sim_vehcle.py仿真默认采用waf编译器的原因

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我是靠谱客的博主紧张雨，最近开发中收集的这篇文章主要介绍sim_vehcle.py仿真默认采用waf编译器的原因，觉得挺不错的，现在分享给大家，希望可以做个参考。

概述

APM软件在环仿真的启动脚本是sim_vehicle.py。
其第281行，定义了一个函数“do_build_waf(opts, frame_options)”，指定了SITL仿真时目标文件的编译默认使用waf而不是make。代码如下：

def do_build_waf(opts, frame_options):
    """Build sitl using waf"""
    progress("WAF build")

    old_dir = os.getcwd() //当前目录Tools/
    root_dir = find_root_dir()
    os.chdir(root_dir)  //目录ardupilot/

    waf_light = os.path.join(root_dir, "modules/waf/waf-light") //文件路径ardupilot/modules/waf/waf-light

    cmd_configure = [waf_light, "configure", "--board", "sitl"]  //cmd命令waf_light.py configure --board sitl
    if opts.debug:
        cmd_configure.append("--debug")  //增加debug调试

    if opts.OSD:
        cmd_configure.append("--enable-sfml")

    pieces = [shlex.split(x) for x in opts.waf_configure_args]
    for piece in pieces:
        cmd_configure.extend(piece)

    run_cmd_blocking("Configure waf", cmd_configure, check=True)

    if opts.clean:
        run_cmd_blocking("Building clean", [waf_light, "clean"])

    cmd_build = [waf_light, "build", "--target", frame_options["waf_target"]]  //waf编译 ：waf_light.py --target=waf_target
    if opts.jobs is not None:
        cmd_build += ['-j', str(opts.jobs)]   //-j4
    pieces = [shlex.split(x) for x in opts.waf_build_args]
    for piece in pieces:
        cmd_build.extend(piece)

    _, sts = run_cmd_blocking("Building", cmd_build)

    if sts != 0:  # build failed
        if opts.rebuild_on_failure:
            progress("Build failed; cleaning and rebuilding")
            run_cmd_blocking("Building clean", [waf_light, "clean"])

            _, sts = run_cmd_blocking("Building", cmd_build)
            if sts != 0:
                progress("Build failed")
                sys.exit(1)
        else:
            progress("Build failed")
            sys.exit(1)

    os.chdir(old_dir)

定义函数“do_build_parameters(vehicle)”

def do_build_parameters(vehicle):
    # build succeeded
    # now build parameters
    progress("Building fresh parameter descriptions")
    param_parse_path = os.path.join(
        find_root_dir(), "Tools/autotest/param_metadata/param_parse.py") //执行脚本ardupilot/Tools/autotest/param_metadata/param_parse.py
    cmd_param_build = ["python", param_parse_path, '--vehicle', vehicle] //python param_parse.py --vehicle 

    _, sts = run_cmd_blocking("Building fresh params", cmd_param_build)
    if sts != 0:
        progress("Parameter build failed")
        sys.exit(1)

函数“do_build(vehicledir, opts, frame_options)”，代码如下：

def do_build(vehicledir, opts, frame_options):
    """Build build target (e.g. sitl) in directory vehicledir"""

    if opts.build_system == 'waf':
        return do_build_waf(opts, frame_options)

    old_dir = os.getcwd()

    os.chdir(vehicledir)

    if opts.clean:
        run_cmd_blocking("Building clean", ["make", "clean"])

    build_target = frame_options["make_target"]
    if opts.debug:
        build_target += "-debug"

    build_cmd = ["make", build_target]
    if opts.jobs is not None:
        build_cmd += ['-j', str(opts.jobs)]

    _, sts = run_cmd_blocking("Building %s" % build_target, build_cmd)
    if sts != 0:
        progress("Build failed; cleaning and rebuilding")
        run_cmd_blocking("Cleaning", ["make", "clean"])
        _, sts = run_cmd_blocking("Building %s" % build_target, build_cmd)
        if sts != 0:
            progress("Build failed")
            sys.exit(1)

    os.chdir(old_dir) //执行该函数，回到路径Tools/

函数“get_user_locations_path()”，代码如下：

def get_user_locations_path():
    '''The user locations.txt file is located by default in
    $XDG_CONFIG_DIR/ardupilot/locations.txt. If $XDG_CONFIG_DIR is
    not defined, we look in $HOME/.config/ardupilot/locations.txt.  If
    $HOME is not defined, we look in ./.config/ardpupilot/locations.txt.'''

    config_dir = os.environ.get(
        'XDG_CONFIG_DIR',
        os.path.join(os.environ.get('HOME', '.'), '.config'))

    user_locations_path = os.path.join(
        config_dir, 'ardupilot', 'locations.txt')

    return user_locations_path

函数“find_location_by_name(autotest,locname)”，代码如下：

def find_location_by_name(autotest, locname):
    """Search locations.txt for locname, return GPS coords"""
    locations_userpath = os.environ.get('ARDUPILOT_LOCATIONS',
                                        get_user_locations_path())
    locations_filepath = os.path.join(autotest, "locations.txt")
    comment_regex = re.compile("s*#.*")
    for path in [locations_userpath, locations_filepath]:
        if not os.path.isfile(path):
            continue

        with open(path, 'r') as fd:
            for line in fd:
                line = re.sub(comment_regex, "", line)
                line = line.rstrip("n")
                if len(line) == 0:
                    continue
                (name, loc) = line.split("=")
                if name == locname:
                    return loc

    print("Failed to find location (%s)" % cmd_opts.location)
    sys.exit(1)

可以知道，home点的定义在Tools/autotest/location.txt文件中。启用命令是“-L”