./waf configure --board Aocoda-RC-H743Dual是配置Ardupilot目标板的命令，该命令将根据硬件配置文件生成相应用于编译的目标板源代码文件。
该部分内容涉及以下几点：
wscript脚本#!/usr/bin/env python3
# encoding: utf-8
from __future__ import print_function
import os.path
import os
import sys
import subprocess
import json
import fnmatch
sys.path.insert(0, 'Tools/ardupilotwaf/')
import ardupilotwaf
import boards
import shutil
from waflib import Build, ConfigSet, Configure, Context, Utils
from waflib.Configure import conf
# Ref: https://stackoverflow.com/questions/40590192/getting-an-error-attributeerror-module-object-has-no-attribute-run-while
try:
from subprocess import CompletedProcess
except ImportError:
# Python 2
class CompletedProcess:
def __init__(self, args, returncode, stdout=None, stderr=None):
self.args = args
self.returncode = returncode
self.stdout = stdout
self.stderr = stderr
def check_returncode(self):
if self.returncode != 0:
err = subprocess.CalledProcessError(self.returncode, self.args, output=self.stdout)
raise err
return self.returncode
def sp_run(*popenargs, **kwargs):
input = kwargs.pop("input", None)
check = kwargs.pop("handle", False)
kwargs.pop("capture_output", True)
if input is not None:
if 'stdin' in kwargs:
raise ValueError('stdin and input arguments may not both be used.')
kwargs['stdin'] = subprocess.PIPE
process = subprocess.Popen(*popenargs, **kwargs)
try:
outs, errs = process.communicate(input)
except:
process.kill()
process.wait()
raise
returncode = process.poll()
if check and returncode:
raise subprocess.CalledProcessError(returncode, popenargs, output=outs)
return CompletedProcess(popenargs, returncode, stdout=outs, stderr=errs)
subprocess.run = sp_run
# ^ This monkey patch allows it work on Python 2 or 3 the same way
# TODO: implement a command 'waf help' that shows the basic tasks a
# developer might want to do: e.g. how to configure a board, compile a
# vehicle, compile all the examples, add a new example. Should fit in
# less than a terminal screen, ideally commands should be copy
# pastable. Add the 'export waf="$PWD/waf"' trick to be copy-pastable
# as well.
# TODO: replace defines with the use of the generated ap_config.h file
# this makes recompilation at least when defines change. which might
# be sufficient.
# Default installation prefix for Linux boards
default_prefix = '/usr/'
# Override Build execute and Configure post_recurse methods for autoconfigure purposes
Build.BuildContext.execute = ardupilotwaf.ap_autoconfigure(Build.BuildContext.execute)
Configure.ConfigurationContext.post_recurse = ardupilotwaf.ap_configure_post_recurse()
def _set_build_context_variant(board):
for c in Context.classes:
if not issubclass(c, Build.BuildContext):
continue
c.variant = board
def init(ctx):
# Generate Task List, so that VS Code extension can keep track
# of changes to possible build targets
generate_tasklist(ctx, False)
env = ConfigSet.ConfigSet()
try:
p = os.path.join(Context.out_dir, Build.CACHE_DIR, Build.CACHE_SUFFIX)
env.load(p)
except EnvironmentError:
return
Configure.autoconfig = 'clobber' if env.AUTOCONFIG else False
board = ctx.options.board or env.BOARD
if not board:
return
# define the variant build commands according to the board
_set_build_context_variant(board)
def options(opt):
opt.load('compiler_cxx compiler_c waf_unit_test python')
opt.load('ardupilotwaf')
opt.load('build_summary')
g = opt.ap_groups['configure']
boards_names = boards.get_boards_names()
removed_names = boards.get_removed_boards()
g.add_option('--board',
action='store',
default=None,
help='Target board to build, choices are %s.' % ', '.join(boards_names))
g.add_option('--debug',
action='store_true',
default=False,
help='Configure as debug variant.')
g.add_option('--debug-symbols', '-g',
action='store_true',
default=False,
help='Add debug symbolds to build.')
g.add_option('--disable-watchdog',
action='store_true',
default=False,
help='Build with watchdog disabled.')
g.add_option('--coverage',
action='store_true',
default=False,
help='Configure coverage flags.')
g.add_option('--Werror',
action='store_true',
default=None,
help='build with -Werror.')
g.add_option('--disable-Werror',
action='store_true',
default=None,
help='Disable -Werror.')
g.add_option('--toolchain',
action='store',
default=None,
help='Override default toolchain used for the board. Use "native" for using the host toolchain.')
g.add_option('--disable-gccdeps',
action='store_true',
default=False,
help='Disable the use of GCC dependencies output method and use waf default method.')
g.add_option('--enable-asserts',
action='store_true',
default=False,
help='enable OS level asserts.')
g.add_option('--save-temps',
action='store_true',
default=False,
help='save compiler temporary files.')
g.add_option('--enable-malloc-guard',
action='store_true',
default=False,
help='enable malloc guard regions.')
g.add_option('--enable-stats',
action='store_true',
default=False,
help='enable OS level thread statistics.')
g.add_option('--bootloader',
action='store_true',
default=False,
help='Configure for building a bootloader.')
g.add_option('--signed-fw',
action='store_true',
default=False,
help='Configure for signed firmware support.')
g.add_option('--private-key',
action='store',
default=None,
help='path to private key for signing firmware.')
g.add_option('--no-autoconfig',
dest='autoconfig',
action='store_false',
default=True,
help='''Disable autoconfiguration feature. By default, the build system
triggers a reconfiguration whenever it thinks it's necessary - this
option disables that.
''')
g.add_option('--no-submodule-update',
dest='submodule_update',
action='store_false',
default=True,
help='''Don't update git submodules. Useful for building with
submodules at specific revisions.
''')
g.add_option('--enable-header-checks', action='store_true',
default=False,
help="Enable checking of headers")
g.add_option('--default-parameters',
default=None,
help='set default parameters to embed in the firmware')
g.add_option('--enable-math-check-indexes',
action='store_true',
default=False,
help="Enable checking of math indexes")
g.add_option('--disable-scripting', action='store_true',
default=False,
help="Disable onboard scripting engine")
g.add_option('--enable-scripting', action='store_true',
default=False,
help="Enable onboard scripting engine")
g.add_option('--no-gcs', action='store_true',
default=False,
help="Disable GCS code")
g.add_option('--scripting-checks', action='store_true',
default=True,
help="Enable runtime scripting sanity checks")
g.add_option('--enable-onvif', action='store_true',
default=False,
help="Enables and sets up ONVIF camera control")
g.add_option('--scripting-docs', action='store_true',
default=False,
help="enable generation of scripting documentation")
g.add_option('--enable-opendroneid', action='store_true',
default=False,
help="Enables OpenDroneID")
g.add_option('--enable-check-firmware', action='store_true',
default=False,
help="Enables firmware ID checking on boot")
g.add_option('--enable-custom-controller', action='store_true',
default=False,
help="Enables custom controller")
g.add_option('--enable-gps-logging', action='store_true',
default=False,
help="Enables GPS logging")
g.add_option('--enable-dds', action='store_true',
help="Enable the dds client to connect with ROS2/DDS.")
g.add_option('--disable-networking', action='store_true',
help="Disable the networking API code")
g.add_option('--enable-networking-tests', action='store_true',
help="Enable the networking test code. Automatically enables networking.")
g.add_option('--enable-dronecan-tests', action='store_true',
default=False,
help="Enables DroneCAN tests in sitl")
g = opt.ap_groups['linux']
linux_options = ('--prefix', '--destdir', '--bindir', '--libdir')
for k in linux_options:
option = opt.parser.get_option(k)
if option:
opt.parser.remove_option(k)
g.add_option(option)
g.add_option('--apstatedir',
action='store',
default='',
help='''Where to save data like parameters, log and terrain.
This is the --localstatedir + ArduPilots subdirectory [default:
board-dependent, usually /var/lib/ardupilot]''')
g.add_option('--rsync-dest',
dest='rsync_dest',
action='store',
default='',
help='''Destination for the rsync Waf command. It can be passed during
configuration in order to save typing.
''')
g.add_option('--enable-benchmarks',
action='store_true',
default=False,
help='Enable benchmarks.')
g.add_option('--enable-lttng', action='store_true',
default=False,
help="Enable lttng integration")
g.add_option('--disable-libiio', action='store_true',
default=False,
help="Don't use libiio even if supported by board and dependencies available")
g.add_option('--disable-tests', action='store_true',
default=False,
help="Disable compilation and test execution")
g.add_option('--enable-sfml', action='store_true',
default=False,
help="Enable SFML graphics library")
g.add_option('--enable-sfml-joystick', action='store_true',
default=False,
help="Enable SFML joystick input library")
g.add_option('--enable-sfml-audio', action='store_true',
default=False,
help="Enable SFML audio library")
g.add_option('--osd', action='store_true',
default=False,
help="Enable OSD support")
g.add_option('--osd-fonts', action='store_true',
default=False,
help="Enable OSD support with fonts")
g.add_option('--sitl-osd', action='store_true',
default=False,
help="Enable SITL OSD")
g.add_option('--sitl-rgbled', action='store_true',
default=False,
help="Enable SITL RGBLed")
g.add_option('--force-32bit', action='store_true',
default=False,
help="Force 32bit build")
g.add_option('--build-dates', action='store_true',
default=False,
help="Include build date in binaries. Appears in AUTOPILOT_VERSION.os_sw_version")
g.add_option('--sitl-flash-storage',
action='store_true',
default=False,
help='Use flash storage emulation.')
g.add_option('--enable-ekf2',
action='store_true',
default=False,
help='Configure with EKF2.')
g.add_option('--disable-ekf3',
action='store_true',
default=False,
help='Configure without EKF3.')
g.add_option('--ekf-double',
action='store_true',
default=False,
help='Configure EKF as double precision.')
g.add_option('--ekf-single',
action='store_true',
default=False,
help='Configure EKF as single precision.')
g.add_option('--static',
action='store_true',
default=False,
help='Force a static build')
g.add_option('--postype-single',
action='store_true',
default=False,
help='force single precision postype_t')
g.add_option('--consistent-builds',
action='store_true',
default=False,
help='force consistent build outputs for things like __LINE__')
g.add_option('--extra-hwdef',
action='store',
default=None,
help='Extra hwdef.dat file for custom build.')
g.add_option('--assert-cc-version',
default=None,
help='fail configure if not using the specified gcc version')
g.add_option('--num-aux-imus',
type='int',
default=0,
help='number of auxiliary IMUs')
g.add_option('--board-start-time',
type='int',
default=0,
help='zero time on boot in microseconds')
def _collect_autoconfig_files(cfg):
for m in sys.modules.values():
paths = []
if hasattr(m, '__file__') and m.__file__ is not None:
paths.append(m.__file__)
elif hasattr(m, '__path__'):
for p in m.__path__:
if p is not None:
paths.append(p)
for p in paths:
if p in cfg.files or not os.path.isfile(p):
continue
with open(p, 'rb') as f:
cfg.hash = Utils.h_list((cfg.hash, f.read()))
cfg.files.append(p)
def configure(cfg):
# we need to enable debug mode when building for gconv, and force it to sitl
if cfg.options.board is None:
cfg.options.board = 'sitl'
boards_names = boards.get_boards_names()
if not cfg.options.board in boards_names:
for b in boards_names:
if b.upper() == cfg.options.board.upper():
cfg.options.board = b
break
cfg.env.BOARD = cfg.options.board
cfg.env.DEBUG = cfg.options.debug
cfg.env.DEBUG_SYMBOLS = cfg.options.debug_symbols
cfg.env.COVERAGE = cfg.options.coverage
cfg.env.AUTOCONFIG = cfg.options.autoconfig
_set_build_context_variant(cfg.env.BOARD)
cfg.setenv(cfg.env.BOARD)
if cfg.options.signed_fw:
cfg.env.AP_SIGNED_FIRMWARE = True
cfg.options.enable_check_firmware = True
cfg.env.BOARD = cfg.options.board
cfg.env.DEBUG = cfg.options.debug
cfg.env.DEBUG_SYMBOLS = cfg.options.debug_symbols
cfg.env.COVERAGE = cfg.options.coverage
cfg.env.FORCE32BIT = cfg.options.force_32bit
cfg.env.ENABLE_ASSERTS = cfg.options.enable_asserts
cfg.env.BOOTLOADER = cfg.options.bootloader
cfg.env.ENABLE_MALLOC_GUARD = cfg.options.enable_malloc_guard
cfg.env.ENABLE_STATS = cfg.options.enable_stats
cfg.env.SAVE_TEMPS = cfg.options.save_temps
cfg.env.HWDEF_EXTRA = cfg.options.extra_hwdef
if cfg.env.HWDEF_EXTRA:
cfg.env.HWDEF_EXTRA = os.path.abspath(cfg.env.HWDEF_EXTRA)
cfg.env.OPTIONS = cfg.options.__dict__
# Allow to differentiate our build from the make build
cfg.define('WAF_BUILD', 1)
cfg.msg('Autoconfiguration', 'enabled' if cfg.options.autoconfig else 'disabled')
if cfg.options.static:
cfg.msg('Using static linking', 'yes', color='YELLOW')
cfg.env.STATIC_LINKING = True
if cfg.options.num_aux_imus > 0:
cfg.define('INS_AUX_INSTANCES', cfg.options.num_aux_imus)
if cfg.options.board_start_time != 0:
cfg.define('AP_BOARD_START_TIME', cfg.options.board_start_time)
# also in env for hrt.c
cfg.env.AP_BOARD_START_TIME = cfg.options.board_start_time
# require python 3.8.x or later
cfg.load('python')
cfg.check_python_version(minver=(3,6,9))
cfg.load('ap_library')
cfg.msg('Setting board to', cfg.options.board)
cfg.get_board().configure(cfg)
cfg.load('clang_compilation_database')
cfg.load('waf_unit_test')
cfg.load('mavgen')
cfg.load('dronecangen')
cfg.env.SUBMODULE_UPDATE = cfg.options.submodule_update
cfg.start_msg('Source is git repository')
if cfg.srcnode.find_node('.git'):
cfg.end_msg('yes')
else:
cfg.end_msg('no')
cfg.env.SUBMODULE_UPDATE = False
cfg.msg('Update submodules', 'yes' if cfg.env.SUBMODULE_UPDATE else 'no')
cfg.load('git_submodule')
if cfg.options.enable_benchmarks:
cfg.load('gbenchmark')
cfg.load('gtest')
cfg.load('static_linking')
cfg.load('build_summary')
cfg.start_msg('Benchmarks')
if cfg.env.HAS_GBENCHMARK:
cfg.end_msg('enabled')
else:
cfg.end_msg('disabled', color='YELLOW')
cfg.start_msg('Unit tests')
if cfg.env.HAS_GTEST:
cfg.end_msg('enabled')
else:
cfg.end_msg('disabled', color='YELLOW')
cfg.start_msg('Scripting')
if cfg.options.disable_scripting:
cfg.end_msg('disabled', color='YELLOW')
elif cfg.options.enable_scripting:
cfg.end_msg('enabled')
else:
cfg.end_msg('maybe')
cfg.recurse('libraries/AP_Scripting')
cfg.recurse('libraries/AP_GPS')
cfg.recurse('libraries/AP_HAL_SITL')
cfg.recurse('libraries/SITL')
cfg.start_msg('Scripting runtime checks')
if cfg.options.scripting_checks:
cfg.end_msg('enabled')
else:
cfg.end_msg('disabled', color='YELLOW')
cfg.start_msg('Debug build')
if cfg.env.DEBUG:
cfg.end_msg('enabled')
else:
cfg.end_msg('disabled', color='YELLOW')
cfg.start_msg('Coverage build')
if cfg.env.COVERAGE:
cfg.end_msg('enabled')
else:
cfg.end_msg('disabled', color='YELLOW')
cfg.start_msg('Force 32-bit build')
if cfg.env.FORCE32BIT:
cfg.end_msg('enabled')
else:
cfg.end_msg('disabled', color='YELLOW')
cfg.env.append_value('GIT_SUBMODULES', 'mavlink')
cfg.env.prepend_value('INCLUDES', [
cfg.srcnode.abspath() + '/libraries/',
])
cfg.find_program('rsync', mandatory=False)
if cfg.options.rsync_dest:
cfg.msg('Setting rsync destination to', cfg.options.rsync_dest)
cfg.env.RSYNC_DEST = cfg.options.rsync_dest
if cfg.options.enable_header_checks:
cfg.msg('Enabling header checks', cfg.options.enable_header_checks)
cfg.env.ENABLE_HEADER_CHECKS = True
else:
cfg.env.ENABLE_HEADER_CHECKS = False
# Always use system extensions
cfg.define('_GNU_SOURCE', 1)
if cfg.options.Werror:
# print(cfg.options.Werror)
if cfg.options.disable_Werror:
cfg.options.Werror = False
cfg.write_config_header(os.path.join(cfg.variant, 'ap_config.h'), guard='_AP_CONFIG_H_')
# add in generated flags
cfg.env.CXXFLAGS += ['-include', 'ap_config.h']
_collect_autoconfig_files(cfg)
def collect_dirs_to_recurse(bld, globs, **kw):
dirs = []
globs = Utils.to_list(globs)
if bld.bldnode.is_child_of(bld.srcnode):
kw['excl'] = Utils.to_list(kw.get('excl', []))
kw['excl'].append(bld.bldnode.path_from(bld.srcnode))
for g in globs:
for d in bld.srcnode.ant_glob(g + '/wscript', **kw):
dirs.append(d.parent.relpath())
return dirs
def list_boards(ctx):
print(*boards.get_boards_names())
def list_ap_periph_boards(ctx):
print(*boards.get_ap_periph_boards())
@conf
def ap_periph_boards(ctx):
return boards.get_ap_periph_boards()
def generate_tasklist(ctx, do_print=True):
boardlist = boards.get_boards_names()
ap_periph_targets = boards.get_ap_periph_boards()
tasks = []
with open(os.path.join(Context.top_dir, "tasklist.json"), "w") as tlist:
for board in boardlist:
task = {}
task['configure'] = board
if board in ap_periph_targets:
if 'sitl' not in board:
# we only support AP_Periph and bootloader builds
task['targets'] = ['AP_Periph', 'bootloader']
else:
task['targets'] = ['AP_Periph']
elif 'iofirmware' in board:
task['targets'] = ['iofirmware', 'bootloader']
else:
if 'sitl' in board or 'SITL' in board:
task['targets'] = ['antennatracker', 'copter', 'heli', 'plane', 'rover', 'sub', 'replay']
elif 'linux' in board:
task['targets'] = ['antennatracker', 'copter', 'heli', 'plane', 'rover', 'sub']
else:
task['targets'] = ['antennatracker', 'copter', 'heli', 'plane', 'rover', 'sub', 'bootloader']
task['buildOptions'] = '--upload'
tasks.append(task)
tlist.write(json.dumps(tasks))
if do_print:
print(json.dumps(tasks))
def board(ctx):
env = ConfigSet.ConfigSet()
try:
p = os.path.join(Context.out_dir, Build.CACHE_DIR, Build.CACHE_SUFFIX)
env.load(p)
except:
print('No board currently configured')
return
print('Board configured to: {}'.format(env.BOARD))
def _build_cmd_tweaks(bld):
if bld.cmd == 'check-all':
bld.options.all_tests = True
bld.cmd = 'check'
if bld.cmd == 'check':
if not bld.env.HAS_GTEST:
bld.fatal('check: gtest library is required')
bld.options.clear_failed_tests = True
def _build_dynamic_sources(bld):
if not bld.env.BOOTLOADER:
bld(
features='mavgen',
source='modules/mavlink/message_definitions/v1.0/all.xml',
output_dir='libraries/GCS_MAVLink/include/mavlink/v2.0/',
name='mavlink',
# this below is not ideal, mavgen tool should set this, but that's not
# currently possible
export_includes=[
bld.bldnode.make_node('libraries').abspath(),
bld.bldnode.make_node('libraries/GCS_MAVLink').abspath(),
],
)
if (bld.get_board().with_can or bld.env.HAL_NUM_CAN_IFACES) and not bld.env.AP_PERIPH:
bld(
features='dronecangen',
source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_DroneCAN/dsdl/*', dir=True, src=False),
output_dir='modules/DroneCAN/libcanard/dsdlc_generated/',
name='dronecan',
export_includes=[
bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/include').abspath(),
bld.srcnode.find_dir('modules/DroneCAN/libcanard/').abspath(),
bld.srcnode.find_dir('libraries/AP_DroneCAN/canard/').abspath(),
]
)
elif bld.env.AP_PERIPH:
bld(
features='dronecangen',
source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_DroneCAN/dsdl/*', dir=True, src=False),
output_dir='modules/DroneCAN/libcanard/dsdlc_generated/',
name='dronecan',
export_includes=[
bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/include').abspath(),
bld.srcnode.find_dir('modules/DroneCAN/libcanard/').abspath(),
]
)
if bld.env.ENABLE_DDS:
bld.recurse("libraries/AP_DDS")
def write_version_header(tsk):
bld = tsk.generator.bld
return bld.write_version_header(tsk.outputs[0].abspath())
bld(
name='ap_version',
target='ap_version.h',
vars=['AP_VERSION_ITEMS'],
rule=write_version_header,
)
bld.env.prepend_value('INCLUDES', [
bld.bldnode.abspath(),
])
def _build_common_taskgens(bld):
# NOTE: Static library with vehicle set to UNKNOWN, shared by all
# the tools and examples. This is the first step until the
# dependency on the vehicles is reduced. Later we may consider
# split into smaller pieces with well defined boundaries.
bld.ap_stlib(
name='ap',
ap_vehicle='UNKNOWN',
ap_libraries=bld.ap_get_all_libraries(),
)
if bld.env.HAS_GTEST:
bld.libgtest(cxxflags=['-include', 'ap_config.h'])
if bld.env.HAS_GBENCHMARK:
bld.libbenchmark()
def _build_recursion(bld):
common_dirs_patterns = [
# TODO: Currently each vehicle also generate its own copy of the
# libraries. Fix this, or at least reduce the amount of
# vehicle-dependent libraries.
'*',
'Tools/*',
'libraries/*/examples/*',
'libraries/*/tests',
'libraries/*/utility/tests',
'libraries/*/benchmarks',
]
common_dirs_excl = [
'modules',
'libraries/AP_HAL_*',
]
hal_dirs_patterns = [
'libraries/%s/tests',
'libraries/%s/*/tests',
'libraries/%s/*/benchmarks',
'libraries/%s/examples/*',
]
dirs_to_recurse = collect_dirs_to_recurse(
bld,
common_dirs_patterns,
excl=common_dirs_excl,
)
if bld.env.IOMCU_FW is not None:
if bld.env.IOMCU_FW:
dirs_to_recurse.append('libraries/AP_IOMCU/iofirmware')
if bld.env.PERIPH_FW is not None:
if bld.env.PERIPH_FW:
dirs_to_recurse.append('Tools/AP_Periph')
dirs_to_recurse.append('libraries/AP_Scripting')
if bld.env.ENABLE_ONVIF:
dirs_to_recurse.append('libraries/AP_ONVIF')
for p in hal_dirs_patterns:
dirs_to_recurse += collect_dirs_to_recurse(
bld,
[p % l for l in bld.env.AP_LIBRARIES],
)
# NOTE: we need to sort to ensure the repeated sources get the
# same index, and random ordering of the filesystem doesn't cause
# recompilation.
dirs_to_recurse.sort()
for d in dirs_to_recurse:
bld.recurse(d)
def _build_post_funs(bld):
if bld.cmd == 'check':
bld.add_post_fun(ardupilotwaf.test_summary)
else:
bld.build_summary_post_fun()
if bld.env.SUBMODULE_UPDATE:
bld.git_submodule_post_fun()
def _load_pre_build(bld):
'''allow for a pre_build() function in build modules'''
if bld.cmd == 'clean':
return
brd = bld.get_board()
if getattr(brd, 'pre_build', None):
brd.pre_build(bld)
def build(bld):
config_hash = Utils.h_file(bld.bldnode.make_node('ap_config.h').abspath())
bld.env.CCDEPS = config_hash
bld.env.CXXDEPS = config_hash
bld.post_mode = Build.POST_LAZY
bld.load('ardupilotwaf')
bld.env.AP_LIBRARIES_OBJECTS_KW.update(
use=['mavlink'],
cxxflags=['-include', 'ap_config.h'],
)
_load_pre_build(bld)
if bld.get_board().with_can:
bld.env.AP_LIBRARIES_OBJECTS_KW['use'] += ['dronecan']
_build_cmd_tweaks(bld)
if bld.env.SUBMODULE_UPDATE:
bld.add_group('git_submodules')
for name in bld.env.GIT_SUBMODULES:
bld.git_submodule(name)
bld.add_group('dynamic_sources')
_build_dynamic_sources(bld)
bld.add_group('build')
bld.get_board().build(bld)
_build_common_taskgens(bld)
_build_recursion(bld)
_build_post_funs(bld)
ardupilotwaf.build_command('check',
program_group_list='all',
doc='builds all programs and run tests',
)
ardupilotwaf.build_command('check-all',
program_group_list='all',
doc='shortcut for `waf check --alltests`',
)
for name in ('antennatracker', 'copter', 'heli', 'plane', 'rover', 'sub', 'blimp', 'bootloader','iofirmware','AP_Periph','replay'):
ardupilotwaf.build_command(name,
program_group_list=name,
doc='builds %s programs' % name,
)
for program_group in ('all', 'bin', 'tool', 'examples', 'tests', 'benchmarks'):
ardupilotwaf.build_command(program_group,
program_group_list=program_group,
doc='builds all programs of %s group' % program_group,
)
class LocalInstallContext(Build.InstallContext):
"""runs install using BLD/install as destdir, where BLD is the build variant directory"""
cmd = 'localinstall'
def __init__(self, **kw):
super(LocalInstallContext, self).__init__(**kw)
self.local_destdir = os.path.join(self.variant_dir, 'install')
def execute(self):
old_destdir = self.options.destdir
self.options.destdir = self.local_destdir
r = super(LocalInstallContext, self).execute()
self.options.destdir = old_destdir
return r
class RsyncContext(LocalInstallContext):
"""runs localinstall and then rsyncs BLD/install with the target system"""
cmd = 'rsync'
def __init__(self, **kw):
super(RsyncContext, self).__init__(**kw)
self.add_pre_fun(RsyncContext.create_rsync_taskgen)
def create_rsync_taskgen(self):
if 'RSYNC' not in self.env:
self.fatal('rsync program seems not to be installed, can\'t continue')
self.add_group()
tg = self(
name='rsync',
rule='${RSYNC} -a ${RSYNC_SRC}/ ${RSYNC_DEST}',
always=True,
)
tg.env.RSYNC_SRC = self.local_destdir
if self.options.rsync_dest:
self.env.RSYNC_DEST = self.options.rsync_dest
if 'RSYNC_DEST' not in tg.env:
self.fatal('Destination for rsync not defined. Either pass --rsync-dest here or during configuration.')
tg.post()
wscript功能主要组件和功能概述：
Import necessary modules and libraries.
Set the default installation prefix for Linux boards.
Some modifications are made to the subprocess module to handle compatibility issues between Python 2 and 3.
Define various configuration options and command-line arguments for the build process.
Options include the target board, debug mode, debug symbols, coverage, toolchain selection, etc.
Override methods in the Waf build context to implement custom behavior related to autoconfiguration and variant build commands.
Set up the build environment based on configuration options.
Load necessary modules and configurations.
Define command-line options and functionalities for various build commands such as configuring a board, compiling a vehicle, enabling/disabling features, etc.
Implement autoconfiguration features to trigger reconfiguration when necessary.
Set the variant build commands according to the selected board.
Define initialization tasks.
Define various build options and configurations, such as enabling/disabling features, specifying toolchains, etc.
Collect autoconfiguration files from modules for hashing.
Implement the configuration process based on the specified options.
Generate a task list for different build targets and configurations.
Configure the build based on the selected board.
Implement specific configuration options, e.g., enabling/disabling features, setting default parameters, etc.
Determine directories to recurse during the build process.
Build dynamic sources such as MAVLink and DroneCAN.
Build common task generators shared by all programs and examples.
Recurse into subdirectories for building programs, tests, benchmarks, etc.
Allow for a pre_build() function in build modules.
Execute post functions after the build, such as test summaries or submodule updates.
Define custom build commands such as ‘check’, ‘check-all’, and specific board builds.
Implement custom build contexts for local installation and rsync.
configure调用关系$ ./waf configure --board Aocoda-RC-H743Dual
注：选择chibios相关重点进行研读，对于一些不太理解，暂时不需要考虑的(直接略过)，有兴趣的朋友请留言讨论。
./waf
└──> ./modules/waf/waf-light
└──> ./wscript
├──> configure //wscript
│ └──> board.configure //boards.py
│ └──> board.configure_env //boards.py
│ └──> chibios.configure_env //boards.py
└──> ardupilotwaf.ap_autoconfigure //ardupilotwaf.py
└──> chibios.configure //chibios.py
└──> chibios.generate_hwdef_h //chibios.py
└──> ./libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py //chibios.py
#4. chibios_hwdef.py脚本
$ python chibios_hwdef.py -h
usage: chibios_pins.py [-h] [-D OUTDIR] [--bootloader] [--signed-fw]
[--params PARAMS]
hwdef [hwdef ...]
positional arguments:
hwdef hardware definition file
optional arguments:
-h, --help show this help message and exit
-D OUTDIR, --outdir OUTDIR
Output directory
--bootloader configure for bootloader
--signed-fw configure for signed FW
--params PARAMS user default params path
该脚本生成以下相关硬件配置文件：
调用关系：
chibios_hwdef.py
├──>
└──> run
└──> process_file
└──> process_line
├──> get_config
├──> build_peripheral_list
├──> write_all_lines
├──> write_hwdef_header
├──> write_ldscript
├──> romfs_add_dir
├──> romfs_add_dir
├──> write_ROMFS
├──> copy_common_linkerscript
├──> <not args.bootloader> write_processed_defaults_file
└──> write_env_py
重要且唯一类ChibiOSHWDef，重点函数方法：
到这里，重点看下chibios相关脚本文件，这些与MCU规格息息相关。
$ pwd
[略...]/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/scripts
$ ls
addfunc_parse.py CKS32F407xx.py defaults_periph.h STM32F103xB.py STM32F412Rx.py STM32F767xx.py STM32G491xx.py STM32H757xx.py
af_parse_cubemx.py convert_betaflight_unified.py dma_parse.py STM32F105xC.py STM32F427xx.py STM32F777xx.py STM32H730xx.py STM32L431xx.py
af_parse.py defaults_bootloader.h dma_resolver.py STM32F303xC.py STM32F469xx.py STM32G431xx.py STM32H743xx.py STM32L476xx.py
bdshot_encoder.py defaults_iofirmware.h dma_resolver.pyc STM32F405xx.py STM32F732xx.py STM32G441xx.py STM32H750xx.py STM32L496xx.py
chibios_hwdef.py defaults_normal.h STM32F100xB.py STM32F407xx.py STM32F745xx.py STM32G474xx.py STM32H755xx.py STM32L4R5xx.py
如果我们回顾下之前Andrew Tridgell在ArduPilot UnConference 2018会议上的PPT文件和视频。
如果需要移植ChibiOS到新的MCU上，必须考虑这部分内容的配套修改，通过tabula建立相应的MCU规格数据库。
Anyway, it’s a small step from porting chibios to ardupilot AT32.
【1】ArduPilot开源飞控系统之简单介绍
【2】ArduPilot之开源代码框架
【3】Ardupilot开源飞控之ChibiOS简介