build: removed makefile build system

Makefile

@@ -1,30 +1,89 @@
-# top level makefile to build SITL for primary vehicle targets. 
-# Useful for static analysis tools
+ROOT = $(dir $(lastword $(MAKEFILE_LIST)))
 
-all: sitl
+WAF_BINARY = $(realpath $(ROOT)/modules/waf/waf-light)
+WAF = $(WAF_BINARY) $(WAF_FLAGS)
 
-sitl: TARGET=sitl
-sitl: plane copter rover sub antennatracker
+EXPLICIT_COMMANDS = check check-all clean list_boards
 
-linux: TARGET=linux
-linux: plane copter rover sub antennatracker
+VEHICLES = copter plane rover
 
-clean: TARGET=clean
-clean: plane copter rover sub antennatracker
+all: $(WAF_BINARY)
+	@$(WAF) build
 
-.PHONY: plane copter rover sub antennatracker
+$(WAF_BINARY):
+	@git submodule init && git submodule update
 
-plane:
-	$(MAKE) -C ArduPlane $(TARGET)
+waf-%: $(WAF_BINARY)
+	@$(WAF) $*
 
-copter:
-	$(MAKE) -C ArduCopter $(TARGET)
+%-configure: $(WAF_BINARY)
+	@$(WAF) configure --board $*
 
-rover:
-	$(MAKE) -C APMrover2 $(TARGET)
+$(EXPLICIT_COMMANDS): $(WAF_BINARY)
+	@$(WAF) $@
 
-sub:
-	$(MAKE) -C ArduSub $(TARGET)
+$(VEHICLES): $(WAF_BINARY)
+	@echo Build for vehicle $@
+	@$(WAF) $@
 
-antennatracker:
-	$(MAKE) -C AntennaTracker $(TARGET)
+.DEFAULT: %-configure
+	@$(WAF) configure --board $@ build
+
+help:
+	@echo "Ardupilot Building"
+	@echo "=================="
+	@echo "This is a make wrapper for Ardupilot's Waf build system. This wrapper is"
+	@echo "intended to provide convenience for basic and common build tasks. If you need"
+	@echo "more than what this wrapper provides, it's a good idea to use waf directly."
+	@echo "The waf executable is at '$(WAF_BINARY)'."
+	@echo ""
+	@echo "WARNING: Ardupilot's Waf build system is still a work in progress, it's still"
+	@echo "missing features from the current official build system."
+	@echo ""
+	@echo "Note: The examples in this help consider this wrapper being named as Makefile"
+	@echo "or makefile. In a Linux environment, alias make='make -f THIS_MAKEFILE'"
+	@echo "should make them work."
+	@echo ""
+	@echo "Boards"
+	@echo "------"
+	@echo "In order to trigger the build for a board/platform, the name of the board is"
+	@echo "used as the target. Example: make linux"
+	@echo "If no target is passed, then the build will be triggered for the last board"
+	@echo "used. You can suffix the board/platform with '-configure' in order to just "
+	@echo "configure without triggering a build command."
+	@echo ""
+	@echo "Vehicles"
+	@echo "--------"
+	@echo "It's possible to build for a specific vehicle by defining the target as one of:"
+	@echo "    $(VEHICLES)"
+	@echo ""
+	@echo "Not that if it's your first time building or you want to change the target "
+	@echo "board/platform, you'll need to configure the build before (e.g"
+	@echo "make linux-configure)"
+	@echo ""
+	@echo "Check"
+	@echo "-----"
+	@echo "Check targets are used for running tests. There are two targets available:"
+	@echo "    check:     for running tests that are still failing or that are new or"
+	@echo "               have been modified"
+	@echo "    check-all: to run all tests"
+	@echo ""
+	@echo "Waf commands"
+	@echo "------------"
+	@echo "Waf commands can be explicitly called with targets prefixed by 'waf-'. Example:"
+	@echo "    make waf-clean"
+	@echo "    make waf-build"
+	@echo ""
+	@echo "Common commands"
+	@echo "---------------"
+	@echo "Some Waf commands can be executed without the need of prefixing the target name"
+	@echo "with 'waf-'. They are: $(EXPLICIT_COMMANDS)"
+	@echo ""
+	@echo "Waf flags"
+	@echo "---------"
+	@echo "The variable WAF_FLAGS can be used to set any waf command line options that"
+	@echo "come to be necessary. Ex: make linux WAF_FLAGS='-c no'"
+	@echo ""
+
+# Don't run in parallel, let waf take care of that.
+.NOTPARALLEL: