目錄

文章目錄

• 目錄
• 摘要
• 1.ardupilot為何使用waf編譯，而不使用make？
• 2.ardupilot如何進行程式碼編譯，下載？
• 1.編譯程式碼
• 2.下載程式碼
• 3 ./waf --help幫助命令
• 3.採用make進行編譯
• 1.make編譯
• 2.make下載
• 3.輸入命令，回顯是什麼內容
• 1.總的wscript分析
• 1.ardupilotwaf資料夾內容
• 2.分析指令碼執行
• 1.主指令碼程式碼
• 1.ardupilotwaf.py和board.py被載入

摘要

本節主要講解waf，waf 是一個幫助構建和編譯系統的框架，採用python語言編寫。歡迎批評指正！！！

分析要點：
1.ardupilot為何使用waf編譯，而不使用make？
2.ardupilot如何進行程式碼編譯，下載？
3.為何我輸入一個命令，ubuntu會不停的回顯編譯的進度？

1.ardupilot為何使用waf編譯，而不使用make？

官網原話：

Ardupilot is gradually moving from the make-based build system to
[Waf](https://waf.io/). The instructions below should be enough for you to
build Ardupilot, but you can also read more about the build system in the
[Waf Book](https://waf.io/book/).
Waf should always be called from the ardupilot's root directory. Differently
from the make-based build, with Waf there's a configure step to choose the
board to be used (default is `sitl`).
 

中文翻譯：Ardupilot正逐漸的從make編譯系統改成採用waf：https://waf.io 進行系統的編譯。下面的指導說明：足夠為你編譯Ardupilot程式碼，當然如果你想要了解更多的關於系統編譯，建議你看[WAF book],網址是：https://waf.io/book/
waf的呼叫總 是在ardupilot程式碼的根目錄，跟make編譯系統不一樣，waf的使用需要有一個配置步驟來選擇要使用的飛控板（預設配置為“SITL”）也就是預設是配置的是模擬板。

2.ardupilot如何進行程式碼編譯，下載？

1.編譯程式碼

./waf configure --board fmuv5 //這個是編譯pixhawk_v5
./waf configure --board px4-v2 //這個是編譯pixhawk
 

2.下載程式碼

./waf --targets bin/arducopter --upload

3 ./waf --help幫助命令

3.採用make進行編譯

1.make編譯

$:    cd 切換程式碼ardupilot目錄
$:    cd ArduCopter
$:    make px4-v2

2.make下載

make px4-v2-upload

3.輸入命令，回顯是什麼內容

ardupilot的每個裝置層都有一個支援python語言的waf指令碼。並且總的目錄下面仍有一個wscript指令碼。總目錄的指令碼呼叫每個裝置層下的指令碼對飛控程式碼進行整體的編譯，生成機器可以識別的語言。

當我們執行

./waf configure --board fmuv5

ubuntu的終端顯示內容：

之所以ubuntu會回顯這些字元，是因為我們採用了python的print列印輸出函式，python我也是剛學習沒多久，不做講解。

1.總的wscript分析

分析之前先注意一個資料夾

1.ardupilotwaf資料夾內容

注意：什麼是.pyc檔案：pyc檔案是python檔案編譯後生成的位元組碼檔案(byte code)。pyc檔案經過python直譯器最終會生成機器碼執行。所以pyc檔案是可以跨平臺部署的，類似Java的.class檔案。一般py檔案改變後，都會重新生成pyc檔案。

採用UltraEdit軟體開啟ardupilotwaf檔案下面的board.pyc，全部是編碼，這個編碼是有python編譯board.py生成

2.分析指令碼執行

1.主指令碼程式碼

整體程式碼內容：匯入模組和定義

#!/usr/bin/env python    #python輸入格式要求，大部分python檔案的頭部都會寫上 #!/usr/bin/python 或者   #!/usr/bin/env ，這個語句主要和執行模式有關，使用後者可以解釋不一定在python目錄
# encoding: utf-8         #一種變長位元組編碼方式


#在開頭加上from __future__ import print_function這句之後，即使在python2.X，使用print就得像python3.X那樣加括號使用。
#python2.X中print不需要括號，而在python3.X中則需要。

from __future__ import print_function #主要就是設定print
print('ardupilot開始編譯')   #位元組新增程式碼
import os.path  #匯入os.path模組,獲取當前指令碼路徑，載入到sys.path裡，就是組織程式碼使用
import sys      #匯入sys,用來獲取當前模組的絕對路徑
sys.path.insert(0, 'Tools/ardupilotwaf/') #把ardupilotwaf載入到當前路徑

import ardupilotwaf #上面載入路徑完成後，現在就可以匯入這個模組，可以被後面使用
print("ardupilotwaf=",ardupilotwaf) #這個列印輸出：ardupilotwaf= <module 'ardupilotwaf' from 'Tools/ardupilotwaf/ardupilotwaf.pyc'>
import boards       #匯入boards
print("boards=",boards)  #列印輸出：boards= <module 'boards' from 'Tools/ardupilotwaf/boards.pyc'>
from waflib import Build, ConfigSet, Configure, Context, Utils #從waflib庫匯入Build, ConfigSet, Configure, Context, Utils;這個waflib在modules下面

# TODO: implement a command 'waf help' that shows the basic tasks a（執行waf命令幫助（waf help））
# 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/'  #變數賦值


#定義函式
def _set_build_context_variant(variant): 
    for c in Context.classes:
        if not issubclass(c, Build.BuildContext):
            continue
        c.variant = variant
 
#定義函式
def init(ctx):
    env = ConfigSet.ConfigSet()
    try:
        p = os.path.join(Context.out_dir, Build.CACHE_DIR, Build.CACHE_SUFFIX)
        env.load(p)
    except:
        return

    Configure.autoconfig = 'clobber' if env.AUTOCONFIG else False

    if 'VARIANT' not in env:
        return

    # define the variant build commands according to the board
    _set_build_context_variant(env.VARIANT)

#定義函式

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()
    g.add_option('--board',
        action='store',
        choices=boards_names,
        default='sitl',
        help='Target board to build, choices are %s.' % boards_names)

    g.add_option('--debug',
        action='store_true',
        default=False,
        help='Configure as debug variant.')

    g.add_option('--enable-asserts',
        action='store_true',
        default=False,
        help='enable OS level asserts.')
    
    g.add_option('--bootloader',
        action='store_true',
        default=False,
        help='Configure for building a bootloader.')

    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")
    print('***************************')
    print("為啥我會顯示到ubuntu介面上？我在哪裡執行的？歡迎分析我")
    print('***************************')
    g.add_option('--default-parameters',
        default=None,
        help='set default parameters to embed in the firmware')

    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('--static',
        action='store_true',
        default=False,
        help='Force a static build')

#定義函式
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)
#定義函式
def configure(cfg):
    cfg.env.BOARD = cfg.options.board
    cfg.env.DEBUG = cfg.options.debug
    cfg.env.AUTOCONFIG = cfg.options.autoconfig

    cfg.env.VARIANT = cfg.env.BOARD

    _set_build_context_variant(cfg.env.VARIANT)
    cfg.setenv(cfg.env.VARIANT)

    cfg.env.BOARD = cfg.options.board
    cfg.env.DEBUG = cfg.options.debug
    cfg.env.ENABLE_ASSERTS = cfg.options.enable_asserts
    cfg.env.BOOTLOADER = cfg.options.bootloader

    # 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

    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('uavcangen')

    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.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

    # TODO: Investigate if code could be changed to not depend on the
    # source absolute path.
    cfg.env.prepend_value('DEFINES', [
        'SKETCHBOOK="' + cfg.srcnode.abspath() + '"',
    ])

    # Always use system extensions
    cfg.define('_GNU_SOURCE', 1)

    cfg.write_config_header(os.path.join(cfg.variant, 'ap_config.h'))

    _collect_autoconfig_files(cfg)

#定義函式
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


#定義函式
def list_boards(ctx):
   
    print(*boards.get_boards_names()) #這裡列印板子名稱



#定義函式
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('***************************')
    print('Board configured to: {}'.format(env.VARIANT))
    print('***************************')
    
#定義函式   
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

#定義函式
def _build_dynamic_sources(bld):
    if not bld.env.BOOTLOADER:
        bld(
            features='mavgen',
            source='modules/mavlink/message_definitions/v1.0/ardupilotmega.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_uavcan or bld.env.HAL_WITH_UAVCAN==True:
        bld(
            features='uavcangen',
            source=bld.srcnode.ant_glob('modules/uavcan/dsdl/uavcan/**/*.uavcan'),
            output_dir='modules/uavcan/libuavcan/include/dsdlc_generated',
            name='uavcan',
            export_includes=[
                bld.bldnode.make_node('modules/uavcan/libuavcan/include/dsdlc_generated').abspath(),
            ]
        )

    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(),
    ])

#定義函式
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()

#定義函式
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_*',
        'libraries/SITL',
    ]

    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')
    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)

#定義函式
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()

#定義函式
def load_pre_build(bld):
    '''allow for a pre_build() function in build modules'''
    brd = bld.get_board()
    if getattr(brd, 'pre_build', None):
        brd.pre_build(bld)    
#定義函式
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_uavcan:
        bld.env.AP_LIBRARIES_OBJECTS_KW['use'] += ['uavcan']

    _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', 'bootloader','iofirmware'):
    ardupilotwaf.build_command(name,
        program_group_list=name,
        doc='builds %s programs' % name,
    )

for program_group in ('all', 'bin', 'tools', '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()
# print("===========================")
#    print(*boards.get_boards_names()) #這裡列印板子名稱
#   print("===========================")
    
 

要想弄明白這個程式碼，還是得一條一條分析，我在裡面家裡一部分列印函式，用來說明程式碼執行。./waf configure --board px4-v2後首先進入的就是wscript這個指令碼

1.ardupilotwaf.py和board.py被載入

#!/usr/bin/env python
# encoding: utf-8

#在開頭加上from __future__ import print_function這句之後，即使在python2.X，使用print就得像python3.X那樣加括號使用。python2.X中print不需要括號，而在python3.X中則需要。
from __future__ import print_function   
from waflib import Build, Logs, Options, Utils     #從waflib匯入Build,Logs,Options,Utils

print("匯入Build=",Build)                          #匯入Build= <module 'waflib.Build' from '/home/coco/Desktop/test4/ardupilot-lxw/modules/waf/waflib/Build.pyc'>
print("匯入Logs=",Logs)                            #匯入Logs= <module 'waflib.Logs' from '/home/coco/Desktop/test4/ardupilot-lxw/modules/waf/waflib/Logs.pyc'>
print("匯入Options=",Options)                      #匯入Options= <module 'waflib.Options' from '/home/coco/Desktop/test4/ardupilot-lxw/modules/waf/waflib/Options.pyc'>
print("匯入Utils=",Utils)                          #匯入Utils= <module 'waflib.Utils' from '/home/coco/Desktop/test4/ardupilot-lxw/modules/waf/waflib/Utils.pyc'>

from waflib.Configure import conf                  #waflib.Configure匯入函式  



from waflib.TaskGen import before_method, feature  #從waflib.TaskGen匯入before_method，feature函式
import os.path, os
from collections import OrderedDict
 
import ap_persistent

print("匯入ap_persistent=",ap_persistent) 
print("編譯ardupilotwaf.py")                       #增加該print說明函式跑到這裡


SOURCE_EXTS = [                                    #定義字元列表
    '*.S',
    '*.c',
    '*.cpp',
]


COMMON_VEHICLE_DEPENDENT_LIBRARIES = [           #定義所有的裝置庫字元列表
    'AP_AccelCal',
    'AP_ADC',
    'AP_AHRS',
    'AP_Airspeed',
    'AP_Baro',
    'AP_BattMonitor',
    'AP_BoardConfig',
    'AP_Buffer',
    'AP_Common',
    'AP_Compass',
    'AP_Declination',
    'AP_GPS',
    'AP_HAL',
    'AP_HAL_Empty',
    'AP_InertialSensor',
    'AP_Math',
    'AP_Mission',
    'AP_NavEKF2',
    'AP_NavEKF3',
    'AP_Notify',
    'AP_OpticalFlow',
    'AP_Param',
    'AP_Rally',
    'AP_RangeFinder',
    'AP_Scheduler',
    'AP_SerialManager',
    'AP_Terrain',
    'AP_Vehicle',
    'DataFlash',
    'Filter',
    'GCS_MAVLink',
    'RC_Channel',
    'SRV_Channel',
    'StorageManager',
    'AP_Tuning',
    'AP_RPM',
    'AP_RSSI',
    'AP_Mount',
    'AP_Module',
    'AP_Button',
    'AP_ICEngine',
    'AP_Frsky_Telem',
    'AP_FlashStorage',
    'AP_Relay',
    'AP_ServoRelayEvents',
    'AP_Volz_Protocol',
    'AP_SBusOut',
    'AP_IOMCU',
    'AP_RAMTRON',
    'AP_RCProtocol',
    'AP_Radio',
    'AP_TempCalibration',
    'AP_VisualOdom',
    'AP_BLHeli',
    'AP_ROMFS',
    'AP_Proximity',
    'AP_Gripper',
    'AP_RTC',
    'AC_Sprayer',
]

#定義函式get_legacy_defines()  
def get_legacy_defines(sketch_name):                
    return [
        'APM_BUILD_DIRECTORY=APM_BUILD_' + sketch_name,
        'SKETCH="' + sketch_name + '"',
        'SKETCHNAME="' + sketch_name + '"',
    ]

IGNORED_AP_LIBRARIES = [
    'doc',
]

#‘@’符號用作函式修飾符是python2.4新增加的功能，修飾符必須出現在函式定義前一行，不允許和函式定義在同一行。
# 從這裡可以看出@conf 等價於 conf(ap_get_all_libraries())
@conf  

#定義函式ap_get_all_libraries()
def ap_get_all_libraries(bld):
    if bld.env.BOOTLOADER:
        # we don't need the full set of libraries for the bootloader build
        #print("+++++++++") 
        return ['AP_HAL']
    libraries = []
    for lib_node in bld.srcnode.ant_glob('libraries/*', dir=True, src=False):
        name = lib_node.name
        if name in IGNORED_AP_LIBRARIES:
            continue
        if name.startswith('AP_HAL'):
            continue
        if name == 'SITL':
            continue
        libraries.append(name)
    libraries.extend(['AP_HAL', 'AP_HAL_Empty'])
    return libraries
# 從這裡可以看出@conf 等價於 conf(ap_common_vehicle_libraries(bld))
@conf
def ap_common_vehicle_libraries(bld):
    libraries = COMMON_VEHICLE_DEPENDENT_LIBRARIES

    if bld.env.DEST_BINFMT == 'pe':
        libraries += [
            'AC_Fence',
        ]

    return libraries

_grouped_programs = {}


# 從這裡可以看出@conf 等價於 conf(ap_program())
@conf
def ap_program(bld,
               program_groups='bin',
               program_dir=None,
               use_legacy_defines=True,
               program_name=None,
               **kw):
    if 'target' in kw:
        bld.fatal('Do not pass target for program')
    if 'defines' not in kw:
        kw['defines'] = []
    if 'source' not in kw:
        kw['source'] = bld.path.ant_glob(SOURCE_EXTS)

    if not program_name:
        program_name = bld.path.name

    if use_legacy_defines:
        kw['defines'].extend(get_legacy_defines(bld.path.name))

    kw['cxxflags'] = kw.get('cxxflags', []) + ['-include', 'ap_config.h']
    kw['features'] = kw.get('features', []) + bld.env.AP_PROGRAM_FEATURES

    program_groups = Utils.to_list(program_groups)

    if not program_dir:
        program_dir = program_groups[0]

    name = os.path.join(program_dir, program_name)

    tg_constructor = bld.program
    if bld.env.AP_PROGRAM_AS_STLIB:
        tg_constructor = bld.stlib
    else:
        if bld.env.STATIC_LINKING:
            kw['features'].append('static_linking')


    tg = tg_constructor(
        target='#%s' % name,
        name=name,
        program_name=program_name,
        program_dir=program_dir,
        **kw
    )

    for group in program_groups:
        _grouped_programs.setdefault(group, []).append(tg)
# 從這裡可以看出@conf 等價於 conf(ap_example())
@conf
def ap_example(bld, **kw):
    kw['program_groups'] = 'examples'
    ap_program(bld, use_legacy_defines=False, **kw)

def unique_list(items):
    '''remove duplicate elements from a list while maintaining ordering'''
    return list(OrderedDict.fromkeys(items))


# @conf 等價於 conf(ap_stlib())
@conf
def ap_stlib(bld, **kw):
    if 'name' not in kw:
        bld.fatal('Missing name for ap_stlib')
    if 'ap_vehicle' not in kw:
        bld.fatal('Missing ap_vehicle for ap_stlib')
    if 'ap_libraries' not in kw:
        bld.fatal('Missing ap_libraries for ap_stlib')

    kw['ap_libraries'] = unique_list(kw['ap_libraries'] + bld.env.AP_LIBRARIES)
    for l in kw['ap_libraries']:
        bld.ap_library(l, kw['ap_vehicle'])

    kw['features'] = kw.get('features', []) + ['cxx', 'cxxstlib']
    kw['target'] = kw['name']
    kw['source'] = []

    bld.stlib(**kw)

_created_program_dirs = set()
@feature('cxxstlib', 'cxxprogram')
@before_method('process_rule')
def ap_create_program_dir(self):
    if not hasattr(self, 'program_dir'):
        return
    if self.program_dir in _created_program_dirs:
        return
    self.bld.bldnode.make_node(self.program_dir).mkdir()
    _created_program_dirs.add(self.program_dir)

@feature('cxxstlib')
@before_method('process_rule')
def ap_stlib_target(self):
    if self.target.startswith('#'):
        self.target = self.target[1:]
    self.target = '#%s' % os.path.join('lib', self.target)


# @conf 等價於 conf(ap_find_tests)
@conf
def ap_find_tests(bld, use=[]):
    if not bld.env.HAS_GTEST:
        return

    features = []
    if bld.cmd == 'check':
        features.append('test')

    use = Utils.to_list(use)
    use.append('GTEST')

    includes = [bld.srcnode.abspath() + '/tests/']

    for f in bld.path.ant_glob(incl='*.cpp'):
        ap_program(
            bld,
            features=features,
            includes=includes,
            source=[f],
            use=use,
            program_name=f.change_ext('').name,
            program_groups='tests',
            use_legacy_defines=False,
            cxxflags=['-Wno-undef'],
        )

_versions = []



# @conf 等價於 conf(ap_version_append_str())
@conf
def ap_version_append_str(ctx, k, v):
    ctx.env['AP_VERSION_ITEMS'] += [(k, '"{}"'.format(os.environ.get(k, v)))]

@conf
def ap_version_append_int(ctx, k, v):
    ctx.env['AP_VERSION_ITEMS'] += [(k,v)]

@conf
def write_version_header(ctx, tgt):
    with open(tgt, 'w') as f:
        print(
'''// auto-generated header, do not edit

#pragma once

#ifndef FORCE_VERSION_H_INCLUDE
#error ap_version.h should never be included directly. You probably want to include AP_Common/AP_FWVersion.h
#endif
''', file=f)

        for k, v in ctx.env['AP_VERSION_ITEMS']:
            print('#define {} {}'.format(k, v), file=f)

@conf
def ap_find_benchmarks(bld, use=[]):
    if not bld.env.HAS_GBENCHMARK:
        return

    includes = [bld.srcnode.abspath() + '/benchmarks/']

    for f in bld.path.ant_glob(incl='*.cpp'):
        ap_program(
            bld,
            features=['gbenchmark'],
            includes=includes,
            source=[f],
            use=use,
            program_name=f.change_ext('').name,
            program_groups='benchmarks',
            use_legacy_defines=False,
        )

def test_summary(bld):
    from io import BytesIO
    import sys

    if not hasattr(bld, 'utest_results'):
        Logs.info('check: no test run')
        return

    fails = []

    for filename, exit_code, out, err in bld.utest_results:
        Logs.pprint('GREEN' if exit_code == 0 else 'YELLOW',
                    '    %s' % filename,
                    'returned %d' % exit_code)

        if exit_code != 0:
            fails.append(filename)
        elif not bld.options.check_verbose:
            continue

        if len(out):
            buf = BytesIO(out)
            for line in buf:
                print("    OUT: %s" % line.decode(), end='', file=sys.stderr)
            print()

        if len(err):
            buf = BytesIO(err)
            for line in buf:
                print("    ERR: %s" % line.decode(), end='', file=sys.stderr)
            print()

    if not fails:
        Logs.info('check: All %u tests passed!' % len(bld.utest_results))
        return

    Logs.error('check: %u of %u tests failed' %
               (len(fails), len(bld.utest_results)))

    for filename in fails:
        Logs.error('    %s' % filename)

    bld.fatal('check: some tests failed')

_build_commands = {}



def _process_build_command(bld):
    if bld.cmd not in _build_commands:
        return

    params = _build_commands[bld.cmd]
   
    targets = params['targets']
    if targets:
        if bld.targets:
            bld.targets += ',' + targets
        else:
            bld.targets = targets

    program_group_list = Utils.to_list(params['program_group_list'])
    bld.options.program_group.extend(program_group_list)

#編譯命令
def build_command(name,
                   targets=None,
                   program_group_list=[],
                   doc='build shortcut'):
    _build_commands[name] = dict(
        targets=targets,
       
        program_group_list=program_group_list,
    )

    class context_class(Build.BuildContext):
        cmd = name
    context_class.__doc__ = doc



#定義_select_programs_from_group(bld)函式
def _select_programs_from_group(bld):
    groups = bld.options.program_group
    if not groups:
        if bld.targets:
            groups = []
        else:
            groups = ['bin']

    if 'all' in groups:
        groups = _grouped_programs.keys()

    for group in groups:
        if group not in _grouped_programs:
            bld.fatal('Group %s not found' % group)

        tg = _grouped_programs[group][0]
        if bld.targets:
            bld.targets += ',' + tg.name
        else:
            bld.targets = tg.name

        for tg in _grouped_programs[group][1:]:
            bld.targets += ',' + tg.name

def options(opt):
    opt.ap_groups = {
        'configure': opt.add_option_group('Ardupilot configure options'),
        'linux': opt.add_option_group('Linux boards configure options'),
        'build': opt.add_option_group('Ardupilot build options'),
        'check': opt.add_option_group('Ardupilot check options'),
        'clean': opt.add_option_group('Ardupilot clean options'),
    }

    g = opt.ap_groups['build']

    g.add_option('--program-group',
        action='append',
        default=[],
        help='''Select all programs that go in <PROGRAM_GROUP>/ for the build.
Example: `waf --program-group examples` builds all examples. The
special group "all" selects all programs.
''')

    g.add_option('--upload',
        action='store_true',
        help='''Upload applicable targets to a connected device. Not all
platforms may support this. Example: `waf copter --upload` means "build
arducopter and upload it to my board".
''')

    g = opt.ap_groups['check']

    g.add_option('--check-verbose',
        action='store_true',
        help='Output all test programs.')

    g = opt.ap_groups['clean']

    g.add_option('--clean-all-sigs',
        action='store_true',
        help='''Clean signatures for all tasks. By default, tasks that scan for
implicit dependencies (like the compilation tasks) keep the dependency
information across clean commands, so that that information is changed
only when really necessary. Also, some tasks that don't really produce
files persist their signature. This option avoids that behavior when
cleaning the build.
''')

def build(bld):
    print("^^^^^^^^^^^^^^^^^^")
    bld.add_pre_fun(_process_build_command)
    bld.add_pre_fun(_select_programs_from_group)
    print("^^^^^^^^^^^^^^^^^^")

#!/usr/bin/env python
# encoding: utf-8

from collections import OrderedDict
import sys, os

import waflib
from waflib.Configure import conf

_board_classes = {}
_board = None

#類定義Meta板
class BoardMeta(type):
    def __init__(cls, name, bases, dct):     #方法定義
        super(BoardMeta, cls).__init__(name, bases, dct)

        if 'abstract' not in cls.__dict__:
            cls.abstract = False
        if cls.abstract:
            return

        if not hasattr(cls, 'toolchain'):
            cls.toolchain = 'native'

        board_name = getattr(cls, 'name', name)
        if board_name in _board_classes:
            raise Exception('board named %s already exists' % board_name)
        _board_classes[board_name] = cls

#類定義
class Board:
    abstract = True

    def __init__(self):
        self.with_uavcan = False

    def configure(self, cfg):
        cfg.env.TOOLCHAIN = self.toolchain
        cfg.env.ROMFS_FILES = []
        cfg.load('toolchain')
        cfg.load('cxx_checks')

        env = waflib.ConfigSet.ConfigSet()
        self.configure_env(cfg, env)

        d = env.get_merged_dict()
        # Always prepend so that arguments passed in the command line get
        # the priority.
        for k, val in d.items():
            # Dictionaries (like 'DEFINES') are converted to lists to
            # conform to waf conventions.
            if isinstance(val, dict):
                keys = list(val.keys())
                if not isinstance(val, OrderedDict):
                    keys.sort()
                val = ['%s=%s' % (vk, val[vk]) for vk in keys]

            if k in cfg.env and isinstance(cfg.env[k], list):
                cfg.env.prepend_value(k, val)
            else:
                cfg.env[k] = val

        cfg.ap_common_checks()

        cfg.env.prepend_value('INCLUDES', [
            cfg.srcnode.find_dir('libraries/AP_Common/missing').abspath()
        ])

    def configure_env(self, cfg, env):
        # Use a dictionary instead of the convetional list for definitions to
        # make easy to override them. Convert back to list before consumption.
        env.DEFINES = {}

        env.CFLAGS += [
            '-ffunction-sections',
            '-fdata-sections',
            '-fsigned-char',

            '-Wall',
            '-Wextra',
            '-Wformat',
            '-Wshadow',
            '-Wpointer-arith',
            '-Wcast-align',
            '-Wundef',
            '-Wno-missing-field-initializers',
            '-Wno-unused-parameter',
            '-Wno-redundant-decls',
            '-Wno-unknown-pragmas',
            '-Wno-trigraphs',
            '-Werror=return-type',
            '-Werror=unused-result',
        ]

        if 'clang' in cfg.env.COMPILER_CC:
            env.CFLAGS += [
                '-fcolor-diagnostics',

                '-Wno-gnu-designator',
                '-Wno-inconsistent-missing-override',
                '-Wno-mismatched-tags',
                '-Wno-gnu-variable-sized-type-not-at-end',
                '-Wno-c++11-narrowing'
            ]

        if cfg.env.DEBUG:
            env.CFLAGS += [
                '-g',
                '-O0',
            ]

        env.CXXFLAGS += [
            '-std=gnu++11',

            '-fdata-sections',
            '-ffunction-sections',
            '-fno-exceptions',
            '-fsigned-char',

            '-Wall',
            '-Wextra',
            '-Wformat',
            '-Wshadow',
            '-Wpointer-arith',
            '-Wcast-align',
            '-Wundef',
            '-Wno-unused-parameter',
            '-Wno-missing-field-initializers',
            '-Wno-reorder',
            '-Wno-redundant-decls',
            '-Wno-unknown-pragmas',
            '-Werror=format-security',
            '-Werror=array-bounds',
            '-Werror=uninitialized',
            '-Werror=init-self',
            '-Werror=return-type',
            '-Werror=switch',
            '-Werror=sign-compare',
            '-Werror=unused-result',
            '-Wfatal-errors',
            '-Wno-trigraphs',
        ]

        if 'clang++' in cfg.env.COMPILER_CXX:
            env.CXXFLAGS += [
                '-fcolor-diagnostics',

                '-Wno-gnu-designator',
                '-Wno-inconsistent-missing-override',
                '-Wno-mismatched-tags',
                '-Wno-gnu-variable-sized-type-not-at-end',
                '-Wno-c++11-narrowing'
            ]
        else:
            env.CXXFLAGS += [
                '-Werror=unused-but-set-variable'
            ]

        if cfg.env.DEBUG:
            env.CXXFLAGS += [
                '-g',
                '-O0',
            ]

        if cfg.env.DEST_OS == 'darwin':
            env.LINKFLAGS += [
                '-Wl,-dead_strip',
            ]
        else:
            env.LINKFLAGS += [
                '-Wl,--gc-sections',
            ]

        if self.with_uavcan:
            env.AP_LIBRARIES += [
                'AP_UAVCAN',
                'modules/uavcan/libuavcan/src/**/*.cpp'
                ]

            env.CXXFLAGS += [
                '-Wno-error=cast-align',
            ]
            
            env.DEFINES.update(
                UAVCAN_CPP_VERSION = 'UAVCAN_CPP03',
                UAVCAN_NO_ASSERTIONS = 1,
                UAVCAN_NULLPTR = 'nullptr'
            )

            env.INCLUDES += [
                cfg.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath()
            ]

        # We always want to use PRI format macros
        cfg.define('__STDC_FORMAT_MACROS', 1)


    def pre_build(self, bld):
        '''pre-build hook that gets called before dynamic sources'''
        if bld.env.ROMFS_FILES:
            self.embed_ROMFS_files(bld)

    def build(self, bld):
        bld.ap_version_append_str('GIT_VERSION', bld.git_head_hash(short=True))
        import time
        ltime = time.localtime()
        bld.ap_version_append_int('BUILD_DATE_YEAR', ltime.tm_year)
        bld.ap_version_append_int('BUILD_DATE_MONTH', ltime.tm_mon)
        bld.ap_version_append_int('BUILD_DATE_DAY', ltime.tm_mday)

    def embed_ROMFS_files(self, ctx):
        '''embed some files using AP_ROMFS'''
        import embed
        header = ctx.bldnode.make_node('ap_romfs_embedded.h').abspath()
        if not embed.create_embedded_h(header, ctx.env.ROMFS_FILES):
            bld.fatal("Failed to created ap_romfs_embedded.h")

Board = BoardMeta('Board', Board.__bases__, dict(Board.__dict__))

def add_dynamic_boards():
    '''add boards based on existance of hwdef.dat in subdirectories for ChibiOS'''
    dirname, dirlist, filenames = next(os.walk('libraries/AP_HAL_ChibiOS/hwdef'))
    for d in dirlist:
        if d in _board_classes.keys():
            continue
        hwdef = os.path.join(dirname, d, 'hwdef.dat')
        if os.path.exists(hwdef):
            newclass = type(d, (chibios,), {'name': d})

def get_boards_names():
    add_dynamic_boards()
    ret = sorted(list(_board_classes.keys()))
    # some board types should not be selected
    hidden = ['chibios']
    for h in hidden:
        if h in ret:
            ret.remove(h)
    return ret        

@conf
def get_board(ctx):
    global _board
    if not _board:
        if not ctx.env.BOARD:
            ctx.fatal('BOARD environment variable must be set before first call to get_board()')
        _board = _board_classes[ctx.env.BOARD]()
    return _board

# NOTE: Keeping all the board definitions together so we can easily
# identify opportunities to simplify common flags. In the future might
# be worthy to keep board definitions in files of their own.

#注意：將所有的板定義保持在一起，這樣我們就可以很容易地識別簡化通用標誌的機會。在未來可能值得保留的板層定義在自己的檔案。

class sitl(Board):
    def configure_env(self, cfg, env):
        super(sitl, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD = 'HAL_BOARD_SITL',
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_NONE',
        )

        env.CXXFLAGS += [
            '-Werror=float-equal'
        ]

        if not cfg.env.DEBUG:
            env.CXXFLAGS += [
                '-O3',
            ]

        env.LIB += [
            'm',
        ]

        cfg.check_librt(env)

        env.LINKFLAGS += ['-pthread',]
        env.AP_LIBRARIES += [
            'AP_HAL_SITL',
            'SITL',
        ]

        if cfg.options.enable_sfml:
            if not cfg.check_SFML(env):
                cfg.fatal("Failed to find SFML libraries")
            env.CXXFLAGS += ['-DWITH_SITL_OSD','-DOSD_ENABLED=ENABLED','-DHAL_HAVE_AP_ROMFS_EMBEDDED_H']
            import fnmatch
            for f in os.listdir('libraries/AP_OSD/fonts'):
                if fnmatch.fnmatch(f, "font*bin"):
                    env.ROMFS_FILES += [(f,'libraries/AP_OSD/fonts/'+f)]

        if sys.platform == 'cygwin':
            env.LIB += [
                'winmm',
            ]
            env.CXXFLAGS += ['-DCYGWIN_BUILD']


        if 'clang++' in cfg.env.COMPILER_CXX:
            print("Disabling SLP for clang++")
            env.CXXFLAGS += [
                '-fno-slp-vectorize' # compiler bug when trying to use SLP
            ]

#定義chibios板          
class chibios(Board):
    toolchain = 'arm-none-eabi'

    def configure_env(self, cfg, env):
        super(chibios, self).configure_env(cfg, env)

        cfg.load('chibios')
        env.BOARD = self.name

        env.DEFINES.update(
            CONFIG_HAL_BOARD = 'HAL_BOARD_CHIBIOS',
            HAVE_OCLOEXEC = 0,
            HAVE_STD_NULLPTR_T = 0,
        )
        env.AP_LIBRARIES += [
            'AP_HAL_ChibiOS',
        ]

        # make board name available for USB IDs
        env.CHIBIOS_BOARD_NAME = 'HAL_BOARD_NAME="%s"' % self.name
        env.CXXFLAGS += cfg.env.CPU_FLAGS + [
            '-Wlogical-op',
            '-Wframe-larger-than=1300',
            '-fsingle-precision-constant',
            '-Wno-attributes',
            '-Wno-error=double-promotion',
            '-Wno-error=missing-declarations',
            '-Wno-error=float-equal',
            '-Wno-error=undef',
            '-Wno-error=cpp',
            '-Wno-cast-align',
            '-fno-exceptions',
            '-fno-rtti',
            '-fno-threadsafe-statics',
            '-Wall',
            '-Wextra',
            '-Wno-sign-compare',
            '-Wfloat-equal',
            '-Wpointer-arith',
            '-Wmissing-declarations',
            '-Wno-unused-parameter',
            '-Werror=array-bounds',
            '-Wfatal-errors',
            '-Werror=unused-variable',
            '-Werror=uninitialized',
            '-Werror=init-self',
            '-Wframe-larger-than=1024',
            '-Werror=unused-but-set-variable',
            '-Wno-missing-field-initializers',
            '-Wno-trigraphs',
            '-Os',
            '-fno-strict-aliasing',
            '-fomit-frame-pointer',
            '-falign-functions=16',
            '-ffunction-sections',
            '-fdata-sections',
            '-fno-strength-reduce',
            '-fno-builtin-printf',
            '-fno-builtin-fprintf',
            '-fno-builtin-vprintf',
            '-fno-builtin-vfprintf',
            '-fno-builtin-puts',
            '-mno-thumb-interwork',
            '-mthumb',
            '-DCHIBIOS_BOARD_NAME="%s"' % self.name,
            '--specs=nano.specs',
            '-specs=nosys.specs'
        ]

        if sys.platform == 'cygwin':
            env.CXXFLAGS += ['-DCYGWIN_BUILD']

        bldnode = cfg.bldnode.make_node(self.name)
        env.BUILDROOT = bldnode.make_node('').abspath()
        env.LINKFLAGS = cfg.env.CPU_FLAGS + [
            '-Os',
            '-fomit-frame-pointer',
            '-falign-functions=16',
            '-ffunction-sections',
            '-fdata-sections',
            '-u_port_lock',
            '-u_port_unlock',
            '-u_exit',
            '-u_kill',
            '-u_getpid',
            '-u_errno',
            '-uchThdExit',
            '-fno-common',
            '-nostartfiles',
            '-mno-thumb-interwork',
            '-mthumb',
            '-specs=nano.specs',
            '-specs=nosys.specs',
            '-L%s' % env.BUILDROOT,
            '-L%s' % cfg.srcnode.make_node('modules/ChibiOS/os/common/startup/ARMCMx/compilers/GCC/ld/').abspath(),
            '-L%s' % cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/common/').abspath(),
            '-Wl,--gc-sections,--no-warn-mismatch,--library-path=/ld,--script=ldscript.ld,--defsym=__process_stack_size__=%s,--defsym=__main_stack_size__=%s' % (cfg.env.PROCESS_STACK, cfg.env.MAIN_STACK)
        ]

        if cfg.env.DEBUG:
            env.CFLAGS += [
                '-gdwarf-4',
                '-g3',
            ]
            env.LINKFLAGS += [
                '-gdwarf-4',
                '-g3',
            ]

        if cfg.env.ENABLE_ASSERTS:
            cfg.msg("Enabling ChibiOS asserts", "yes")
            env.CFLAGS += [ '-DHAL_CHIBIOS_ENABLE_ASSERTS' ]
            env.CXXFLAGS += [ '-DHAL_CHIBIOS_ENABLE_ASSERTS' ]
        else:
            cfg.msg("Enabling ChibiOS asserts", "no")
            
        env.LIB += ['gcc', 'm']

        env.GIT_SUBMODULES += [
            'ChibiOS',
        ]

        try:
            import intelhex
            env.HAVE_INTEL_HEX = True
            cfg.msg("Checking for intelhex module:", 'OK')
        except Exception:
            cfg.msg("Checking for intelhex module:", 'disabled', color='YELLOW')
            env.HAVE_INTEL_HEX = False

    def build(self, bld):
        super(chibios, self).build(bld)
        bld.ap_version_append_str('CHIBIOS_GIT_VERSION', bld.git_submodule_head_hash('ChibiOS', short=True))
      
        bld.load('chibios')
      
    def pre_build(self, bld):
        '''pre-build hook that gets called before dynamic sources'''
        super(chibios, self).pre_build(bld)
        from waflib.Context import load_tool
        module = load_tool('chibios', [], with_sys_path=True)
        fun = getattr(module, 'pre_build', None)
        if fun:
            fun(bld)
#定義linux板  
class linux(Board):
    def configure_env(self, cfg, env):
        super(linux, self).configure_env(cfg, env)

        cfg.find_toolchain_program('pkg-config', var='PKGCONFIG')

        env.DEFINES.update(
            CONFIG_HAL_BOARD = 'HAL_BOARD_LINUX',
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_NONE',
        )

        if not cfg.env.DEBUG:
            env.CXXFLAGS += [
                '-O3',
            ]

        env.LIB += [
            'm',
        ]

        cfg.check_librt(env)
        cfg.check_lttng(env)
        cfg.check_libdl(env)
        cfg.check_libiio(env)

        env.LINKFLAGS += ['-pthread',]
        env.AP_LIBRARIES += [
            'AP_HAL_Linux',
        ]

        if self.with_uavcan:
            cfg.define('UAVCAN_EXCEPTIONS', 0)

        if cfg.options.apstatedir:
            cfg.define('AP_STATEDIR', cfg.options.apstatedir)

    def build(self, bld):
        super(linux, self).build(bld)
        if bld.options.upload:
            waflib.Options.commands.append('rsync')
            # Avoid infinite recursion
            bld.options.upload = False

#定義板子型別erleboard
class erleboard(linux):
    toolchain = 'arm-linux-gnueabihf'

    def configure_env(self, cfg, env):
        super(erleboard, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD',
        )
#定義板子型別navio
class navio(linux):
    toolchain = 'arm-linux-gnueabihf'

    def configure_env(self, cfg, env):
        super(navio, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_NAVIO',
        )
#定義板子型別navio2
class navio2(linux):
    toolchain = 'arm-linux-gnueabihf'

    def configure_env(self, cfg, env):
        super(navio2, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_NAVIO2',
        )
#定義板子型別edge
class edge(linux):
    toolchain = 'arm-linux-gnueabihf'

    def __init__(self):
        self.with_uavcan = True

    def configure_env(self, cfg, env):
        super(edge, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_EDGE',
        )
#定義板子型別zynq
class zynq(linux):
    toolchain = 'arm-xilinx-linux-gnueabi'

    def configure_env(self, cfg, env):
        super(zynq, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_ZYNQ',
        )
#定義板子型別ocpoc_zynq
class ocpoc_zynq(linux):
    toolchain = 'arm-linux-gnueabihf'

    def configure_env(self, cfg, env):
        super(ocpoc_zynq, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ',
        )
#定義板子型別bbbmini
class bbbmini(linux):
    toolchain = 'arm-linux-gnueabihf'

    def configure_env(self, cfg, env):
        super(bbbmini, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BBBMINI',
        )
#定義板子型別blue
class blue(linux):
    toolchain = 'arm-linux-gnueabihf'

    def configure_env(self, cfg, env):
        super(blue, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BLUE',
        )

class pocket(linux):
    toolchain = 'arm-linux-gnueabihf'

    def configure_env(self, cfg, env):
        super(pocket, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_POCKET',
        )

class pxf(linux):
    toolchain = 'arm-linux-gnueabihf'

    def configure_env(self, cfg, env):
        super(pxf, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_PXF',
        )

class bebop(linux):
    toolchain = 'arm-linux-gnueabihf'

    def configure_env(self, cfg, env):
        super(bebop, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BEBOP',
        )

class disco(linux):
    toolchain = 'arm-linux-gnueabihf'

    def configure_env(self, cfg, env):
        super(disco, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_DISCO',
        )

class erlebrain2(linux):
    toolchain = 'arm-linux-gnueabihf'

    def configure_env(self, cfg, env):
        super(erlebrain2, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2',
        )

class bhat(linux):
    toolchain = 'arm-linux-gnueabihf'

    def configure_env(self, cfg, env):
        super(bhat, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BH',
        )

class dark(linux):
    toolchain = 'arm-linux-gnueabihf'

    def configure_env(self, cfg, env):
        super(dark, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_DARK',
        )

class pxfmini(linux):
    toolchain = 'arm-linux-gnueabihf'

    def configure_env(self, cfg, env):
        super(pxfmini, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_PXFMINI',
        )

class aero(linux):
    def __init__(self):
        self.with_uavcan = True

    def configure_env(self, cfg, env):
        super(aero, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_AERO',
        )

class rst_zynq(linux):
    toolchain = 'arm-linux-gnueabihf'

    def configure_env(self, cfg, env):
        super(rst_zynq, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ',
        )

#定義px4板      
class px4(Board):
    abstract = True
    toolchain = 'arm-none-eabi'

    def __init__(self):
        # bootloader name: a file with that name will be used and installed
        # on ROMFS
        super(px4, self).__init__()

        self.bootloader_name = None

        # board name: it's the name of this board that's also used as path
        # in ROMFS: don't add spaces
        self.board_name = None

        # px4io binary name: this is the name of the IO binary to be installed
        # in ROMFS
        self.px4io_name = None

        # board-specific init script: if True a file with `board_name` name will
        # be searched for in sources and installed in ROMFS as rc.board. This
        # init script is used to change the init behavior among different boards.
        self.board_rc = False

        # Path relative to the ROMFS directory where to find a file with default
        # parameters. If set this file will be copied to /etc/defaults.parm
        # inside the ROMFS
        self.param_defaults = None

        self.ROMFS_EXCLUDE = []

        # use ardupilot version of px_uploader.py
        os.environ['UPLOADER'] = os.path.realpath(os.path.join(os.path.dirname(__file__), 'px_uploader.py'))

    def configure(self, cfg):
        if not self.bootloader_name:
            cfg.fatal('configure: px4: bootloader name is required')
        if not self.board_name:
            cfg.fatal('configure: px4: board name is required')

        super(px4, self).configure(cfg)
        cfg.load('px4')

    def configure_env(self, cfg, env):
        super(px4, self).configure_env(cfg, env)

        env.DEFINES.update(
            CONFIG_HAL_BOARD = 'HAL_BOARD_PX4',
            HAVE_OCLOEXEC = 0,
            HAVE_STD_NULLPTR_T = 0,
        )
        env.CXXFLAGS += [
            '-Wlogical-op',
            '-Wframe-larger-than=1300',
            '-fsingle-precision-constant',
            '-Wno-attributes',
            '-Wno-error=double-promotion',
            '-Wno-error=missing-declarations',
            '-Wno-error=float-equal',
            '-Wno-error=undef',
            '-Wno-error=cpp',
        ]
        env.AP_LIBRARIES += [
            'AP_HAL_PX4',
        ]
        env.GIT_SUBMODULES += [
            'PX4Firmware',
            'PX4NuttX',
            'uavcan',
        ]

        if sys.platform == 'cygwin':
            env.CXXFLAGS += ['-DCYGWIN_BUILD']

        env.ROMFS_EXCLUDE = self.ROMFS_EXCLUDE

        env.PX4_BOOTLOADER_NAME = self.bootloader_name
        env.PX4_BOARD_NAME = self.board_name
        env.PX4_BOARD_RC = self.board_rc
        env.PX4_PX4IO_NAME = self.px4io_name
        env.PX4_PARAM_DEFAULTS = self.param_defaults
        env.PX4_RC_S_SCRIPT = 'init.d/rcS'

        env.AP_PROGRAM_AS_STLIB = True

    def build(self, bld):
        super(px4, self).build(bld)
        bld.ap_version_append_str('NUTTX_GIT_VERSION', bld.git_submodule_head_hash('PX4NuttX', short=True))
        bld.ap_version_append_str('PX4_GIT_VERSION', bld.git_submodule_head_hash('PX4Firmware', short=True))
        bld.load('px4')

    def romfs_exclude(self, exclude):
        self.ROMFS_EXCLUDE += exclude

#定義px4_v1板
class px4_v1(px4):
    name = 'px4-v1'
    def __init__(self):
        super(px4_v1, self).__init__()
        self.bootloader_name = 'px4fmu_bl.bin'
        self.board_name = 'px4fmu-v1'
        self.px4io_name = 'px4io-v1'
        self.romfs_exclude(['oreoled.bin'])

#定義px4_v2板
class px4_v2(px4):
    name = 'px4-v2'
    def __init__(self):
        super(px4_v2, self).__init__()
        self.bootloader_name = 'px4fmuv2_bl.bin'
        self.board_name = 'px4fmu-v2'
        self.px4io_name = 'px4io-v2'
        self.romfs_exclude(['oreoled.bin'])
        self.with_uavcan = True
#定義px4_v3板
class px4_v3(px4):
    name = 'px4-v3'
    def __init__(self):
        super(px4_v3, self).__init__()
        self.bootloader_name = 'px4fmuv2_bl.bin'
        self.board_name = 'px4fmu-v3'
        self.px4io_name = 'px4io-v2'
        self.with_uavcan = True

#定義skyviper_v2450_px4板
class skyviper_v2450_px4(px4_v3):
    name = 'skyviper-v2450-px4'
    def __init__(self):
        super(skyviper_v2450_px4, self).__init__()
        self.px4io_name = None
        self.param_defaults = '../../../Tools/Frame_params/SkyViper-2450GPS/defaults.parm'

    def configure_env(self, cfg, env):
        super(skyviper_v2450_px4, self).configure_env(cfg, env)

        env.DEFINES.update(
            TOY_MODE_ENABLED = 'ENABLED',
            USE_FLASH_STORAGE = 1,
            ARMING_DELAY_SEC = 0,
            LAND_START_ALT = 700,
            HAL_RCINPUT_WITH_AP_RADIO = 1,
            LAND_DETECTOR_ACCEL_MAX = 2,
            CYRF_SPI_PX4_SPI_BUS = 2,
            CYRF_SPI_PX4_SPIDEV_EXT = '(spi_dev_e)1',
            CYRF_IRQ_INPUT = '(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)',
        )
        env.PX4_RC_S_SCRIPT = 'init.d/rcS_no_microSD'
        env.BUILD_ABIN = True

#定義px4_v4板
class px4_v4(px4):
    name = 'px4-v4'
    def __init__(self):
        super(px4_v4, self).__init__()
        self.bootloader_name = 'px4fmuv4_bl.bin'
        self.board_name = 'px4fmu-v4'
        self.romfs_exclude(['oreoled.bin'])
        self.with_uavcan = True


#定義px4_v5板，這個是自己新增
class px4_v5(px4):
    name = 'px4-v5'
    def __init__(self):
        super(px4_v5, self).__init__()
        self.bootloader_name = 'px4fmuv5_bl.bin'
        self.board_name = 'px4fmu-v5'
        self.romfs_exclude(['oreoled.bin'])
        self.with_uavcan = True
#定義px4_v5板，這個是自己新增

#定義px4_v4pro板，這個是自己新增
class px4_v4pro(px4):
    name = 'px4-v4pro'
    def __init__(self):
        super(px4_v4pro, self).__init__()