ArduPilot之开源代码waf-configure编译

1. 源由

./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：

1. 目标配置：飞控、配件模块等
2. 系统配置：ESP32/ChibiOS等
3. 编译、链接命令

2. 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()

3. wscript功能

主要组件和功能概述：

1. Imports and Setup:

Import necessary modules and libraries.
Set the default installation prefix for Linux boards.

2. Monkey Patching:

Some modifications are made to the subprocess module to handle compatibility issues between Python 2 and 3.

3. Configuration Options:

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.

4. Customization of Build Context:

Override methods in the Waf build context to implement custom behavior related to autoconfiguration and variant build commands.

5. Initialization and Configuration:

Set up the build environment based on configuration options.
Load necessary modules and configurations.

6. Build Script Commands:

Define command-line options and functionalities for various build commands such as configuring a board, compiling a vehicle, enabling/disabling features, etc.

7. Autoconfiguration:

Implement autoconfiguration features to trigger reconfiguration when necessary.

8. Preparation for Board Configuration:

Set the variant build commands according to the selected board.
Define initialization tasks.

9. Build Script Options:

Define various build options and configurations, such as enabling/disabling features, specifying toolchains, etc.

10. Collect Autoconfig Files:

Collect autoconfiguration files from modules for hashing.

11. Configure Method:

Implement the configuration process based on the specified options.

12. Generate Task List:

Generate a task list for different build targets and configurations.

13. Build Board Configuration:

Configure the build based on the selected board.

14. Configure Method for Specific Build Options:

Implement specific configuration options, e.g., enabling/disabling features, setting default parameters, etc.

15. Collecting Directories to Recurse:

Determine directories to recurse during the build process.

16. Build Dynamic Sources:

Build dynamic sources such as MAVLink and DroneCAN.

17. Build Common Task Generators:

Build common task generators shared by all programs and examples.

18. Recursion for Subdirectories:

Recurse into subdirectories for building programs, tests, benchmarks, etc.

19. Load Pre-Build Function:

Allow for a pre_build() function in build modules.

20. Build Post Functions:

Execute post functions after the build, such as test summaries or submodule updates.

21. Build Command Definitions:

Define custom build commands such as ‘check’, ‘check-all’, and specific board builds.

22. Local Install and Rsync Contexts:

Implement custom build contexts for local installation and rsync.

4. 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：

1. hw.dat //for ROMFS
2. hwdef.h //for hardware definition
3. ldscript.ld //for link script

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：

• 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
• write_processed_defaults_file

5. 总结

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.

6. 参考资料

【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