767             source='modules/mavlink/message_definitions/v1.0/all.xml',
 768             output_dir='libraries/GCS_MAVLink/include/mavlink/v2.0/',
 769             name='mavlink',
 770             # this below is not ideal, mavgen tool should set this, but that's not
 771             # currently possible
 772             export_includes=[
 773             bld.bldnode.make_node('libraries').abspath(),
 774             bld.bldnode.make_node('libraries/GCS_MAVLink').abspath(),
 775             ],
 776             )
 777
 778     if (bld.get_board().with_can or bld.env.HAL_NUM_CAN_IFACES) and not bld.env.AP_PERIPH:
 779         bld(
 780             features='dronecangen',
 781             source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/[a-z]* libraries/AP_DroneCAN/dsdl/[a-z]*', dir=True, src=False),
 782             output_dir='modules/DroneCAN/libcanard/dsdlc_generated/',
 783             name='dronecan',
 784             export_includes=[
 785                 bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/include').abspath(),
 786                 bld.srcnode.find_dir('modules/DroneCAN/libcanard/').abspath(),
 787                 bld.srcnode.find_dir('libraries/AP_DroneCAN/canard/').abspath(),
 788                 ]
 789             )
 790     elif bld.env.AP_PERIPH:
 791         bld(
 792             features='dronecangen',
 793             source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_DroneCAN/dsdl/*', dir=True, src=False),
 794             output_dir='modules/DroneCAN/libcanard/dsdlc_generated/',
 795             name='dronecan',
 796             export_includes=[
 797                 bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/include').abspath(),
 798                 bld.srcnode.find_dir('modules/DroneCAN/libcanard/').abspath(),
 799             ]
 800         )
 801
 802     if bld.env.ENABLE_DDS:
 803         bld.recurse("libraries/AP_DDS")
 804
 805     def write_version_header(tsk):
 806         bld = tsk.generator.bld
 807         return bld.write_version_header(tsk.outputs[0].abspath())
 808
 809     bld(
 810         name='ap_version',
 811         target='ap_version.h',
 812         vars=['AP_VERSION_ITEMS'],
 813         rule=write_version_header,
 814     )
 815
 816     bld.env.prepend_value('INCLUDES', [
 817         bld.bldnode.abspath(),
 818     ])
 819
 820 def _build_common_taskgens(bld):
 821     # NOTE: Static library with vehicle set to UNKNOWN, shared by all
 822     # the tools and examples. This is the first step until the
 823     # dependency on the vehicles is reduced. Later we may consider
 824     # split into smaller pieces with well defined boundaries.
 825     bld.ap_stlib(
 826         name='ap',
 827         ap_vehicle='UNKNOWN',
 828         ap_libraries=bld.ap_get_all_libraries(),
 829     )
 830
 831     if bld.env.HAS_GTEST:
 832         bld.libgtest(cxxflags=['-include', 'ap_config.h'])
 833
 834     if bld.env.HAS_GBENCHMARK:
 835         bld.libbenchmark()
 836
 837 def _build_recursion(bld):
 838     common_dirs_patterns = [
 839         # TODO: Currently each vehicle also generate its own copy of the
 840         # libraries. Fix this, or at least reduce the amount of
 841         # vehicle-dependent libraries.
 842         '*',
 843         'Tools/*',
 844         'libraries/*/examples/*',
 845         'libraries/*/tests',
 846         'libraries/*/utility/tests',
 847         'libraries/*/benchmarks',
 848     ]
 849
 850     common_dirs_excl = [
 851         'modules',
 852         'libraries/AP_HAL_*',
 853     ]
 854
 855     hal_dirs_patterns = [
 856         'libraries/%s/tests',
 857         'libraries/%s/*/tests',
 858         'libraries/%s/*/benchmarks',
 859         'libraries/%s/examples/*',
 860     ]
 861
 862     dirs_to_recurse = collect_dirs_to_recurse(
 863         bld,
 864         common_dirs_patterns,
 865         excl=common_dirs_excl,
 866     )
 867     if bld.env.IOMCU_FW is not None:
 868         if bld.env.IOMCU_FW:
 869             dirs_to_recurse.append('libraries/AP_IOMCU/iofirmware')
 870
 871     if bld.env.PERIPH_FW is not None:
 872         if bld.env.PERIPH_FW:
 873             dirs_to_recurse.append('Tools/AP_Periph')
 874
 875     dirs_to_recurse.append('libraries/AP_Scripting')
 876
 877     if bld.env.ENABLE_ONVIF:
 878         dirs_to_recurse.append('libraries/AP_ONVIF')
 879
 880     for p in hal_dirs_patterns:
 881         dirs_to_recurse += collect_dirs_to_recurse(
 882             bld,
 883             [p % l for l in bld.env.AP_LIBRARIES],
 884         )
 885
 886     # NOTE: we need to sort to ensure the repeated sources get the
 887     # same index, and random ordering of the filesystem doesn't cause
 888     # recompilation.
 889     dirs_to_recurse.sort()
 890
 891     for d in dirs_to_recurse:
 892         bld.recurse(d)
 893
 894 def _build_post_funs(bld):
 895     if bld.cmd == 'check':
 896         bld.add_post_fun(ardupilotwaf.test_summary)
 897     else:
 898         bld.build_summary_post_fun()
 899
 900     if bld.env.SUBMODULE_UPDATE:
 901         bld.git_submodule_post_fun()
 902
 903 def _load_pre_build(bld):
 904     '''allow for a pre_build() function in build modules'''
 905     if bld.cmd == 'clean':
 906         return
 907     brd = bld.get_board()
 908     if getattr(brd, 'pre_build', None):
 909         brd.pre_build(bld)
 910
 911 def build(bld):
 912     config_hash = Utils.h_file(bld.bldnode.make_node('ap_config.h').abspath())
 913     bld.env.CCDEPS = config_hash
 914     bld.env.CXXDEPS = config_hash
 915
 916     bld.post_mode = Build.POST_LAZY
 917
 918     bld.load('ardupilotwaf')
 919
 920     bld.env.AP_LIBRARIES_OBJECTS_KW.update(
 921         use=['mavlink'],
 922         cxxflags=['-include', 'ap_config.h'],
 923     )
 924
 925     _load_pre_build(bld)
 926
 927     if bld.get_board().with_can:
 928         bld.env.AP_LIBRARIES_OBJECTS_KW['use'] += ['dronecan']
 929
 930     if bld.get_board().with_littlefs:
 931         bld.env.AP_LIBRARIES_OBJECTS_KW['use'] += ['littlefs']
 932         bld.littlefs()
 933
 934     _build_cmd_tweaks(bld)
 935
 936     if bld.env.SUBMODULE_UPDATE:
 937         bld.add_group('git_submodules')
 938         for name in bld.env.GIT_SUBMODULES:
 939             bld.git_submodule(name)
 940
 941     bld.add_group('dynamic_sources')
 942     _build_dynamic_sources(bld)
 943
 944     bld.add_group('build')
 945     bld.get_board().build(bld)
 946     _build_common_taskgens(bld)
 947
 948     _build_recursion(bld)
 949
 950     _build_post_funs(bld)
 951
 952     if bld.env.DEBUG and bld.env.VS_LAUNCH:
 953         import vscode_helper
 954         vscode_helper.update_settings(bld)
 955
 956 ardupilotwaf.build_command('check',
 957     program_group_list='all',
 958     doc='builds all programs and run tests',
 959 )
 960 ardupilotwaf.build_command('check-all',
 961     program_group_list='all',
 962     doc='shortcut for `waf check --alltests`',
 963 )
 964
 965 for name in (vehicles + ['bootloader','iofirmware','AP_Periph','replay']):
 966     ardupilotwaf.build_command(name,
 967         program_group_list=name,
 968         doc='builds %s programs' % name,
 969     )
 970
 971 for program_group in ('all', 'bin', 'tool', 'examples', 'tests', 'benchmarks'):
 972     ardupilotwaf.build_command(program_group,
 973         program_group_list=program_group,
 974         doc='builds all programs of %s group' % program_group,
 975     )
 976
 977 class LocalInstallContext(Build.InstallContext):
 978     """runs install using BLD/install as destdir, where BLD is the build variant directory"""
 979     cmd = 'localinstall'
 980
 981     def __init__(self, **kw):
 982         super(LocalInstallContext, self).__init__(**kw)
 983         self.local_destdir = os.path.join(self.variant_dir, 'install')
 984
 985     def execute(self):
 986         old_destdir = self.options.destdir
 987         self.options.destdir = self.local_destdir
 988         r = super(LocalInstallContext, self).execute()
 989         self.options.destdir = old_destdir
 990         return r
 991
 992 class RsyncContext(LocalInstallContext):
 993     """runs localinstall and then rsyncs BLD/install with the target system"""
 994     cmd = 'rsync'
 995
 996     def __init__(self, **kw):
 997         super(RsyncContext, self).__init__(**kw)
 998         self.add_pre_fun(RsyncContext.create_rsync_taskgen)
 999
1000     def create_rsync_taskgen(self):
1001         if 'RSYNC' not in self.env:
1002             self.fatal('rsync program seems not to be installed, can\'t continue')
1003
1004         self.add_group()
1005
1006         tg = self(
1007             name='rsync',
1008             rule='${RSYNC} -a ${RSYNC_SRC}/ ${RSYNC_DEST}',
1009             always=True,
1010         )
1011
1012         tg.env.RSYNC_SRC = self.local_destdir
1013         if self.options.rsync_dest:
1014             self.env.RSYNC_DEST = self.options.rsync_dest
1015
1016         if 'RSYNC_DEST' not in tg.env:
1017             self.fatal('Destination for rsync not defined. Either pass --rsync-dest here or during configuration.')
1018
1019         tg.post()